Add leg skin spatial calibration #2856
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| name: Continuous Integration | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - devel | |
| pull_request: | |
| types: [opened, reopened, synchronize, ready_for_review] | |
| 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 * * *' | |
| workflow_dispatch: | |
| jobs: | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}@BUILD_SHARED_LIBS:${{ matrix.build_shared_libs }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, windows-latest] | |
| build_shared_libs: [ON, OFF] | |
| steps: | |
| - name: Checkout the code | |
| uses: actions/checkout@main | |
| - name: Environment Variables | |
| shell: bash | |
| run: env | |
| # Remove apt repos that are known to break from time to time | |
| # See https://github.com/actions/virtual-environments/issues/323 | |
| - name: Remove broken apt repos [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: pwsh | |
| run: | | |
| $response = gh api --paginate -H "Accept: application/vnd.github.v3+json" /repos/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest | |
| $latest_tag = ($response | ConvertFrom-Json).tag_name | |
| echo "Installing robotology-superbuild-dependencies-vcpkg@$latest_tag" | |
| iwr -Uri https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/$latest_tag/vcpkg-robotology.zip -OutFile C:/vcpkg-robotology.zip | |
| 7z x C:/vcpkg-robotology.zip -oC:/ | |
| "VCPKG_INSTALLATION_ROOT=C:/robotology/vcpkg" >> $env:GITHUB_ENV | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| sudo apt update | |
| sudo apt install -y git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev libopencv-dev qtbase5-dev \ | |
| qtdeclarative5-dev qtmultimedia5-dev libtinyxml-dev libgsl-dev libpython3-dev swig | |
| - name: Determine YCM and YARP required versions | |
| shell: bash | |
| run: | | |
| grep -m 1 YCM_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" > YCM_VERSION.txt | |
| grep -m 1 YARP_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" > YARP_VERSION.txt | |
| cat YARP_VERSION.txt | awk -F '.' '{ print $1 }' > YARP_VERSION_MAJOR.txt | |
| cat YARP_VERSION.txt | awk -F '.' '{ print $2 }' > YARP_VERSION_MINOR.txt | |
| echo "ycm_version=$(cat YCM_VERSION.txt)" >> $GITHUB_ENV | |
| echo "yarp_branch=yarp-$(cat YARP_VERSION_MAJOR.txt).$(cat YARP_VERSION_MINOR.txt)" >> $GITHUB_ENV | |
| - name: Determine icub-firmware-shared required branch | |
| shell: bash | |
| run: | | |
| grep -m 1 icub_firmware_shared_VERSION conf/iCubFindDependencies.cmake | sed "s/[^0-9.]//g" > icub_firmware_shared_VERSION.txt | |
| gh --repo robotology/icub-firmware-shared release list > icub_firmware_shared_RELEASES.txt | |
| if grep -q $(cat icub_firmware_shared_VERSION.txt) icub_firmware_shared_RELEASES.txt; then | |
| echo "icub_firmware_shared_branch=v$(cat icub_firmware_shared_VERSION.txt)" >> $GITHUB_ENV | |
| elif [[ "${{ github.event_name }}" == "schedule" || "${{ github.ref }}" == "refs/heads/master" || "${{ github.base_ref }}" == "master" || "${{ github.head_ref }}" == "master" ]]; then | |
| echo "icub_firmware_shared_branch=master" >> $GITHUB_ENV | |
| else | |
| echo "icub_firmware_shared_branch=devel" >> $GITHUB_ENV | |
| fi | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Source-based Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }} | |
| cd ycm && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp.git --depth 1 --branch ${{ env.yarp_branch }} | |
| cd yarp && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DYARP_COMPILE_GUIS:BOOL=OFF \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # icub-firmware-shared | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch ${{ env.icub_firmware_shared_branch }} | |
