[solver] Cleaned FDDP code (C++ and Python) #335
Workflow file for this run
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| 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 }} |