using docker container #3
Workflow file for this run
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| name: Build and Test RAPTOR | |
| on: | |
| push: | |
| branches: | |
| - unit_test_dev | |
| paths-ignore: | |
| # Compiled Object files and Libraries | |
| - '*.d' | |
| - '*.slo' | |
| - '*.lo' | |
| - '*.o' | |
| - '*.obj' | |
| - '*.gch' | |
| - '*.pch' | |
| - '*.so' | |
| - '*.dylib' | |
| - '*.dll' | |
| - '*.mod' | |
| - '*.smod' | |
| - '*.lai' | |
| - '*.la' | |
| - '*.a' | |
| - '*.lib' | |
| # Executables | |
| - '*.exe' | |
| - '*.out' | |
| - '*.app' | |
| # Matlab related | |
| - '*.asv' | |
| - '*.mat' | |
| - '.vscode/**' | |
| - 'build/**' | |
| - 'data/**' | |
| - 'data_safecopy/**' | |
| - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**' | |
| - 'test_oracle.py' | |
| - 'docker/HSL.zip' | |
| - 'docker/pardiso/**' | |
| - 'HSL/**' | |
| - 'Examples/Digit/singlestep_optimization_settings.yaml' | |
| - 'Examples/Digit-modified/singlestep_optimization_settings.yaml' | |
| - 'test_nanobind_planner.py' | |
| pull_request: | |
| branches: | |
| - unit_test_dev | |
| paths-ignore: | |
| # Same patterns as for push events | |
| - '*.d' | |
| - '*.slo' | |
| - '*.lo' | |
| - '*.o' | |
| - '*.obj' | |
| - '*.gch' | |
| - '*.pch' | |
| - '*.so' | |
| - '*.dylib' | |
| - '*.dll' | |
| - '*.mod' | |
| - '*.smod' | |
| - '*.lai' | |
| - '*.la' | |
| - '*.a' | |
| - '*.lib' | |
| # Executables | |
| - '*.exe' | |
| - '*.out' | |
| - '*.app' | |
| # Matlab related | |
| - '*.asv' | |
| - '*.mat' | |
| - '.vscode/**' | |
| - 'build/**' | |
| - 'data/**' | |
| - 'data_safecopy/**' | |
| - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**' | |
| - 'test_oracle.py' | |
| - 'docker/HSL.zip' | |
| - 'docker/pardiso/**' | |
| - 'HSL/**' | |
| - 'Examples/Digit/singlestep_optimization_settings.yaml' | |
| - 'Examples/Digit-modified/singlestep_optimization_settings.yaml' | |
| - 'test_nanobind_planner.py' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: zichang1234/raptor:latest | |
| # not sure | |
| env: | |
| CCACHE_BASEDIR: ${{ github.workspace }} | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| CCACHE_COMPRESS: true | |
| CCACHE_COMPRESSLEVEL: 5 | |
| steps: | |
| - name: Setup Container | |
| run: | | |
| apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3 | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| - name: Setup ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ccache | |
| save-state: true | |
| key: ccache-linux-${{ matrix.container }}-${{ github.sha }} | |
| restore-keys: | | |
| ccache-linux-${{ matrix.container }}- | |
| - name: Get branch name (merge) | |
| if: github.event_name != 'pull_request' | |
| shell: bash | |
| run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV | |
| - name: Get branch name (push) | |
| if: github.event_name != 'pull_request' | |
| shell: bash | |
| run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV | |
| - name: Get branch name (pull request) | |
| if: github.event_name == 'pull_request' | |
| shell: bash | |
| run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV | |
| - name: Debug Branch Name | |
| run: echo ${{ env.BRANCH_NAME }} | |
| # - name: Register robotpkg | |
| # run: | | |
| # sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list" | |
| # apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key | |
| # - name: Set and install dependencies | |
| # run: | | |
| # rm -rf /usr/local/share/boost/1.69.0 | |
| # export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))") | |
| # export APT_DEPENDENCIES="doxygen \ | |
| # ccache \ | |
| # curl \ | |
| # cppcheck \ | |
| # libomp-dev \ | |
| # libomp5 \ | |
| # libboost-system-dev \ | |
| # libboost-test-dev \ | |
| # libboost-filesystem-dev \ | |
| # libboost-program-options-dev \ | |
| # libeigen3-dev \ | |
| # liburdfdom-dev \ | |
| # texlive-font-utils \ | |
| # libboost-python-dev \ | |
| # python3-numpy \ | |
| # python3-matplotlib \ | |
| # robotpkg-py${PYTHON3_VERSION}-eigenpy \ | |
| # robotpkg-py${PYTHON3_VERSION}-hpp-fcl \ | |
| # robotpkg-py${PYTHON3_VERSION}-casadi" | |
| # echo "APT Dependencies: $APT_DEPENDENCIES" | |
| # apt-get update -qq | |
| # DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES} | |
| # - name: Install Python Packages | |
| # run: | | |
| # pip3 install --upgrade pip | |
