Use IMU measurements to set submodel base state in RDE #5991

Workflow file for this run

	name: C++ CI Workflow

	on:
	push:
	branches:
	- master
	pull_request:
	schedule:
	# * is a special character in YAML so you have to quote this string
	# Execute a "nightly" build at 2 AM UTC
	- cron: '0 2 * * *'

	env:
	vcpkg_robotology_TAG: v0.11.0
	YCM_TAG: v0.15.3
	YARP_TAG: v3.8.0
	iDynTree_TAG: v8.0.0
	CasADi_TAG: 3.5.5.2
	manif_TAG: 0.0.4
	matioCpp_TAG: v0.2.0
	LieGroupControllers_TAG: v0.2.0
	osqp_TAG: v0.6.2
	OsqpEigen_TAG: v0.7.0
	tomlplusplus_TAG: v3.0.1
	icub_models_TAG: v2.4.0
	UnicyclePlanner_TAG: d3f6c80afe21a9958da769c8dd8a2bbfee5ea922
	telemetry_TAG: v1.2.0
	bayes_filters_TAG: 53124b1d85fc00c8cd44d572a1e482d7e58c0f50

	# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
	VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg

	# Default number of cores set to one
	NUM_CORES_FOR_CMAKE_BUILD: 1

	jobs:
	check-style:
	name: Find Trailing Whitespace
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Find Trailing Whitespace
	run: \|
	set +e
	lines=$(git grep --cached -In '[[:blank:]]$')
	if [ ! -z "$lines" ]; then
	echo -e "\n The following lines contain trailing whitespace: \n"
	echo -e "${lines}"
	echo -e "\nFailed.\n"
	exit 1
	fi
	exit 0

	build:
	needs: check-style
	name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
	runs-on: ${{ matrix.os }}
	strategy:
	matrix:
	build_type: [Release, Debug]
	os: [ubuntu-20.04, windows-2019, macos-latest]
	fail-fast: false

	steps:
	- uses: actions/checkout@master

	# Print environment variables to simplify development and debugging
	- name: Environment Variables
	shell: bash
	run: env

	# ============
	# DEPENDENCIES
	# ============

	# Remove apt repos that are known to break from time to time
	# See https://github.com/actions/virtual-environments/issues/323
	- name: Remove broken apt repos [Ubuntu]
	if: startsWith(matrix.os, 'ubuntu')
	run: \|
	for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

	- name: Dependencies [Windows]
	if: matrix.os == 'windows-2019'
	run: \|
	# To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need
	choco install -y wget unzip
	# To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg
	# that has been used to create the pre-compiled archive
	cd C:/
	wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology.zip
	unzip vcpkg-robotology.zip -d C:/
	rm vcpkg-robotology.zip

	- name: Fixup brew [macOS]
	if: matrix.os == 'macos-latest'
	run: \|
	# Unlink and re-link to prevent errors when github mac runner images
	# install python outside of brew, for example:
	# https://github.com/orgs/Homebrew/discussions/3895
	# https://github.com/actions/setup-python/issues/577
	# https://github.com/actions/runner-images/issues/6459
	# https://github.com/actions/runner-images/issues/6507
	# https://github.com/actions/runner-images/issues/2322
	brew list -1 \| grep python \| while read formula; do brew unlink $formula; brew link --overwrite $formula; done

	- name: Dependencies [macOS]
	if: matrix.os == 'macos-latest'
	run: \|
	brew update
	brew install ace boost eigen swig qt5 orocos-kdl qhull ipopt cppad pkg-config pybind11 \
	libmatio spdlog librealsense nlohmann-json numpy assimp

