[StabilizerTask] Fix disabling when the robot is in the air #411
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| name: CI of mc_rtc | |
| on: | |
| push: | |
| paths-ignore: | |
| # Changes to those files don't mandate running CI | |
| - ".gitlab-ci.yml" | |
| - ".jrl-ci" | |
| - ".github/workflows/package.yml" | |
| - ".github/workflows/sources/*" | |
| - ".github/workflows/build-others.yml" | |
| - ".github/workflows/docker/*" | |
| - "debian/**" | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| jobs: | |
| build: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04, macos-latest, windows-latest] | |
| build-type: [Debug, RelWithDebInfo, script] | |
| compiler: [gcc, clang] | |
| exclude: | |
| # Only default compiler on ubuntu-18.04, macos-latest and windows-latest | |
| - os: ubuntu-18.04 | |
| compiler: clang | |
| - os: macos-latest | |
| compiler: clang | |
| - os: windows-latest | |
| compiler: clang | |
| # Script always use default compiler | |
| - build-type: script | |
| compiler: clang | |
| # FIXME Windows Debug CI fails: tests are failing | |
| - os: windows-latest | |
| build-type: Debug | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: recursive | |
| - name: Linux cleanup | |
| if: matrix.os == 'ubuntu-18.04' || matrix.os == 'ubuntu-20.04' | |
| run: | | |
| set -e | |
| sudo rm -rf /opt/hostedtoolcache/CodeQL | |
| sudo rm -rf /usr/local/lib/android | |
| echo "LD_LIBRARY_PATH=/usr/local/lib:/usr/local/lib/x86_64-linux-gnu/:${LD_LIBRARY_PATH}" >> $GITHUB_ENV | |
| - name: macOS cleanup | |
| run: | | |
| sudo rm '/usr/local/bin/2to3' | |
| if: startsWith(runner.os, 'macOS') | |
| - name: Install pip for Python 2 (Ubuntu 20.04) | |
| run: | | |
| curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py | |
| sudo python2 get-pip.py | |
| rm -f get-pip.py | |
| if: matrix.os == 'ubuntu-20.04' && matrix.build-type != 'script' | |
| - name: Clear environment (script) | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| if: matrix.build-type == 'script' | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: RelWithDebInfo | |
| - name: Build with script | |
| if: matrix.build-type == 'script' | |
| shell: bash | |
| run: | | |
| set -x | |
| cd utils | |
| if [[ "${{ matrix.os }}" == "windows-latest" ]] | |
| then | |
| ./build_and_install.sh --user-input false --with-python-support false --build-testing false --build-benchmarks true | |
| elif [[ "${{ matrix.os }}" == "macos-latest" ]] | |
| then | |
| ./build_and_install.sh --user-input false --with-python-support false --build-benchmarks true --allow-root true | |
| else | |
| ./build_and_install.sh --user-input false --build-benchmarks true --allow-root true | |
| fi | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| if: matrix.build-type != 'script' | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt: cython cython3 python-pytest python3-pytest python-numpy python3-numpy python-coverage python3-coverage python-setuptools python3-setuptools libeigen3-dev doxygen doxygen-latex libboost-all-dev libtinyxml2-dev libgeos++-dev libnanomsg-dev libyaml-cpp-dev libltdl-dev libnotify-dev | |
| macos: | | |
| brew: eigen boost tinyxml2 geos nanomsg yaml-cpp pkg-config libtool gcc libnotify | |
| pip: Cython coverage numpy pytest | |
| windows: | | |
| pip: Cython coverage numpy pytest | |
| github: | |
| - path: eigenteam/eigen-git-mirror | |
| ref: 3.3.7 | |
| - path: leethomason/tinyxml2 | |
| ref: 7.1.0 | |
| - path: libgeos/geos | |
| ref: 3.8.1 | |
| options: -DBUILD_TESTING:BOOL=ON | |
| - path: nanomsg/nanomsg | |
| ref: 1.1.5 | |
| - path: jbeder/yaml-cpp | |
| ref: 29dcf92f870ee51cce8d68f8fcfe228942e8dfe1 | |
| options: -DYAML_CPP_BUILD_TESTS:BOOL=OFF | |
| macos-options: -DPYTHON_BINDING:BOOL=OFF | |
| windows-options: -DPYTHON_BINDING:BOOL=OFF | |
| github: | | |
| - path: gabime/spdlog | |
| ref: v1.6.1 | |
| options: -DSPDLOG_BUILD_EXAMPLE:BOOL=OFF -DSPDLOG_BUILD_SHARED:BOOL=ON | |
| - path: loco-3d/ndcurves | |
| ref: v1.1.5 | |
| options: -DBUILD_PYTHON_INTERFACE:BOOL=OFF | |
| - path: jrl-umi3218/Eigen3ToPython | |
| - path: jrl-umi3218/SpaceVecAlg | |
| - path: jrl-umi3218/sch-core | |
| options: -DCMAKE_CXX_STANDARD=11 | |
