Add conda-based Continuous Integration and fix compilation with Gazebo on Windows installed via conda

.github/workflows/conda-ci.yml

@@ -0,0 +1,76 @@
+name: C++ CI Workflow with conda dependencies
+
+on:
+  push:
+  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: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-latest, macos-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        mamba-version: "*"
+        channels: conda-forge,defaults
+        channel-priority: true
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install -c robotology yarp icub-main gazebo icub-contrib-common qt opencv
+
+    # Additional dependencies useful only on Linux when using Qt
+    - name: Dependencies [Conda/Linux]
+      if: contains(matrix.os, 'ubuntu') 
+      shell: bash -l {0}
+      run: |
+        # Additional dependencies only useful on Linux
+        # See https://github.com/robotology/robotology-superbuild/issues/477
+        mamba install expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
+
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Test
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}

demoRedBall/CMakeLists.txt

@@ -28,6 +28,7 @@ if (GAZEBO_FOUND)
     add_library(${PROJECT_NAME}-world SHARED src/world.cpp)
     target_compile_definitions(${PROJECT_NAME}-world PRIVATE _USE_MATH_DEFINES)
     target_include_directories(${PROJECT_NAME}-world PRIVATE ${GAZEBO_INCLUDE_DIRS})
+    target_link_directories(${PROJECT_NAME}-world PRIVATE ${GAZEBO_LIBRARY_DIRS})
     target_link_libraries(${PROJECT_NAME}-world PRIVATE ${GAZEBO_LIBRARIES} ${YARP_LIBRARIES})
     install(TARGETS ${PROJECT_NAME}-world LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib)
     add_subdirectory(gazebo)