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conda-ci.yml
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name: CI Workflow
on:
push:
pull_request:
workflow_dispatch:
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:
check-style:
name: 'Check Style'
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v3
- name: Install Dependencies
run: |
sudo apt-get update -qq
sudo apt-get install -qq -y perl
- name: Check Style
run: |
perl tests/misc/check_style.pl
check-license:
name: 'Check License'
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v3
- name: Install Dependencies
run: |
sudo apt-get update -qq
sudo apt-get install -qq -y perl
- name: Check License
run: |
perl tests/misc/check_license.pl
check-tests:
name: 'Check Devices Tests'
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v3
- name: Install Dependencies
run: |
sudo apt-get update -qq
sudo apt-get install -qq -y python3
- name: Check Devices Tests
run: |
python3 tests/misc/check_tests.py
build:
name: '[${{ matrix.os }}@${{ matrix.build_type }}@${{ matrix.ros_distro }}@conda]'
runs-on: ${{ matrix.os }}
strategy:
matrix:
build_type: [Release]
ros_distro: [humble, iron, jazzy]
os: [ubuntu-22.04, ubuntu-24.04, macos-latest, windows-2019]
exclude:
# iron, jazzy non yet supported by conda:
- ros_distro: iron
- ros_distro: jazzy
# incompatible combinations:
- os: ubuntu-22.04
ros_distro: jazzy
- os: ubuntu-24.04
ros_distro: iron
fail-fast: false
steps:
- uses: actions/checkout@v3
- uses: conda-incubator/setup-miniconda@v2
with:
miniforge-variant: Mambaforge
miniforge-version: latest
- name: Dependencies
shell: bash -l {0}
run: |
# Compilation related dependencies
mamba install cmake compilers make ninja pkg-config
# Actual dependencies
mamba install -c conda-forge -c robostack-staging ycm-cmake-modules eigen ace ros-${{ matrix.ros_distro }}-ros-base ros-${{ matrix.ros_distro }}-test-msgs
- name: Download YARP [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
run: |
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/yarp
- name: Dependencies from source [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd ${GITHUB_WORKSPACE}
cd yarp
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \
-DYARP_COMPILE_TESTS:BOOL=ON \
-DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON
cmake --build . --config ${{ matrix.build_type }}
cmake --install . --config ${{ matrix.build_type }}
echo "YARP_DATA_DIRS=${CONDA_PREFIX}/share/yarp::${YARP_DATA_DIRS}" >> $GITHUB_ENV
- name: Dependencies from source [Windows]
if: contains(matrix.os, 'windows')
shell: bash -l {0}
run: |
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/yarp
cd yarp
mkdir build
cd build
cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \
-DYARP_COMPILE_TESTS:BOOL=ON \
-DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON
cmake --build . --config ${{ matrix.build_type }}
cmake --install . --config ${{ matrix.build_type }}
echo "YARP_DATA_DIRS=${CONDA_PREFIX}/Library/share/yarp;${YARP_DATA_DIRS}" >> $GITHUB_ENV
- name: Configure [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
mkdir -p build
cd build
# Python3_EXECUTABLE is set as a workaround for https://github.com/ros2/python_cmake_module/issues/6
cmake -GNinja -DBUILD_TESTING:BOOL=ON \
-DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=OFF \
-DPython3_EXECUTABLE:PATH=$CONDA_PREFIX/bin/python3 \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. \
-DYARP_COMPILE_TESTS:BOOL=ON
- name: Configure [Windows]
if: contains(matrix.os, 'windows')
# Command prompt is used as a workaround for https://github.com/RoboStack/ros-noetic/issues/21
shell: cmd /C CALL {0}
run: |
mkdir -p build
cd build
cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON ^
-DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=OFF ^
-DPython3_EXECUTABLE:PATH=%CONDA_PREFIX%\python.exe ^
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
-DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\Library .. ^
-DYARP_COMPILE_TESTS:BOOL=ON
- name: Build [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
cmake --build . --config ${{ matrix.build_type }}
- name: Install [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
cmake --install . --config ${{ matrix.build_type }}
- name: Test [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
ctest --output-on-failure -C ${{ matrix.build_type }}
- name: Build [Windows]
if: contains(matrix.os, 'windows')
shell: cmd /C CALL {0}
run: |
cd build
cmake --build . --config ${{ matrix.build_type }}
- name: Install [Windows]
if: contains(matrix.os, 'windows')
shell: cmd /C CALL {0}
run: |
cd build
cmake --install . --config ${{ matrix.build_type }}
- name: Test [Windows]
if: contains(matrix.os, 'windows')
shell: cmd /C CALL {0}
run: |
cd build
ctest --output-on-failure -C ${{ matrix.build_type }}
build-valgrind:
name: 'valgrind [ubuntu-22.04@Debug@humble@conda]'
runs-on: ubuntu-22.04
strategy:
matrix:
build_type: [Debug]
ros_distro: [humble]
os: [ubuntu-22.04]
fail-fast: false
steps:
- uses: actions/checkout@v3
- uses: conda-incubator/setup-miniconda@v2
with:
miniforge-variant: Mambaforge
miniforge-version: latest
- name: Dependencies
shell: bash -l {0}
run: |
# Compilation related dependencies
mamba install cmake compilers make ninja pkg-config
# Actual dependencies
sudo apt-get install -qq -y libc6-dbg
mamba install -c conda-forge -c robostack-staging ycm-cmake-modules eigen valgrind ace ros-${{ matrix.ros_distro }}-ros-base ros-${{ matrix.ros_distro }}-test-msgs
- name: Download YARP [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
run: |
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/yarp
- name: Dependencies from source [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd ${GITHUB_WORKSPACE}
cd yarp
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \
-DYARP_COMPILE_TESTS:BOOL=ON \
-DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \
-DYARP_VALGRIND_TESTS:BOOL=ON
cmake --build . --config ${{ matrix.build_type }}
cmake --install . --config ${{ matrix.build_type }}
echo "YARP_DATA_DIRS=${CONDA_PREFIX}/share/yarp::${YARP_DATA_DIRS}" >> $GITHUB_ENV
- name: Configure [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
mkdir -p build
cd build
# Python3_EXECUTABLE is set as a workaround for https://github.com/ros2/python_cmake_module/issues/6
cmake -GNinja -DBUILD_TESTING:BOOL=ON \
-DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=OFF \
-DPython3_EXECUTABLE:PATH=$CONDA_PREFIX/bin/python3 \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DYARP_VALGRIND_TESTS:BOOL=ON \
-DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. \
-DYARP_COMPILE_TESTS:BOOL=ON
- name: Build [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
cmake --build . --config ${{ matrix.build_type }}
- name: Install [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
cmake --install . --config ${{ matrix.build_type }}
- name: Test [Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
ctest --output-on-failure -C ${{ matrix.build_type }}