CI: Add conda-forge based builds

See #477 for more details.
 
In a nutshell conda is a package manager (originally for Python, but now quite language agnostic) that works on Linux, macOS and Windows. `conda-forge`  is a channel for the conda package manager that provides many dependency, in particular all the one that are required by the robotology-superbuild .

.github/workflows/ci.yml

@@ -17,6 +17,61 @@ on:
 
 
 jobs:
+  conda-build:    
+    name: '[conda:Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]'
+    # Windows is disabled due to the missing ipopt package
+    runs-on: [ubuntu-latest, macos-latest]
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [Release]
+        cmake_generator: 
+          - "Ninja"
+        project_tags:
+          - Default
+          - Unstable
+        include:
+          - project_tags: Default
+            project_tags_cmake_options: ""
+          - project_tags: Unstable
+            project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v1
+        with:
+          auto-update-conda: true
+
+    - name: Dependencies [Conda]
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies 
+        conda install -c conda-forge cmake compilers ninja pkg-config
+        # Actual dependencies
+        conda install -c conda-forge ace asio boost eigen freeglut gazebo glew glfw gsl ipopt libjpeg-turbo libmatio libode libxml2 opencv pkg-config portaudio qt sdl sdl2 sqlite tinyxml
+
+    # Additional dependencies useful only on Linux
+    - name: Dependencies [Conda/Linux]
+      shell: bash -l {0}
+      run: |
+        # Additional dependencies only useful on Linux
+        # See https://github.com/robotology/robotology-superbuild/issues/477
+        conda install -c conda-forge expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxdamage-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib
+
+    - name: Configure [Conda]
+      # ROBOTOLOGY_ENABLE_ICUB_HEAD is disabled due to https://github.com/robotology/icub-main/issues/685
+      shell: bash
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"${{ 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 -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
+
+    - name: Build  [Conda]
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
   docker-build:    
     name: '[docker:Tags:${{ matrix.project_tags }}@${{ matrix.docker_image }}@${{ matrix.build_type }}]'
     runs-on: ubuntu-latest