Add GitHub Action job to run MATLAB tests

[traversaro]

Fix #872 .
Fix #393 .

This is done by:

• Update MOxUnit to the latest version to support recent versions of MATLAB (see d6c4d78)
• Fix MOxUnit test to follow the new format to support recent versions of MATLAB (see fa2cbc6)
• Add GitHub Action to run MATLAB tests ( b5af25d )

[traversaro]

Test fail with error:

60/60 Test #60: matlab_idyntree_tests .................................***Failed    1.87 sec
---------------------------------------------------------------------------
Error: Activation cannot proceed. You may either:
1. Set an X11 display, and restart the activation process
2. Use the silent activation feature
3. Activate using the license center
Errors while running CTest
---------------------------------------------------------------------------


98% tests passed, 1 tests failed out of 60

Total Test time (real) =  11.04 sec

The following tests FAILED:
	 60 - matlab_idyntree_tests (Failed)

Probably related to ami-iit/cmake-nightly-testing-runner#3 .

[traversaro]

The problem should be fixed by 2de9e46 .

[traversaro]

A minor issue is:

2021-09-15T10:35:27.6317673Z CMake Warning at cmake/FindMatlab.cmake:768 (message):
2021-09-15T10:35:27.6319050Z -- [MATLAB] Current version is unknown located /usr/local/MATLAB/R2020a
2021-09-15T10:35:27.6320511Z   [MATLAB] Unable to determine the version of Matlab.  Matlab call returned
2021-09-15T10:35:27.6321411Z   with error 1.
2021-09-15T10:35:27.6322467Z -- [MATLAB] Determining mex files extensions from '/usr/local/MATLAB/R2020a/bin' with program '/usr/local/MATLAB/R2020a/bin/mexext'
2021-09-15T10:35:27.6323440Z Call Stack (most recent call first):
2021-09-15T10:35:27.6324167Z   cmake/FindMatlab.cmake:1304 (matlab_get_version_from_matlab_run)
2021-09-15T10:35:27.6325270Z   cmake/FindMatlab.cmake:1608 (_Matlab_get_version_from_root)
2021-09-15T10:35:27.6326006Z   bindings/matlab/CMakeLists.txt:103 (find_package)

[traversaro]

For some reason, no MATLAB tests are actually run.

[traversaro]

For some reason, no MATLAB tests are actually run.

Apparently the reason is that we never updated MOxUnit for compatibility with MATLAB >= 2016, see MOxUnit/MOxUnit#42 .

[traversaro]

For some reason, no MATLAB tests are actually run.

Apparently the reason is that we never updated MOxUnit for compatibility with MATLAB >= 2016, see MOxUnit/MOxUnit#42 .

Updating MOxUnit and updating the boilerplate of the test fixed the issue indeed.

[traversaro]

Now the tests fail with:

61: Invalid MEX-file '/home/runner/work/idyntree/idyntree/build/lib/iDynTreeMEX.mexa64': /usr/local/MATLAB/R2020b/bin/glnxa64/../../sys/os/glnxa64/libstdc++.so.6: version
61: `GLIBCXX_3.4.26' not found (required by /home/runner/work/idyntree/idyntree/build/lib/libidyntree-inverse-kinematics.so)

The good old robotology/robotology-superbuild#64 .

[traversaro]

Now the tests fail with:

61: Invalid MEX-file '/home/runner/work/idyntree/idyntree/build/lib/iDynTreeMEX.mexa64': /usr/local/MATLAB/R2020b/bin/glnxa64/../../sys/os/glnxa64/libstdc++.so.6: version
61: `GLIBCXX_3.4.26' not found (required by /home/runner/work/idyntree/idyntree/build/lib/libidyntree-inverse-kinematics.so)

The good old robotology/robotology-superbuild#64 .

This was solved by setting the env variable LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6, as done by @singhbal-baljinder in robotology/urdf2casadi-matlab#20, even if we are using conda-provided dependencies instead of apt-provided ones.

[traversaro]

For some reason, no MATLAB tests are actually run.

Apparently the reason is that we never updated MOxUnit for compatibility with MATLAB >= 2016, see MOxUnit/MOxUnit#42 .

Updating MOxUnit and updating the boilerplate of the test fixed the issue indeed.

Apparently this was already documented in #393, but I never worked on it.

[traversaro]

A minor issue is:

2021-09-15T10:35:27.6317673Z CMake Warning at cmake/FindMatlab.cmake:768 (message):
2021-09-15T10:35:27.6319050Z -- [MATLAB] Current version is unknown located /usr/local/MATLAB/R2020a
2021-09-15T10:35:27.6320511Z   [MATLAB] Unable to determine the version of Matlab.  Matlab call returned
2021-09-15T10:35:27.6321411Z   with error 1.
2021-09-15T10:35:27.6322467Z -- [MATLAB] Determining mex files extensions from '/usr/local/MATLAB/R2020a/bin' with program '/usr/local/MATLAB/R2020a/bin/mexext'
2021-09-15T10:35:27.6323440Z Call Stack (most recent call first):
2021-09-15T10:35:27.6324167Z   cmake/FindMatlab.cmake:1304 (matlab_get_version_from_matlab_run)
2021-09-15T10:35:27.6325270Z   cmake/FindMatlab.cmake:1608 (_Matlab_get_version_from_root)
2021-09-15T10:35:27.6326006Z   bindings/matlab/CMakeLists.txt:103 (find_package)

This problem will be tracked in https://gitlab.kitware.com/cmake/cmake/-/issues/22646 .

[singhbal-baljinder]

To avoid specifying that each shell is login you can set a default shell.

[traversaro]

Done in 695d813 .