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| Original file line number | Diff line number | Diff line change |
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| name: CONDA | ||
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| on: [push, pull_request] | ||
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| jobs: | ||
| crocoddyl-conda: | ||
| name: (${{ matrix.os }}, clang, multi-threading, ipopt, ${{ matrix.build_type }}) | ||
| runs-on: ${{ matrix.os }} | ||
| env: | ||
| CCACHE_DIR: ${{ matrix.CCACHE_DIR }} | ||
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||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| # os: ["ubuntu-latest", "macos-latest"] | ||
| os: ["macos-latest"] | ||
| build_type: [Release, Debug] | ||
| compiler: [clang] | ||
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| include: | ||
| # - os: ubuntu-latest | ||
| # CCACHE_DIR: /home/runner/.ccache | ||
| - os: macos-latest | ||
| CCACHE_DIR: /Users/runner/.ccache | ||
|
|
||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| with: | ||
| submodules: recursive | ||
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||
| - uses: actions/cache@v3 | ||
| with: | ||
| path: ${{ env.CCACHE_DIR }} | ||
| key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }} | ||
|
|
||
| - uses: conda-incubator/setup-miniconda@v2 | ||
| with: | ||
| activate-environment: crocoddyl | ||
| auto-update-conda: true | ||
| environment-file: .github/workflows/conda/conda-env.yml | ||
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| - name: Install conda dependencies | ||
| shell: bash -l {0} | ||
| run: | | ||
| conda activate crocoddyl | ||
| conda install cmake ccache -c conda-forge | ||
| conda install llvm-openmp libcxx -c conda-forge | ||
| conda list | ||
| - name: Install example-robot-data | ||
| shell: bash -l {0} | ||
| run: | | ||
| conda activate crocoddyl | ||
| mkdir third-party && cd third-party | ||
| git clone --recursive https://github.com/Gepetto/example-robot-data.git | ||
| cd example-robot-data && mkdir build && cd build | ||
| cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX | ||
| make install | ||
| - name: Install compilers for macOS | ||
| shell: bash -l {0} | ||
| if: contains(matrix.os, 'macos-latest') | ||
| run: | | ||
| conda install compilers -c conda-forge | ||
| - name: Enable CppADCodeGen compilation | ||
| shell: bash -l {0} | ||
| if: contains(matrix.build_type, 'Release') | ||
| run: | | ||
| echo "codegen_support=ON" >> "$GITHUB_ENV" | ||
| - name: Disable CppADCodeGen compilation | ||
| shell: bash -l {0} | ||
| if: contains(matrix.build_type, 'Debug') | ||
| run: | | ||
| echo "codegen_support=OFF" >> "$GITHUB_ENV" | ||
| - name: Build Crocoddyl | ||
| shell: bash -l {0} | ||
| run: | | ||
| conda activate crocoddyl | ||
| echo $CONDA_PREFIX | ||
| mkdir build | ||
| cd build | ||
| cmake .. \ | ||
| -DCMAKE_CXX_COMPILER=/usr/bin/clang++ -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | ||
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | ||
| -DBUILD_WITH_CODEGEN_SUPPORT=${{ env.codegen_support }} -DPYTHON_EXECUTABLE=$(which python3) \ | ||
| -DBUILD_WITH_MULTITHREADS=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX | ||
| make | ||
| - name: Run unit tests | ||
| shell: bash -l {0} | ||
| run: | | ||
| conda activate crocoddyl | ||
| cd build | ||
| export CTEST_OUTPUT_ON_FAILURE=1 | ||
| make test | ||
| - name: Install Crocoddyl | ||
| shell: bash -l {0} | ||
| run: | | ||
| cd build | ||
| make install | ||
| - name: Uninstall Crocoddyl | ||
| shell: bash -l {0} | ||
| run: | | ||
| cd build | ||
| make uninstall |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| name: crocoddyl | ||
| channels: | ||
| - conda-forge | ||
| - nodefaults | ||
| dependencies: | ||
| - boost | ||
| - numpy | ||
| - scipy | ||
| - python | ||
| - eigen=3.4.0 | ||
| - eigenpy | ||
| - hpp-fcl | ||
| - urdfdom | ||
| - cppad | ||
| - cppadcodegen | ||
| - pinocchio | ||
| - ipopt |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| name: ROS | ||
|
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| # This determines when this workflow is run | ||
| on: [push, pull_request] | ||
|
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| jobs: | ||
| CI: | ||
| strategy: | ||
| matrix: | ||
| env: | ||
| - {name: "(humble, Release)", ROS_DISTRO: humble} | ||
| # - {name: "humble, multi-threading", ROS_DISTRO: humble, ADDITIONAL_DEBS: "libomp-dev", CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"} | ||
| # - {name: "humble, Debug", ROS_DISTRO: noetic, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"} | ||
| - {name: "(rolling, Release)", ROS_DISTRO: rolling} | ||
| # - {name: "rolling, multi-threading", ROS_DISTRO: rolling, ADDITIONAL_DEBS: "libomp-dev", CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"} | ||
| # - {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' | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| with: | ||
| submodules: recursive | ||
| # This step will fetch/store the directory used by ccache before/after the ci run | ||
| - uses: actions/cache@v3 | ||
| with: | ||
| path: ${{ env.CCACHE_DIR }} | ||
| key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }} | ||
| - uses: 'ros-industrial/industrial_ci@master' | ||
| env: ${{ matrix.env }} |
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