Add CI for compiling gazebo with conda-forge dependencies

[traversaro]

For now without running any tests, see discussion in #3174 (comment) . Tests compilation is creating problems, so as a first proof of concept I just compile the project without tests.

[traversaro]

Tests compilation is failing with:

[168/1867] Building CXX object gazebo/common/CMakeFiles/UNIT_Plugin_TEST.dir/Plugin_TEST.cc.o
FAILED: gazebo/common/CMakeFiles/UNIT_Plugin_TEST.dir/Plugin_TEST.cc.o 
/usr/share/miniconda/envs/test/bin/x86_64-conda-linux-gnu-c++ -DBOOST_ALL_NO_LIB -DBOOST_DATE_TIME_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_IOSTREAMS_DYN_LINK -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_REGEX_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_TEST_DYN_LINK -DBOOST_THREAD_DYN_LINK -DBUILDING_DLL -DHAVE_OPENGL -DIGN_PROFILER_ENABLE=0 -DLIBBULLET_VERSION=3.20 -DLIBBULLET_VERSION_GT_282 -I/home/runner/work/gazebo/gazebo/test/gtest/include -I/home/runner/work/gazebo/gazebo -I/home/runner/work/gazebo/gazebo/build -I/usr/share/miniconda/envs/test/include/libusb-1.0 -I/usr/share/miniconda/envs/test/include/ignition/transport8 -I/usr/share/miniconda/envs/test/include/AL -I/usr/share/miniconda/envs/test/include/glib-2.0 -I/usr/share/miniconda/envs/test/lib/glib-2.0/include -isystem /home/runner/work/gazebo/gazebo/deps/tinyobjloader -isystem /usr/share/miniconda/envs/test/include/ignition/msgs5 -isystem /usr/share/miniconda/envs/test/include/ignition/math6 -isystem /usr/share/miniconda/envs/test/include/ignition/common3 -isystem /usr/share/miniconda/envs/test/include/ignition/fuel_tools4 -isystem /usr/share/miniconda/envs/test/include/OGRE/RTShaderSystem -isystem /usr/share/miniconda/envs/test/include/OGRE -isystem /usr/share/miniconda/envs/test/include/OGRE/Terrain -isystem /usr/share/miniconda/envs/test/include/OGRE/Paging -isystem /usr/share/miniconda/envs/test/include/OGRE/Overlay -isystem /usr/share/miniconda/envs/test/include/sdformat-9.3 -isystem /usr/share/miniconda/envs/test/include/uuid -isystem /usr/share/miniconda/envs/test/include/sdformat-9.3/sdf/.. -fvisibility-inlines-hidden -std=c++17 -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /usr/share/miniconda/envs/test/include       -Wall -Wextra -Wno-long-long -Wno-unused-value -Wfloat-equal -Wshadow -Wswitch-default -Wmissing-include-dirs -pedantic -fvisibility=hidden -fvisibility-inlines-hidden   -s -O3 -DNDEBUG -mssse3 -msse3 -mfpmath=sse -msse -msse2    -fPIC -pthread -I/usr/share/miniconda/envs/test/include -I/usr/share/miniconda/envs/test/include/glib-2.0 -I/usr/share/miniconda/envs/test/lib/glib-2.0/include -I/usr/share/miniconda/envs/test/include -I/usr/share/miniconda/envs/test/include/uuid -MD -MT gazebo/common/CMakeFiles/UNIT_Plugin_TEST.dir/Plugin_TEST.cc.o -MF gazebo/common/CMakeFiles/UNIT_Plugin_TEST.dir/Plugin_TEST.cc.o.d -o gazebo/common/CMakeFiles/UNIT_Plugin_TEST.dir/Plugin_TEST.cc.o -c /home/runner/work/gazebo/gazebo/gazebo/common/Plugin_TEST.cc
In file included from /home/runner/work/gazebo/gazebo/gazebo/common/Plugin.hh:41,
                 from /home/runner/work/gazebo/gazebo/gazebo/common/Plugin_TEST.cc:18:
/home/runner/work/gazebo/gazebo/gazebo/physics/PhysicsTypes.hh:26:10: fatal error: gazebo/msgs/poses_stamped.pb.h: No such file or directory
   26 | #include "gazebo/msgs/poses_stamped.pb.h"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
[169/1867] Building CXX object gazebo/common/CMakeFiles/UNIT_OBJLoader_TEST.dir/OBJLoader_TEST.cc.o
[170/1867] Building CXX object gazebo/common/CMakeFiles/UNIT_SemanticVersion_TEST.dir/SemanticVersion_TEST.cc.o
ninja: build stopped: subcommand failed.