| # pip3 install scipy matplotlib pyyaml torch pybullet==3.2.5 mujoco==2.3.7 glfw==2.6.2 pyopengl==3.1.7 numpy==1.25.2 nanobind pygccxml pyplusplus | |
| # - name: Install Pinocchio Dependencies | |
| # run: | | |
| # bash docker/scripts/install-pinocchio.sh | |
| # - name: Install HSL Solver | |
| # run: | | |
| # bash docker/scripts/install-hsl.sh | |
| # - name: Install Ipopt Solver | |
| # run: | | |
| # bash docker/scripts/install-ipopt.sh | |
| # - name: Install OMPL | |
| # run: | | |
| # bash docker/scripts/install-ompl.sh | |
| - name: Free disk space | |
| run: | | |
| apt clean | |
| df -h | |
| - name: Configure CMake | |
| run: | | |
| # Add cloned repo to safe.directory, since it was not cloned by the container | |
| git config --global --add safe.directory "$GITHUB_WORKSPACE" | |
| git submodule update --init | |
| export PATH=$PATH:/opt/openrobots/bin | |
| export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))") | |
| export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu | |
| mkdir build | |
| cd build | |
| cmake .. \ | |
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DCMAKE_BUILD_TYPE=Release \ | |
| -DBUILD_WITH_COLLISION_SUPPORT=ON \ | |
| -DBUILD_ADVANCED_TESTING=OFF \ | |
| -DBUILD_WITH_CASADI_SUPPORT=ON \ | |
| -DPYTHON_EXECUTABLE=$(which python3) \ | |
| -DBUILD_WITH_OPENMP_SUPPORT=ON \ | |
| -DINSTALL_DOCUMENTATION=ON \ | |
| -DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake | |
| - name: Build Project | |
| run: | | |
| cd build | |
| make -j$(nproc) | |
| # may overlap | |
| # - name: Build Tests | |
| # run: | | |
| # cd build | |
| # make -j$(nproc) build_tests | |
| - name: Run Tests | |
| env: | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| run: | | |
| cd build | |
| ctest --output-on-failure | |
| - name: Upload Build Artifacts | |
| if: always() | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: build-artifacts | |
| path: build/ | |
| - name: Run Tests | |
| env: | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| run: | | |
| cd build | |
| mkdir -p TestResults | |
| ctest --output-on-failure --output-junit TestResults/test-results.xml | |
| - name: Upload Test Results | |
| if: always() | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: test-results | |
| path: build/TestResults/test-results.xml | |
| - name: Upload Test Results to Test Reporter | |
| if: always() | |
| uses: dorny/test-reporter@v1 | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| with: | |
| name: CTest Results | |
| path: build/TestResults/test-results.xml | |
| reporter: junit | |
| - name: Test Packaging | |
| run: | | |
| export PATH=$PATH:/opt/openrobots/bin | |
| export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu | |
| # Test CMake module packaging | |
| cd ./unittest/packaging/cmake | |
| mkdir build && cd build | |
| export CMAKE_PREFIX_PATH=/usr/local | |
| cmake .. \ | |
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DPYTHON_EXECUTABLE=$(which python3) | |
| make -j$(nproc) | |
| ./run_rnea | |
| ./load_urdf | |
| # Test pkg-config packaging | |
| cd ../../pkgconfig | |
| mkdir build && cd build | |
| cmake .. \ | |
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DPYTHON_EXECUTABLE=$(which python3) | |
| make -j$(nproc) | |
| ./run_rnea | |
| ./load_urdf | |
| # Test FetchContent packaging | |
| cd ../../external | |
| export PINOCCHIO_GIT_REPOSITORY="file://$GITHUB_WORKSPACE" | |
| export PINOCCHIO_GIT_TAG="test-external-$(git rev-parse --short HEAD)" | |
| git tag $PINOCCHIO_GIT_TAG | |
| mkdir build && cd build | |
| cmake .. \ | |
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DPYTHON_EXECUTABLE=$(which python3) | |
| make -j$(nproc) | |
| ./run_rnea | |
| ./load_urdf | |
| # Test CMake module packaging and pinocchio_header target | |
| cd ../../pinocchio_header | |
| mkdir build && cd build | |
| cmake .. \ | |
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DPYTHON_EXECUTABLE=$(which python3) | |
| make -j$(nproc) | |
| ./run_fk | |
| - name: Uninstall Project | |
| run: | | |
| cd build | |
| sudo make uninstall | |
| check: | |
| if: always() | |
| name: check-linux-apt | |
| needs: | |
| - build | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Decide whether the needed jobs succeeded or failed | |
| uses: re-actors/alls-green@release/v1 | |
| with: | |
| jobs: ${{ toJSON(needs) }} |