apt CI Workflow #827
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: apt CI Workflow | |
| on: | |
| push: | |
| branches: | |
| - main | |
| 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: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}@yarp:${{ matrix.yarp_tag }}@gazebo:${{ matrix.gazebo_distro }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release, Debug] | |
| os: [ubuntu-22.04] | |
| ycm_tag: [v0.16.2] | |
| yarp_tag: [v3.9.0] | |
| gazebo_distro: [harmonic] | |
| steps: | |
| - uses: actions/checkout@v2 | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| run: env | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: apt Dependencies | |
| run: | | |
| sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list' | |
| wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - | |
| sudo apt-get update | |
| # YARP dependencies | |
| sudo apt-get install git build-essential cmake ninja-build libace-dev libeigen3-dev libopencv-dev libtinyxml-dev | |
| # gz-sim-yarp-plugins dependencies | |
| sudo apt-get install gz-${{ matrix.gazebo_distro }} libcli11-dev | |
| # Test dependencies | |
| sudo apt-get install libgtest-dev | |
| - name: Cache Source-based Dependencies | |
| id: cache-source-deps | |
| uses: actions/cache@v3 | |
| with: | |
| path: ${{ github.workspace }}/install/deps | |
| key: source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-ycm-${{ matrix.ycm_tag }}-yarp-${{ matrix.yarp_tag }} | |
| - name: Source-based Dependencies | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' | |
| run: | | |
| # YCM | |
| git clone https://github.com/robotology/ycm | |
| cd ycm | |
| git checkout ${{ matrix.ycm_tag }} | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| git checkout ${{ matrix.yarp_tag }} | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Configure Environment variables for Source-based Dependencies | |
| run: | | |
| # Configure environment | |
| echo "YARP_DATA_DIRS=${GITHUB_WORKSPACE}/install/deps/share/yarp" >> $GITHUB_ENV | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_CXX_FLAGS_DEBUG="--coverage -g -O0" -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON .. | |
| - name: Build | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test (Release) | |
| if: contains(matrix.build_type, 'Release') | |
| run: | | |
| cd build | |
| # Deterministic tests | |
| ctest -E "^CameraTest" --output-on-failure -C ${{ matrix.build_type }} . | |
| # Non-deterministic tests | |
| ctest -R "^CameraTest" --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} . | |
| - name: Test (Debug) | |
| if: contains(matrix.build_type, 'Debug') | |
| run: | | |
| cd build | |
| # Deterministic tests | |
| ctest -E "^CameraTest" -T Test -T Coverage --output-on-failure -C ${{ matrix.build_type }} . | |
| # Non-deterministic tests | |
| ctest -R "^CameraTest" -T Test -T Coverage --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} . | |
| - name: Install | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |