Add joint type handling for prismatic and revolute joints #1593
Workflow file for this run
This file contains hidden or 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: CI Workflow | |
| on: | |
| workflow_dispatch: | |
| 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-with-conda-dependencies: | |
| name: '[conda:${{ matrix.os }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-22.04, macos-latest, windows-2022] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Print used environment (no conda) | |
| shell: bash -l {0} | |
| run: | | |
| env | |
| - uses: mamba-org/setup-micromamba@v1 | |
| with: | |
| environment-file: ci_env.yml | |
| # Additional dependencies useful only on Linux | |
| - name: Additional Dependencies (Linux) | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| # Additional dependencies only useful on Linux | |
| # See https://conda-forge.org/docs/maintainer/maintainer_faq/#how-do-i-fix-the-libglso1-import-error | |
| micromamba install libgl-devel | |
| # Update package lists | |
| sudo apt-get update | |
| # See https://github.com/robotology/gz-yarp-plugins/pull/38#issuecomment-1681909589 for more info | |
| sudo apt install libgl1-mesa-dri libglx-mesa0 libegl-mesa0 | |
| - name: Configure VS Toolchain (Windows) | |
| if: contains(matrix.os, 'windows') | |
| uses: ilammy/msvc-dev-cmd@v1.12.1 | |
| - name: Setup compilation env variables (Windows) | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| bash_vc_install=${VCToolsInstallDir//\\//} | |
| compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe | |
| echo "CC=${compiler_path}" >> $GITHUB_ENV | |
| echo "CXX=${compiler_path}" >> $GITHUB_ENV | |
| echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\Library" >> $GITHUB_ENV | |
| - name: Setup compilation env variables (non-Windows) | |
| if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos') | |
| shell: bash -l {0} | |
| run: | | |
| echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}" >> $GITHUB_ENV | |
| - name: Print used environment | |
| shell: bash -l {0} | |
| run: | | |
| conda list --explicit | |
| env | |
| - name: Configure | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DBUILD_TESTING:BOOL=ON .. | |
| - name: Build | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| # Tests are Ubuntu-only due to https://github.com/robotology/gz-sim-yarp-plugins/issues/215 and https://github.com/robotology/gz-sim-yarp-plugins/issues/205 | |
| - name: Test | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} . | |
| - name: Install | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Test installed package | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| export CMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install | |
| cmake-package-check gz-sim-yarp-plugins --targets gz-sim-yarp-plugins::gz-sim-yarp-device-registry gz-sim-yarp-plugins::gz-sim-yarp-commons |