Use IMU measurements to set submodel base state in RDE #4127
Workflow file for this run
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| name: C++ CI Workflow with conda-forge dependencies | |
| 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 * * *' | |
| jobs: | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, windows-2019, macos-latest] | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| channels: conda-forge,robostack-staging | |
| channel-priority: true | |
| - name: Dependencies | |
| shell: bash -l {0} | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Dependencies | |
| mamba install cmake compilers make ninja pkg-config \ | |
| "idyntree>=8.0.0" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \ | |
| liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog \ | |
| nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \ | |
| tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \ | |
| ros-humble-rclcpp onnxruntime-cpp libbayes-filters-lib | |
| - name: Linux-only Dependencies [Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mamba install manifpy expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 \ | |
| libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 \ | |
| libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 \ | |
| mesa-libgl-devel-cos6-x86_64 | |
| - name: Windows-only Dependencies [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| # Compilation related dependencies | |
| mamba install vs2019_win-64 | |
| - name: Remove icub-models and pcl [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| # Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18 | |
| # pcl is removed as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/695#issuecomment-1632208836 | |
| # pcl can be re-added once we have a ros humble build compatible with PCL 1.13.0 | |
| mamba remove icub-models pcl | |
| - name: Print used environment | |
| shell: bash -l {0} | |
| run: | | |
| mamba list | |
| env | |
| - name: Configure [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF \ | |
| -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| - name: Build [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} | |
| - name: Configure [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C call {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| - name: Build [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C call {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C call {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} |