Merge changes in actuation, contact force residual and fix on force derivative for 6d contact loop #28
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: ROS | |
| # This determines when this workflow is run | |
| on: | |
| push: | |
| paths-ignore: | |
| - 'doc/**' | |
| - '.gitlab-ci.yml' | |
| - '.gitignore' | |
| - '.pre-commit-config.yaml' | |
| - '*.md' | |
| - 'LICENSE' | |
| - 'pyproject.toml' | |
| - 'package.xml' | |
| - 'dependencies.rosintall' | |
| pull_request: | |
| paths-ignore: | |
| - 'doc/**' | |
| - '.gitlab-ci.yml' | |
| - '.gitignore' | |
| - '.pre-commit-config.yaml' | |
| - '*.md' | |
| - 'LICENSE' | |
| - 'pyproject.toml' | |
| - 'package.xml' | |
| - 'dependencies.rosintall' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| CI: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - {name: "(humble, Release)", ROS_DISTRO: humble} | |
| - {name: "(rolling, Release)", ROS_DISTRO: rolling} | |
| - {name: "(iron, Release)", ROS_DISTRO: iron} | |
| # - {name: "(humble, clang, multi-threading, Release)", ROS_DISTRO: humble, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"} | |
| # - {name: "(rolling, clang, multi-threading, Release)", ROS_DISTRO: rolling, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"} | |
| # - {name: "(iron, clang, multi-threading, Release)", ROS_DISTRO: iron, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"} | |
| # - {name: "(humble, Debug)", ROS_DISTRO: noetic, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"} | |
| # - {name: "(rolling, Debug)", ROS_DISTRO: rolling, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"} | |
| name: ${{ matrix.env.name }} | |
| env: | |
| CCACHE_DIR: /github/home/.ccache # Enable ccache | |
| UPSTREAM_WORKSPACE: dependencies.rosinstall # to build example-robot-data from source as it's not released via the ROS buildfarm | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| BUILDER: colcon | |
| # This by-passes issues on importing example_robot_data module when running examples and unit tests. | |
| # It seems target_ws is unable to properly overlay upstream_ws. | |
| AFTER_SETUP_UPSTREAM_WORKSPACE: 'pip install example-robot-data --break-system-packages' | |
| runs-on: ubuntu-latest | |
| continue-on-error: true | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| # This step will fetch/store the directory used by ccache before/after the ci run | |
| - uses: actions/cache@v4 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }} | |
| restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}- | |
| - uses: 'ros-industrial/industrial_ci@master' | |
| env: ${{ matrix.env }} |