Pinv velocity solver sigma output #619
Workflow file for this run
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| name: CI | |
| on: [push, pull_request, workflow_dispatch] | |
| env: | |
| CXXFLAGS: "-Wall -Wextra -Wno-unused-parameter" | |
| jobs: | |
| build: | |
| name: Build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04, ubuntu-22.04] | |
| orocos_build_type: [Debug, Release] | |
| compiler: [gcc, clang] | |
| python_version: ['3.8', '3.10'] | |
| exclude: | |
| - os: ubuntu-20.04 | |
| python_version: '3.10' | |
| - os: ubuntu-22.04 | |
| python_version: '3.8' | |
| include: | |
| - os: ubuntu-20.04 | |
| orocos_build_type: Release | |
| compiler: gcc | |
| python_version: '3.9' | |
| - os: ubuntu-20.04 | |
| orocos_build_type: Release | |
| compiler: gcc | |
| python_version: '3.10' | |
| - os: ubuntu-20.04 | |
| orocos_build_type: Release | |
| compiler: gcc | |
| python_version: '3.11' | |
| - os: ubuntu-22.04 | |
| orocos_build_type: Release | |
| compiler: gcc | |
| python_version: '3.11' | |
| env: | |
| CC: ${{ matrix.compiler }} | |
| OROCOS_BUILD_TYPE: ${{ matrix.orocos_build_type }} | |
| ROS_PYTHON_VERSION: ${{ matrix.python_version }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python_version }} | |
| - name: Install | |
| run: | | |
| sudo apt-get install libeigen3-dev libcppunit-dev | |
| pip install psutil future | |
| - name: Build orocos_kdl | |
| run: | | |
| cd orocos_kdl | |
| mkdir build | |
| cd build | |
| cmake -DENABLE_TESTS:BOOL=ON -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./.. | |
| make | |
| sudo make install | |
| - name: Build PyKDL | |
| run: | | |
| cd python_orocos_kdl | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./.. | |
| make | |
| sudo make install | |
| - name: ldconfig | |
| run: sudo ldconfig | |
| - name: Test orocos_kdl | |
| run: | | |
| cd orocos_kdl/build | |
| make check | |
| - name: Test PyKDL | |
| run: | | |
| cd python_orocos_kdl | |
| python_version_short=$(python -c "import sys; print('{}.{}'.format(sys.version_info[0], sys.version_info[1]))") | |
| export PYTHONPATH=/usr/local/lib/python${python_version_short}/dist-packages${PYTHONPATH:+:${PYTHONPATH}} | |
| python tests/PyKDLtest.py | |
| industrial_ci: | |
| name: Industrial CI - ${{ matrix.env.ROS_DISTRO }} | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - env: | |
| ROS_DISTRO: noetic | |
| ROS_REPO: ros | |
| ABICHECK_URL: github:orocos/orocos_kinematics_dynamics#release-1.5 | |
| ABICHECK_MERGE: false | |
| branch: release-1.5 | |
| env: ${{ matrix.env }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| if: ${{ (github.event_name == 'push' && endsWith(github.ref, matrix.branch)) || (github.event_name == 'pull_request' && endsWith(github.base_ref, matrix.branch)) }} | |
| - uses: ros-industrial/industrial_ci@master | |
| env: ${{ matrix.env }} | |
| if: ${{ (github.event_name == 'push' && endsWith(github.ref, matrix.branch)) || (github.event_name == 'pull_request' && endsWith(github.base_ref, matrix.branch)) }} |