Add support for both Gazebo Harmonic (gz-sim8) and Gazebo Ionic (gz-sim9) #740
Workflow file for this run
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| name: CI Workflow | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| 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 * * *' | |
| jobs: | |
| build-with-conda-dependencies: | |
| name: '[conda:${{ matrix.os }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-22.04, macos-latest, windows-2019] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Print used environment (no conda) | |
| shell: bash -l {0} | |
| run: | | |
| env | |
| - uses: mamba-org/setup-micromamba@v1 | |
| with: | |
| environment-file: ci_env.yml | |
| # Additional dependencies useful only on Linux | |
| - name: Additional Dependencies (Linux) | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| # Additional dependencies only useful on Linux | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| micromamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 | |
| # Update package lists | |
| sudo apt-get update | |
| # See https://github.com/robotology/gz-yarp-plugins/pull/38#issuecomment-1681909589 for more info | |
| sudo apt install libgl1 libgl1-mesa-dri libselinux1 libxdamage1 libxxf86vm1 libxext6 libopengl0 libegl1 | |
| - name: Configure VS Toolchain (Windows) | |
| if: contains(matrix.os, 'windows') | |
| uses: ilammy/msvc-dev-cmd@v1.12.1 | |
| - name: Setup compilation env variables (Windows) | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| bash_vc_install=${VCToolsInstallDir//\\//} | |
| compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe | |
| echo "CC=${compiler_path}" >> $GITHUB_ENV | |
| echo "CXX=${compiler_path}" >> $GITHUB_ENV | |
| echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\Library" >> $GITHUB_ENV | |
| - name: Setup compilation env variables (non-Windows) | |
| if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos') | |
| shell: bash -l {0} | |
| run: | | |
| echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}" >> $GITHUB_ENV | |
| - name: Print used environment | |
| shell: bash -l {0} | |
| run: | | |
| conda list --explicit | |
| env | |
| - name: Configure | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DBUILD_TESTING:BOOL=ON .. | |
| - name: Build | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test_ubuntu | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| # LaserTest and CameraTest are failing on conda-forge on Ubuntu: https://github.com/robotology/gz-sim-yarp-plugins/issues/196 | |
| ctest -E "^LaserTest|^CameraTest" --output-on-failure -C ${{ matrix.build_type }} . | |
| - name: Test_macos | |
| if: contains(matrix.os, 'macos') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} . | |
| - name: Install | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Test installed package | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| export CMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install | |
| cmake-package-check gz-sim-yarp-plugins --targets gz-sim-yarp-plugins::gz-sim-yarp-device-registry |