Improve the CI

.github/workflows/linux-ci.yml

@@ -0,0 +1,131 @@
+name: Linux CI
+
+on: [pull_request]
+
+# Cancels any in-progress workflow runs for the same PR when a new push is made,
+# allowing the runner to become available more quickly for the latest changes.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} C++/Python ${{ matrix.python_version }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      PYTHON_VERSION: ${{ matrix.python_version }} 
+      GTSAM_INSTALL_DIR: ${{ github.workspace }}/gtsam_install 
+
+    strategy:
+      fail-fast: false
+      matrix:
+        name: [ubuntu-24.04-gcc-14, ubuntu-24.04-clang-16]
+        build_type: [Debug, Release]
+        python_version: [3]
+        include:
+          - name: ubuntu-24.04-gcc-14
+            os: ubuntu-24.04
+            compiler: gcc
+            version: "14"
+          - name: ubuntu-24.04-clang-16
+            os: ubuntu-24.04
+            compiler: clang
+            version: "16"
+
+    steps:
+      - name: Checkout GTDynamics Repository
+        uses: actions/checkout@v4
+
+      - name: Install System Dependencies
+        run: |
+          set -e
+          sudo apt-get -y update
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
+            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "CC=clang" >> $GITHUB_ENV
+            echo "CXX=clang++" >> $GITHUB_ENV
+          fi
+          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+          sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+          sudo apt-get -y update
+          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat15-dev
+
+          # GTDynamics C++ tests use CppUnitLite (not provided by default on the runner).
+          git clone https://github.com/borglab/CppUnitLite.git /tmp/CppUnitLite
+          cd /tmp/CppUnitLite
+          mkdir build && cd build
+          # CppUnitLite's CMakeLists uses an old minimum CMake version; newer CMake
+          # requires explicitly opting into older policy compatibility.
+          # Force a modern C++ standard for newer Boost headers (Homebrew Boost requires C++11+).
+          cmake -DCMAKE_POLICY_VERSION_MINIMUM=3.5 -DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON ..
+          sudo make -j$(nproc) install
+          cd ${{ github.workspace }}
+          sudo rm -rf /tmp/CppUnitLite
+
+      - name: Python Dependencies
+        run: |
+          pip3 install -U "setuptools<70" wheel numpy pyparsing pyyaml "pybind11-stubgen>=2.5.1"
+
+      - name: Build & Install GTSAM
+        shell: bash 
+        run: |
+          set -e
+          git clone https://github.com/borglab/gtsam.git /tmp/gtsam_source_linux 
+          cd /tmp/gtsam_source_linux
+          mkdir build && cd $_
+          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+                -D GTSAM_BUILD_PYTHON=ON \
+                -D GTSAM_WITH_TBB=OFF \
+                -D CMAKE_CXX_FLAGS="-faligned-new" \
+                -D CMAKE_INSTALL_PREFIX=${{ env.GTSAM_INSTALL_DIR }} \
+                ..
+          sudo make -j$(nproc) install 
+          make python-install 
+          sudo ldconfig
+          cd ${{ github.workspace }} 
+          sudo rm -rf /tmp/gtsam_source_linux
+
+      - name: Create build directory
+        run: mkdir build 
+
+      - name: Configure GTDynamics
+        run: |
+          set -e
+          cmake -DGTDYNAMICS_BUILD_PYTHON=ON \
+                -DGTSAM_DIR="${{ env.GTSAM_INSTALL_DIR }}/lib/cmake/GTSAM" \
+                -DCMAKE_PREFIX_PATH="${{ env.GTSAM_INSTALL_DIR }}" \
+                ..
+        working-directory: ./build
+
+      - name: Build
+        run: make -j$(nproc)
+        working-directory: ./build
+
+      - name: Test C++
+        run: |
+          set -e
+          make -j$(nproc) check
+        working-directory: ./build
+
+      - name: Install Python Wrappers
+        shell: bash 
+        run: |
+          set -e
+          sudo make -j$(nproc) python-install
+        working-directory: ./build
+
+      - name: Test Python
+        run: |
+          set -e
+          # On Linux, `sudo ldconfig` during GTSAM install should handle library paths for system-wide installs.
+          # If GTSAM was installed to a custom prefix not in ldconfig paths, LD_LIBRARY_PATH would be needed.
+          make -j$(nproc) python-test
+        working-directory: ./build