Merge pull request #1216 from cmastalli/topic/rviz-display #2
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: CONDA | |
| on: [push, pull_request] | |
| jobs: | |
| crocoddyl-conda: | |
| name: (${{ matrix.os }}, clang, multi-threading, ipopt, ${{ matrix.build_type }}) | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CCACHE_DIR: ${{ matrix.CCACHE_DIR }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| # os: ["ubuntu-latest", "macos-latest"] | |
| os: ["macos-latest"] | |
| build_type: [Release, Debug] | |
| compiler: [clang] | |
| include: | |
| # - os: ubuntu-latest | |
| # CCACHE_DIR: /home/runner/.ccache | |
| - os: macos-latest | |
| CCACHE_DIR: /Users/runner/.ccache | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v3 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }} | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| activate-environment: crocoddyl | |
| auto-update-conda: true | |
| environment-file: .github/workflows/conda/conda-env.yml | |
| - name: Install conda dependencies | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| conda install cmake ccache -c conda-forge | |
| conda install llvm-openmp libcxx -c conda-forge | |
| conda list | |
| - name: Install example-robot-data | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| mkdir third-party && cd third-party | |
| git clone --recursive https://github.com/Gepetto/example-robot-data.git | |
| cd example-robot-data && mkdir build && cd build | |
| cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX | |
| make install | |
| - name: Install compilers for macOS | |
| shell: bash -l {0} | |
| if: contains(matrix.os, 'macos-latest') | |
| run: | | |
| conda install compilers -c conda-forge | |
| - name: Enable CppADCodeGen compilation | |
| shell: bash -l {0} | |
| if: contains(matrix.build_type, 'Release') | |
| run: | | |
| echo "codegen_support=ON" >> "$GITHUB_ENV" | |
| - name: Disable CppADCodeGen compilation | |
| shell: bash -l {0} | |
| if: contains(matrix.build_type, 'Debug') | |
| run: | | |
| echo "codegen_support=OFF" >> "$GITHUB_ENV" | |
| - name: Build Crocoddyl | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| echo $CONDA_PREFIX | |
| mkdir build | |
| cd build | |
| cmake .. \ | |
| -DCMAKE_CXX_COMPILER=/usr/bin/clang++ -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DBUILD_WITH_CODEGEN_SUPPORT=${{ env.codegen_support }} -DPYTHON_EXECUTABLE=$(which python3) \ | |
| -DBUILD_WITH_MULTITHREADS=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX | |
| make | |
| - name: Run unit tests | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| cd build | |
| export CTEST_OUTPUT_ON_FAILURE=1 | |
| make test | |
| - name: Install Crocoddyl | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| make install | |
| - name: Uninstall Crocoddyl | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| make uninstall |