	- name: Dependencies [Ubuntu]
	if: startsWith(matrix.os, 'ubuntu')
	run: \|

	sudo apt-get update
	sudo apt-get install git build-essential cmake libace-dev coinor-libipopt-dev \
	libboost-system-dev libboost-filesystem-dev libboost-thread-dev \
	liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev \
	qtmultimedia5-dev libxml2-dev liburdfdom-dev libtinyxml-dev \
	liburdfdom-dev liboctave-dev python3-dev valgrind coinor-libipopt-dev \
	libmatio-dev python3-pytest python3-numpy python3-scipy \
	python3-setuptools libspdlog-dev libopencv-dev libpcl-dev \
	python3-pybind11 nlohmann-json3-dev libassimp-dev libqhull-dev
	# install realsense from apt (see https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
	sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \|\| sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCD
	sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
	# please see https://github.com/IntelRealSense/realsense-ros/blob/a161efb84c9cf8077fbd37d6a78ef1fad0b677d0/.travis.yml#L17-L19
	sudo apt-get update -qq
	# please see https://github.com/IntelRealSense/librealsense/issues/9607#issuecomment-896789179
	mkdir -p /usr/share/librealsense2/presets
	sudo apt-get install librealsense2-dev

	# Get the number of cores
	- name: Get number of cores to speed up cmake build [Windows]
	if: matrix.os == 'windows-2019'
	run: \|
	echo "NUM_CORES_FOR_CMAKE_BUILD=$((Get-CimInstance Win32_ComputerSystem).NumberOfLogicalProcessors)" >> $env:GITHUB_ENV

	- name: Get number of cores to speed up cmake build [Ubuntu]
	if: startsWith(matrix.os, 'ubuntu')
	run: echo "NUM_CORES_FOR_CMAKE_BUILD=`nproc --all`" >> $GITHUB_ENV

	- name: Get number of cores to speed up cmake build [macOS]
	if: matrix.os == 'macos-latest'
	run: echo "NUM_CORES_FOR_CMAKE_BUILD=`sysctl -n hw.logicalcpu`" >> $GITHUB_ENV

	- name: Cache Source-based Dependencies
	id: cache-source-deps
	uses: actions/cache@v3
	with:
	path: ${{ github.workspace }}/install/deps
	key: source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-casADi-${{ env.CasADi_TAG }}-manif-${{ env.manif_TAG }}-matioCpp-${{ env.matioCpp_TAG }}-LieGroupControllers-${{ env.LieGroupControllers_TAG }}-osqp-${{ env.osqp_TAG }}-osqp-eigen-${{ env.OsqpEigen_TAG }}-tomlplusplus-${{ env.tomlplusplus_TAG }}-unicycle-${{ env.UnicyclePlanner_TAG }}-icub-models-${{ env.icub_models_TAG }}-robometry-${{ env.telemetry_TAG }}-bayes-filters-${{ env.bayes_filters_TAG }}


	- name: Source-based Dependencies [Windows]
	if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-2019'
	shell: bash
	run: \|
	# YCM
	cd ${GITHUB_WORKSPACE}
	git clone -b ${YCM_TAG} https://github.com/robotology/ycm
	cd ycm
	mkdir -p build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..

	cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}


	# YARP
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/yarp
	cd yarp
	git checkout ${YARP_TAG}
	mkdir -p build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_GUIS:BOOL=OFF \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
	# Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3
	export IPOPT_DIR=${VCPKG_INSTALLATION_ROOT}/installed/x64-windows

	# iDynTree
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/iDynTree
	cd iDynTree
	git checkout ${iDynTree_TAG}
	mkdir -p build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..

