File modifications for the humanoids demo #1969
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| name: C++ CI Workflow | |
| on: | |
| push: | |
| 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 }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, windows-latest, macOS-latest] | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@master | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Miniforge3 | |
| miniforge-version: latest | |
| channels: conda-forge,robostack-staging,robotology | |
| channel-priority: true | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: Dependencies | |
| shell: bash -l {0} | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Compilation related dependencies | |
| conda install cmake compilers make ninja pkg-config | |
| # Actual dependencies | |
| conda install yarp ycm-cmake-modules icub-main eigen "idyntree>=10.0.0" human-dynamics-estimation wearables | |
| conda install bipedal-locomotion-framework | |
| - name: Linux-only Dependencies [Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| conda install mesa-libgl-devel-cos7-x86_64 | |
| - name: Windows-only Dependencies [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| conda install vs2019_win-64 | |
| - name: Windows-workarounds [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C CALL {0} | |
| run: | | |
| :: Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18 | |
| :: pcl is removed as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/695#issuecomment-1632208836 | |
| :: pcl can be re-added once we have a ros humble build compatible with PCL 1.13.0 | |
| :: pybind11 constrained as workaround for https://github.com/conda-forge/pybind11-feedstock/issues/95 | |
| conda install "pybind11<2.12.0" | |
| conda remove icub-models pcl | |
| - name: Print used environment | |
| shell: bash -l {0} | |
| run: | | |
| conda list | |
| env | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Windows] | |
| # Use bash also on Windows (otherwise cd, mkdir, ... do not work) | |
| if: matrix.os == 'windows-latest' | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -G"Visual Studio 17 2022" \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Configure [Ubuntu/macOS] | |
| if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest' | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Build | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install |