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Estimate Robot Geometry using Ellipsoids and Control Points for smooth WBV Repulsion #90
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| name: Build and Test Repository Packages | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| jobs: | |
| build_and_test_ros2: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: rostooling/setup-ros-docker:ubuntu-noble-latest | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.merge_commit_sha }} | |
| - name: Install Linux dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y libeigen3-dev | |
| apt-get install -y liburdfdom-dev | |
| apt-get install -y libfcl-dev | |
| apt-get install -y libccd-dev | |
| apt-get install -y libassimp-dev | |
| apt-get install -y lsb-release | |
| - name: Install ROS apt libraries | |
| run: | | |
| apt-get install -y ros-jazzy-urdf | |
| - name: Install robotpkg pinocchio | |
| run: | | |
| mkdir -p /etc/apt/keyrings | |
| curl -fsSL http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | tee /etc/apt/keyrings/robotpkg.asc | |
| echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \ | |
| | tee /etc/apt/sources.list.d/robotpkg.list | |
| apt-get update | |
| apt-get install -y robotpkg-pinocchio | |
| - name: Set up robotpkg pinocchio environment | |
| run: | | |
| echo "export PATH=/opt/openrobots/bin:$PATH" >> $GITHUB_ENV | |
| echo "export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV | |
| echo "export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV | |
| echo "export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH" >> $GITHUB_ENV | |
| echo "export CMAKE_PREFIX_PATH=/opt/openrobots/lib/cmake:$CMAKE_PREFIX_PATH" >> $GITHUB_ENV | |
| - name: Configure Git Credentials | |
| run: | | |
| git config --global url."https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/".insteadOf "https://github.com/" | |
| - name: Build and run tests | |
| uses: ros-tooling/action-ros-ci@v0.4 | |
| with: | |
| package-name: potential_fields potential_fields_interfaces potential_fields_demos potential_fields_library | |
| target-ros2-distro: jazzy | |
| extra-cmake-args: -DCMAKE_PREFIX_PATH=/opt/openrobots | |
| rosdep-skip-keys: "pinocchio coal" | |
| env: | |
| LD_LIBRARY_PATH: /opt/openrobots/lib:${{ env.LD_LIBRARY_PATH }} | |
| PKG_CONFIG_PATH: /opt/openrobots/lib/pkgconfig:${{ env.PKG_CONFIG_PATH }} | |
| CMAKE_PREFIX_PATH: /opt/openrobots/lib/cmake:${{ env.CMAKE_PREFIX_PATH }} | |
| PYTHONPATH: /opt/openrobots/lib/python3.10/site-packages:${{ env.PYTHONPATH }} |