| cd icub-firmware-shared && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| - name: Source-based Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }} | |
| cd ycm && mkdir -p build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp.git --depth 1 --branch ${{ env.yarp_branch }} | |
| cd yarp && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DYARP_COMPILE_GUIS:BOOL=OFF .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # icub-firmware-shared | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch ${{ env.icub_firmware_shared_branch }} | |
| cd icub-firmware-shared && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Windows] | |
| # Use bash also on Windows (otherwise cd, mkdir, ... do not work) | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
| -DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \ | |
| -DICUB_USE_icub_firmware_shared:BOOL=ON \ | |
| -DENABLE_icubmod_skinWrapper:BOOL=ON \ | |
| -DENABLE_icubmod_sharedcan:BOOL=ON \ | |
| -DENABLE_icubmod_canmotioncontrol:BOOL=ON \ | |
| -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \ | |
| -DENABLE_icubmod_canBusInertialMTB:BOOL=ON \ | |
| -DENABLE_icubmod_canBusSkin:BOOL=ON \ | |
| -DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \ | |
| -DENABLE_icubmod_embObjFTsensor:BOOL=ON \ | |
| -DENABLE_icubmod_embObjIMU:BOOL=ON \ | |
| -DENABLE_icubmod_embObjInertials:BOOL=ON \ | |
| -DENABLE_icubmod_embObjMais:BOOL=ON \ | |
| -DENABLE_icubmod_embObjMotionControl:BOOL=ON \ | |
| -DENABLE_icubmod_embObjBattery:BOOL=ON \ | |
| -DENABLE_icubmod_embObjSkin:BOOL=ON \ | |
| -DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \ | |
| -DENABLE_icubmod_parametricCalibrator:BOOL=ON \ | |
| -DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \ | |
| -DBUILD_TESTING:BOOL=ON \ | |
| -DICUB_SHARED_LIBRARY=OFF \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Configure [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
| -DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \ | |
| -DICUB_USE_icub_firmware_shared:BOOL=ON \ | |
| -DENABLE_icubmod_skinWrapper:BOOL=ON \ | |
| -DENABLE_icubmod_sharedcan:BOOL=ON \ | |
| -DENABLE_icubmod_canmotioncontrol:BOOL=ON \ | |
| -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \ | |
| -DENABLE_icubmod_canBusInertialMTB:BOOL=ON \ | |
| -DENABLE_icubmod_canBusSkin:BOOL=ON \ | |
| -DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \ | |
| -DENABLE_icubmod_embObjFTsensor:BOOL=ON \ | |
| -DENABLE_icubmod_embObjIMU:BOOL=ON \ | |
| -DENABLE_icubmod_embObjInertials:BOOL=ON \ | |
| -DENABLE_icubmod_embObjMais:BOOL=ON \ | |
| -DENABLE_icubmod_embObjMotionControl:BOOL=ON \ | |
| -DENABLE_icubmod_embObjBattery:BOOL=ON \ | |
| -DENABLE_icubmod_embObjSkin:BOOL=ON \ | |
| -DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \ | |
| -DENABLE_icubmod_parametricCalibrator:BOOL=ON \ | |
| -DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \ | |
| -DBUILD_TESTING:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Enable python bindings on Ubuntu | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| cd build | |
| # Enable ICUB_COMPILE_BINDINGS in Ubuntu | |
| cmake -DICUB_COMPILE_BINDINGS:BOOL=ON -DCREATE_PYTHON:BOOL=ON . | |
| - name: Extend Path | |
| shell: bash | |
| run: | | |
| echo "${{ github.workspace }}/install/bin" >> $GITHUB_PATH | |
| echo "${{ github.workspace }}/install/lib/yarp" >> $GITHUB_PATH | |
| # Fix for using YARP idl generators (that link ACE) in Windows (https://github.com/robotology/idyntree/issues/569) | |
| echo "${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/bin" >> $GITHUB_PATH | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Test | |
| shell: bash | |
| run: | | |
| cd build | |
| ctest run_unit_test --output-on-failure -C ${{ matrix.build_type }} . |