For the time being, I think we can just disable tests.

[traversaro]

CI on Windows is failing with:

[574/1154] Building CXX object gazebo\physics\CMakeFiles\gazebo_physics.dir\dart\DARTSphereShape.cc.obj
FAILED: gazebo/physics/CMakeFiles/gazebo_physics.dir/dart/DARTSphereShape.cc.obj 
C:\PROGRA~2\MICROS~1\2019\ENTERP~1\VC\Tools\MSVC\1429~1.301\bin\Hostx64\x64\cl.exe  /nologo /TP -DBOOST_ALL_DYN_LINK -DBOOST_ALL_NO_LIB -DBOOST_CHRONO_DYN_LINK -DBOOST_DATE_TIME_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_IOSTREAMS_DYN_LINK -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_REGEX_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_TEST_DYN_LINK -DBOOST_THREAD_DYN_LINK -DBUILDING_DLL -DBUILDING_DLL_GZ_PHYSICS -DFREEIMAGE_LIB -DIGN_PROFILER_ENABLE=0 -DLIBBULLET_VERSION=0.0 -DNOMINMAX -DNOUSER -DPROTOBUF_USE_DLLS -DTINYXML2_IMPORT -DTIXML_USE_STL -DWIN32_LEAN_AND_MEAN -D_ENABLE_EXTENDED_ALIGNED_STORAGE -D_USE_MATH_DEFINES -DdIDEDOUBLE -Dgazebo_physics_EXPORTS -ID:\a\gazebo\gazebo\test\gtest\include -ID:\a\gazebo\gazebo -ID:\a\gazebo\gazebo\build -IC:\Miniconda\envs\test\Library\include\libusb-1.0 -external:ID:\a\gazebo\gazebo\deps\win\tinyxml -external:ID:\a\gazebo\gazebo\deps\tinyxml2 -external:ID:\a\gazebo\gazebo\deps\opende\include -external:IC:\Miniconda\envs\test\Library\include -external:IC:\Miniconda\envs\test\Library\include\ignition\msgs5 -external:IC:\Miniconda\envs\test\Library\include\ignition\math6 -external:IC:\Miniconda\envs\test\Library\include\ignition\transport8 -external:IC:\Miniconda\envs\test\Library\include\ignition\common3 -external:IC:\Miniconda\envs\test\Library\include\ignition\fuel_tools4 -external:IC:\Miniconda\envs\test\Library\include\OGRE\RTShaderSystem -external:IC:\Miniconda\envs\test\Library\include\OGRE -external:IC:\Miniconda\envs\test\Library\include\OGRE\Terrain -external:IC:\Miniconda\envs\test\Library\include\OGRE\Paging -external:IC:\Miniconda\envs\test\Library\include\OGRE\Overlay -external:IC:\Miniconda\envs\test\Library\include\sdformat-9.3 -external:IC:\Miniconda\envs\test\Library\include\sdformat-9.3\sdf\.. -external:IC:\Miniconda\envs\test\Library\include\ignition\cmake2 -external:IC:\Miniconda\envs\test\Library\include\eigen3 -external:IC:\Miniconda\envs\test\Library\include\bullet -external:IC:\Miniconda\envs\test\Library\CMake\..\include -external:W0 /DWIN32 /D_WINDOWS /W3 /GR /EHsc       /wd4005 /wd4068 /wd4244 /wd4251 /wd4267 /wd4275 /wd4996 /EHsc /MD /O2 /Ob2 /DNDEBUG   /EHsc -I"C:/Miniconda/envs/test/Library/include" /Zc:__cplusplus /permissive- /Zc:strictStrings- /Zc:externC- -std:c++17 /showIncludes /Fogazebo\physics\CMakeFiles\gazebo_physics.dir\dart\DARTSphereShape.cc.obj /Fdgazebo\physics\CMakeFiles\gazebo_physics.dir\ /FS -c D:\a\gazebo\gazebo\gazebo\physics\dart\DARTSphereShape.cc
C:\Miniconda\envs\test\Library\include\eigen3\Eigen\src/Core/MatrixBase.h(211): fatal error C1060: compiler is out of heap space
[575/1154] Building CXX object gazebo\physics\CMakeFiles\gazebo_physics.dir\dart\DARTPolylineShape.cc.obj
ninja: build stopped: subcommand failed.

Better to limit the number of core that are used by Ninja.

[scpeters]

looks like it's working!