CI of MujocoRosUtils #187
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| name: CI of MujocoRosUtils | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| build: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| build-type: [RelWithDebInfo, Debug] | |
| mujoco-version: [2.3.7] | |
| include: | |
| - os: ubuntu-20.04 | |
| build-type: RelWithDebInfo | |
| mujoco-version: 2.3.5 # 2.3.7 | |
| - os: ubuntu-20.04 | |
| build-type: RelWithDebInfo | |
| mujoco-version: 2.3.6 # 2.3.7 | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Setup environment variables | |
| run: | | |
| set -e | |
| set -x | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mujoco-version }}" == "2.3.7" ] && \ | |
| [ "${{ github.repository_owner }}" == "isri-aist" ] && \ | |
| [ "${{ github.ref }}" == "refs/heads/main" ] | |
| then | |
| echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV | |
| sudo apt-get install -qq doxygen graphviz | |
| else | |
| echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV | |
| fi | |
| - name: Download MuJoCo | |
| run: | | |
| set -e | |
| set -x | |
| cd ${{ github.workspace }}/.. # Note that everything under ${{ github.workspace }} is cleaned by actions/checkout. | |
| wget https://github.com/deepmind/mujoco/releases/download/${{ matrix.mujoco-version }}/mujoco-${{ matrix.mujoco-version }}-linux-x86_64.tar.gz | |
| tar -zxvf mujoco-${{ matrix.mujoco-version }}-linux-x86_64.tar.gz | |
| - name: Catkin build | |
| uses: jrl-umi3218/github-actions/build-catkin-project@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| cmake-args: -DMUJOCO_ROOT_DIR=${{ github.workspace }}/../mujoco-${{ matrix.mujoco-version }} -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} | |
| catkin-test-args: --no-deps | |
| build-packages: mujoco_ros_utils | |
| test-packages: mujoco_ros_utils | |
| - name: Upload documentation | |
| if: env.UPLOAD_DOCUMENTATION == 'true' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }} | |
| git config --global user.name "Masaki Murooka" | |
| git config --global user.email "m-murooka@aist.go.jp" | |
| git remote set-url origin "https://github.com/${{ github.repository }}" | |
| git fetch --depth=1 origin gh-pages:gh-pages | |
| git clean -dfx | |
| rm -rf cmake/ | |
| git checkout --quiet gh-pages | |
| rm -rf doxygen/ | |
| cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/mujoco_ros_utils/doc/html/ doxygen | |
| git add doxygen | |
| git_status=`git status -s` | |
| if test -n "$git_status"; then | |
| git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" | |
| git push origin gh-pages | |
| else | |
| echo "Github pages documentation is already up-to-date." | |
| fi |