Migrate to ROS2 #1
Workflow file for this run
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| name: CI of CentroidalControlCollection (colcon) | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| clang-format: | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout repository code | |
| uses: actions/checkout@v3 | |
| - name: Install clang-format-14 | |
| run: | | |
| sudo apt-get -qq update | |
| sudo apt-get -qq install clang-format-14 | |
| - name: Run clang-format-check | |
| run: | | |
| ./.clang-format-check.sh | |
| build-and-test: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-22.04] | |
| build-type: [RelWithDebInfo] | |
| standalone: [colcon] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Set environment variables | |
| run: | | |
| set -e | |
| set -x | |
| echo "LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV | |
| if [ "${{ matrix.os }}" == "ubuntu-22.04" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.standalone }}" == "colcon" ] && \ | |
| [ "${{ github.repository_owner }}" == "isri-aist" ] && \ | |
| [ "${{ github.ref }}" == "refs/heads/master" ] | |
| then | |
| echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV | |
| sudo apt-get install -qq doxygen graphviz | |
| else | |
| echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV | |
| fi | |
| - name: Install ROS2 | |
| if: matrix.standalone == 'colcon' | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| ros: | | |
| apt: ros-base | |
| - name: Install Dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/head | |
| apt: libgtest-dev libeigen-qld-dev libmc-rtc-dev | |
| - name: Checkout repository code | |
| uses: actions/checkout@v3 | |
| with: | |
| path: colcon_ws/src/CentroidalControlCollection | |
| - name: Checkout QpSolverCollection | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: isri-aist/QpSolverCollection | |
| path: colcon_ws/src/QpSolverCollection | |
| - name: Checkout ForceControlCollection | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: isri-aist/ForceControlCollection | |
| path: colcon_ws/src/ForceControlCollection | |
| - name: Checkout NMPC | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: isri-aist/NMPC | |
| submodules: recursive | |
| path: colcon_ws/src/NMPC | |
| - name: Rosdep install | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/colcon_ws | |
| if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ] | |
| then | |
| sudo rosdep init | |
| fi | |
| rosdep update | |
| rosdep install -y -r --from-paths src --ignore-src | |
| - name: Colcon build | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/colcon_ws | |
| colcon build --merge-install --cmake-args -DUSE_ROS2=ON -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DENABLE_QLD=ON -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} | |
| - name: Run tests | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/colcon_ws | |
| set +x | |
| . install/setup.bash | |
| set -x | |
| colcon test --merge-install --packages-select centroidal_control_collection | |
| colcon test-result --all --verbose | |
| - name: Upload documentation | |
| # Only run for one configuration and on origin master branch | |
| if: env.UPLOAD_DOCUMENTATION == 'true' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/colcon_ws/src/${{ github.repository }} | |
| git config --global user.name "Masaki Murooka" | |
| git config --global user.email "[email protected]" | |
| git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/CentroidalControlCollection" | |
| git fetch --depth=1 origin gh-pages:gh-pages | |
| git checkout --quiet gh-pages | |
| rm -rf doxygen/ cmake/ | |
| cp -r ${GITHUB_WORKSPACE}/colcon_ws/build/centroidal_control_collection/doc/html/ doxygen | |
| git add doxygen | |
| git_status=`git status -s` | |
| if test -n "$git_status"; then | |
| git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" | |
| git push origin gh-pages | |
| else | |
| echo "Github pages documentation is already up-to-date." | |
| fi |