	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# osqp
	cd ${GITHUB_WORKSPACE}
	git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp
	cd osqp
	mkdir -p build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# osqp-eigen
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/osqp-eigen
	cd osqp-eigen
	git checkout ${OsqpEigen_TAG}
	mkdir -p build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}


	# CasADi
	# We override the casadi installation structure to be compliant with the folder structure used for
	# the other dependencies. Please check:
	# https://github.com/casadi/casadi/blob/6f122ca22e2a869903628c5738f154c8ac0f7455/CMakeLists.txt#L317
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/ami-iit/casadi.git -b ${CasADi_TAG} casadi
	cd casadi
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
	-DINCLUDE_PREFIX:PATH="include" \
	-DCMAKE_PREFIX:PATH="lib/cmake/casadi" \
	-DLIB_PREFIX:PATH="lib" \
	-DBIN_PREFIX:PATH="bin" \
	-DWITH_IPOPT=BOOL:ON \
	-DWITH_OSQP:BOOL=ON -DUSE_SYSTEM_WISE_OSQP=BOOL:ON ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# manif
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/artivis/manif.git
	cd manif
	git checkout ${manif_TAG}
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# matioCpp
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/ami-iit/matio-cpp
	cd matio-cpp
	git checkout ${matioCpp_TAG}
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# LieGroupControllers
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/ami-iit/lie-group-controllers
	cd lie-group-controllers
	git checkout ${LieGroupControllers_TAG}
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# UnicycleFootstepPlanner
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/unicycle-footstep-planner
	cd unicycle-footstep-planner
	git checkout ${UnicyclePlanner_TAG}
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}


	# icub-models
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/icub-models
	cd icub-models
	git checkout ${icub_models_TAG}
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
	-DICUB_MODELS_USES_PYTHON:BOOL=ON ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# robometry
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/robometry
	cd robometry
	git checkout ${telemetry_TAG}
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# bayes-filters
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/bayes-filters-lib
	cd bayes-filters-lib
	git checkout ${bayes_filters_TAG}
	mkdir build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	- name: Source-based Dependencies [Ubuntu/macOS]
	if: steps.cache-source-deps.outputs.cache-hit != 'true' && (startsWith(matrix.os, 'ubuntu') \|\| matrix.os == 'macos-latest')
	shell: bash
	run: \|

	# Tomlplusplus
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/marzer/tomlplusplus
	cd tomlplusplus
	git checkout ${tomlplusplus_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# YCM
	cd ${GITHUB_WORKSPACE}
	git clone -b ${YCM_TAG} https://github.com/robotology/ycm
	cd ycm
	mkdir -p build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# YARP
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/yarp
	cd yarp
	git checkout ${YARP_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# iDynTree
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/iDynTree
	cd iDynTree
	git checkout ${iDynTree_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DIDYNTREE_USES_PYTHON:BOOL=ON \
	-DIDYNTREE_USES_ASSIMP:BOOL=ON \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# osqp
	cd ${GITHUB_WORKSPACE}
	git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp
	cd osqp
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# osqp-eigen
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/osqp-eigen
	cd osqp-eigen
	git checkout ${OsqpEigen_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# CasADi
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/ami-iit/casadi.git -b ${CasADi_TAG} casadi
	cd casadi
	mkdir build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DWITH_IPOPT=BOOL:ON \
	-DWITH_OSQP:BOOL=ON -DUSE_SYSTEM_WISE_OSQP=BOOL:ON ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# manif
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/artivis/manif.git
	cd manif
	git checkout ${manif_TAG}
	mkdir build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# matioCpp
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/ami-iit/matio-cpp
	cd matio-cpp
	git checkout ${matioCpp_TAG}
	mkdir build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# LieGroupControllers
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/ami-iit/lie-group-controllers
	cd lie-group-controllers
	git checkout ${LieGroupControllers_TAG}
	mkdir build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# UnicycleFootstepPlanner
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/unicycle-footstep-planner
	cd unicycle-footstep-planner
	git checkout ${UnicyclePlanner_TAG}
	mkdir build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# icub-models
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/icub-models
	cd icub-models
	git checkout ${icub_models_TAG}
	mkdir build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DICUB_MODELS_USES_PYTHON:BOOL=ON ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# robometry
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/robometry
	cd robometry
	git checkout ${telemetry_TAG}
	mkdir build && cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	# bayes-filters
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/bayes-filters-lib
	cd bayes-filters-lib
	git checkout ${bayes_filters_TAG}
	mkdir build && cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	- name: Source-based Dependencies [Ubuntu]
	if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu')
	shell: bash
	run: \|
	# CppAD
	git clone https://github.com/coin-or/CppAD.git
	cd CppAD
	mkdir -p build
	cd build
	cmake -Dcppad_prefix=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
	-DBUILD_TESTING=OFF ..

	cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	- name: Install manifpy [Ubuntu/macOS]
	if: startsWith(matrix.os, 'ubuntu') \|\| matrix.os == 'macos-latest'
	run: \|
	git clone https://github.com/artivis/manif.git manifpy
	cd manifpy
	git checkout ${manif_TAG}
	python3 -m pip install .

	- name: Check Python setup
	shell: bash
	run: \|
	echo "Default interpreter: $(which python)"
	python3 -c 'import sys; print(sys.prefix)'

	- name: Extend the pythonpath and LD_LIBRARY_PATH [Ubuntu]
	if: startsWith(matrix.os, 'ubuntu')
	run: \|
	echo "PYTHONPATH=${GITHUB_WORKSPACE}/install/deps/lib/python3/dist-packages" >> $GITHUB_ENV
	echo "LD_LIBRARY_PATH=${LD_LIBRARY_PATH:+${LD_LIBRARY_PATH}:}${GITHUB_WORKSPACE}/install/deps/lib" >> $GITHUB_ENV

	# ===================
	# CMAKE-BASED PROJECT
	# ===================

	- name: Configure [Windows]
	# Use bash also on Windows (otherwise cd, mkdir, ... do not work)
	if: matrix.os == 'windows-2019'
	shell: bash
	run: \|
	mkdir -p build
	cd build
	cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
	-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
	-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF \
	-DBUILD_TESTING:BOOL=ON ..

	- name: Configure [Ubuntu]
	if: startsWith(matrix.os, 'ubuntu')
	shell: bash
	run: \|
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
	-DBUILD_TESTING:BOOL=ON \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \
	-DPython3_ROOT_DIR=$(python -c "import sys; print(sys.prefix)") -DFRAMEWORK_USE_Python3:BOOL=ON -DFRAMEWORK_USE_pybind11:BOOL=ON \
	-DENABLE_YarpRobotLoggerDevice:BOOL=ON \
	-DFRAMEWORK_RUN_Valgrind_tests:BOOL=ON ..

	- name: Configure [macOS]
	if: matrix.os == 'macos-latest'
	shell: bash
	run: \|
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
	-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
	-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \
	-DPython3_ROOT_DIR=$(python -c "import sys; print(sys.prefix)") -DFRAMEWORK_USE_Python3:BOOL=ON -DFRAMEWORK_USE_pybind11:BOOL=ON \
	-DFRAMEWORK_TEST_PYTHON_BINDINGS:BOOL=OFF \
	-DBUILD_TESTING:BOOL=ON ..

	- name: Check build if some dependencies are not enabled [Ubuntu]
	if: github.event_name != 'push' && github.event_name != 'release' && matrix.os == 'ubuntu-20.04'
	shell: bash
	run: \|
	cd build
	for missing_dep in YARP Qhull casadi cppad manif Python3 pybind11 pytest matioCpp LieGroupControllers nlohmann_json UnicyclePlanner icub-models BayesFilters; do
	echo "Testing ${missing_dep} as missing dependency."
	# Deselect missing dependencies and build
	cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=OFF .
	cmake --build . --config ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
	# Enable again dependency
	cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=ON .
	done

	- name: Build
	shell: bash
	run: \|
	cd build
	# Attempt of fix for using YARP idl generators (that link ACE) in Windows
	# See https://github.com/robotology/idyntree/issues/569
	export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
	cmake --build . --config ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}

	- name: Test
	shell: bash
	run: \|
	cd build
	export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
	ctest --output-on-failure -C ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} .

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