| - path: jrl-umi3218/eigen-qld | |
| - path: jrl-umi3218/sch-core-python | |
| - path: jrl-umi3218/RBDyn | |
| - path: jrl-umi3218/Tasks | |
| - path: jrl-umi3218/mc_rbdyn_urdf | |
| - path: jrl-umi3218/mc_rtc_data | |
| - path: jrl-umi3218/eigen-quadprog | |
| - path: jrl-umi3218/state-observation | |
| - path: jrl-umi3218/tvm | |
| options: -DTVM_WITH_ROBOT:BOOL=OFF | |
| - name: Build and test | |
| if: matrix.build-type == 'RelWithDebInfo' || (matrix.build-type == 'Debug' && github.ref == 'refs/heads/master') | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| macos-options: -DPYTHON_BINDING:BOOL=OFF | |
| windows-options: -DPYTHON_BINDING:BOOL=OFF | |
| - name: Build and test (Debug/Fast tests) | |
| if: matrix.build-type == 'Debug' && github.ref != 'refs/heads/master' | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| options: '-DENABLE_FAST_TESTS:BOOL=ON' | |
| macos-options: -DPYTHON_BINDING:BOOL=OFF | |
| - name: Build with ROS | |
| if: (matrix.os == 'ubuntu-18.04' || matrix.os == 'ubuntu-20.04') && matrix.build-type != 'script' | |
| run: | | |
| set -e | |
| set -x | |
| pushd . | |
| if [ "${{ matrix.os }}" = "ubuntu-18.04" ] | |
| then | |
| export ROS_DISTRO="melodic" | |
| else | |
| export ROS_DISTRO="noetic" | |
| fi | |
| sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | |
| wget http://packages.ros.org/ros.key -O - | sudo apt-key add - | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-tf2-ros | |
| . /opt/ros/${ROS_DISTRO}/setup.bash | |
| mkdir -p /tmp/_ci/catkin_ws/src/ | |
| cd /tmp/_ci/catkin_ws/src | |
| catkin_init_workspace | |
| git clone --recursive https://github.com/jrl-umi3218/mc_rtc_msgs | |
| cd ../ | |
| catkin_make || exit 1 | |
| . devel/setup.bash | |
| popd | |
| pushd . | |
| cd build | |
| cmake ../ && make -j2 && sudo make install || exit 1 | |
| popd | |
| - name: Upload documentation | |
| # Only run on master branch and for one configuration | |
| if: matrix.os == 'ubuntu-20.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master' && github.repository == 'jrl-umi3218/mc_rtc' | |
| run: | | |
| set -x | |
| pushd . | |
| cd doc | |
| cp -r /usr/local/share/doc/mc_rtc/doxygen-html . | |
| find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/SpaceVecAlg/doxygen-html/@https://jrl-umi3218.github.io/SpaceVecAlg/doxygen/HEAD/@g' | |
| find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/RBDyn/doxygen-html/@https://jrl-umi3218.github.io/RBDyn/doxygen/HEAD/@g' | |
| find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/Tasks/doxygen-html/@https://jrl-umi3218.github.io/Tasks/doxygen/HEAD/@g' | |
| find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/sch-core/doxygen-html/@https://jrl-umi3218.github.io/sch-core/doxygen/HEAD/@g' | |
| find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/mc_rbdyn_urdf/doxygen-html/@https://jrl-umi3218.github.io/mc_rbdyn_urdf/doxygen/HEAD/@g' | |
| find . -type f -print0 | xargs -0 sed -i -e's@/usr/local/share/doc/TVM/doxygen-html/@https://jrl-umi3218.github.io/tvm/doxygen/HEAD/@g' | |
| sudo apt-get install -qq ruby-dev ruby-bundler libxml2-dev | |
| bundle install --path vendor | |
| git clone -b gh-pages https://gergondet:${{ secrets.GH_PAGES_TOKEN }}@github.com/jrl-umi3218/mc_rtc /tmp/website | |
| bundle exec jekyll build --trace -b /mc_rtc -d /tmp/website | |
| cd /tmp/website | |
| git add . | |
| git config --global user.email "[email protected]" | |
| git config --global user.name "Pierre Gergondet (Automated CI update)" | |
| git commit -m "Website from commit ${GITHUB_SHA}" | |
| git push origin gh-pages | |
| popd | |
| - name: Debug Windows DLL issue | |
| if: failure() && matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| set -e | |
| pwd | |
| echo $PATH | |
| ls | |
| ldd build/tests/RelWithDebInfo/testGUIStateBuilder.exe | |
| ldd build/tests/RelWithDebInfo/testDataStore.exe | |
| - name: Slack Notification | |
| if: failure() | |
| uses: archive/github-actions-slack@master | |
| with: | |
| slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }} | |
| slack-channel: '#ci' | |
| slack-text: > | |
| [mc_rtc] Build *${{ matrix.os }}/${{ matrix.build-type }} (${{ matrix.compiler }})* failed on ${{ github.ref }} |