From 9503fa90d906885ccfdcfaee8e992a37d3361891 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Sun, 22 Nov 2020 15:22:32 +0100 Subject: [PATCH] Update the CI to enable the compilation of bipedal-locomotion-framework --- .github/workflows/ci.yml | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index d0ba4a58c..2ae28d737 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -69,7 +69,7 @@ jobs: run: | mkdir -p build cd build - cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. - name: Build [Conda] shell: bash -l {0} @@ -99,36 +99,36 @@ jobs: project_tags_cmake_options: "" - project_tags: Unstable project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable" - + container: image: ${{ matrix.docker_image }} - + steps: - uses: actions/checkout@master - + - name: Dependencies [Docker] run: | chmod +x ./.ci/install_debian.sh ./.ci/install_debian.sh - - name: Install CMake 3.16 [Docker/Debian Buster] + - name: Install CMake 3.16 [Docker/Debian Buster] if: matrix.docker_image == 'debian:buster-backports' run: | apt-get -y -t buster-backports install cmake - + - name: Install additional packages for Debian Sid [Debian Sid] if: matrix.docker_image == 'debian:sid' run: | # Workaround for https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=967008 apt-get -y install libdart-external-odelcpsolver-dev - + - name: Configure [Docker] run: | mkdir -p build cd build # Octave is disabled as a workaround for https://github.com/robotology/robotology-superbuild/issues/384 # Python is disabled as a workaround for https://github.com/robotology/robotology-superbuild/issues/494 - cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. - name: Build [Docker] run: | @@ -228,6 +228,8 @@ jobs: brew install ace boost cmake eigen gsl ipopt jpeg libedit opencv pkg-config portaudio qt5 sqlite swig tinyxml # ROBOTOLOGY_ENABLE_DYNAMICS dependencies brew install libmatio + # ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS (qhull and cppad are installed with brew) + brew install cppad qhull # ROBOTOLOGY_USES_GAZEBO dependencies brew install osrf/simulation/gazebo11 # CI-specific dependencies @@ -255,8 +257,8 @@ jobs: shell: bash run: | mkdir -p build - cd build - cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=ON -DROBOTOLOGY_USES_PYTHON:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + cd build + cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=ON -DROBOTOLOGY_USES_PYTHON:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. - name: Disable macOS unsupported options if: contains(matrix.os, 'macos')