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ThomasDuvinageThomasDuvinage
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Merge pull request #4 from ThomasDuvinage/ros2
Migrate centroidal control collection to ros2. Please note that examples are not yet support on ros2. Closes #4
2 parents ff6c4f3 + 7d82464 commit 706d98d

24 files changed

Lines changed: 399 additions & 300 deletions

‎.clang-format-common.sh‎

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# This script is meant to be sourced from other scripts
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# Check for clang-format, prefer 10 if available
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if [[ -x "$(command -v clang-format-10)" ]]; then
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clang_format=clang-format-10
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# Check for clang-format, prefer 14 if available
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if [[ -x "$(command -v clang-format-14)" ]]; then
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clang_format=clang-format-14
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elif [[ -x "$(command -v clang-format)" ]]; then
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clang_format=clang-format
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else
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echo "clang-format or clang-format-10 must be installed"
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echo "clang-format or clang-format-14 must be installed"
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exit 1
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fi
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‎.github/workflows/ci-catkin.yaml‎

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This file was deleted.

‎.github/workflows/ci-colcon.yaml‎

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name: CI of CentroidalControlCollection (colcon)
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on:
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push:
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branches:
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- '**'
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pull_request:
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branches:
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- '**'
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jobs:
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clang-format:
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runs-on: ubuntu-22.04
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steps:
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- name: Checkout repository code
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uses: actions/checkout@v3
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- name: Install clang-format-14
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run: |
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sudo apt-get -qq update
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sudo apt-get -qq install clang-format-14
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- name: Run clang-format-check
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run: |
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./.clang-format-check.sh
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build-and-test:
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-22.04]
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build-type: [RelWithDebInfo]
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standalone: [colcon]
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runs-on: ${{ matrix.os }}
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steps:
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- name: Set environment variables
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run: |
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set -e
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set -x
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echo "LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
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if [ "${{ matrix.os }}" == "ubuntu-22.04" ] && \
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[ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
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[ "${{ matrix.standalone }}" == "colcon" ] && \
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[ "${{ github.repository_owner }}" == "isri-aist" ] && \
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[ "${{ github.ref }}" == "refs/heads/master" ]
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then
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echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV
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sudo apt-get install -qq doxygen graphviz
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else
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echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV
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fi
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- name: Install ROS2
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if: matrix.standalone == 'colcon'
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uses: jrl-umi3218/github-actions/install-dependencies@master
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with:
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ros: |
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apt: ros-base
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- name: Install Dependencies
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uses: jrl-umi3218/github-actions/install-dependencies@master
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with:
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build-type: ${{ matrix.build-type }}
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ubuntu: |
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apt-mirrors:
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mc-rtc:
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cloudsmith: mc-rtc/head
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apt: libgtest-dev libeigen-qld-dev libmc-rtc-dev
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- name: Checkout repository code
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uses: actions/checkout@v3
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with:
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path: colcon_ws/src/CentroidalControlCollection
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- name: Checkout QpSolverCollection
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uses: actions/checkout@v3
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with:
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repository: isri-aist/QpSolverCollection
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path: colcon_ws/src/QpSolverCollection
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- name: Checkout ForceControlCollection
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uses: actions/checkout@v3
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with:
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repository: isri-aist/ForceControlCollection
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path: colcon_ws/src/ForceControlCollection
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- name: Checkout NMPC
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uses: actions/checkout@v3
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with:
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repository: isri-aist/NMPC
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submodules: recursive
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path: colcon_ws/src/NMPC
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- name: Rosdep install
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run: |
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set -e
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set -x
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cd ${GITHUB_WORKSPACE}/colcon_ws
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if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]
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then
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sudo rosdep init
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fi
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rosdep update
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rosdep install -y -r --from-paths src --ignore-src
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- name: Colcon build
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run: |
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set -e
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set -x
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cd ${GITHUB_WORKSPACE}/colcon_ws
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colcon build --merge-install --cmake-args -DUSE_ROS2=ON -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DENABLE_QLD=ON -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }}
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- name: Run tests
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run: |
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set -e
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set -x
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cd ${GITHUB_WORKSPACE}/colcon_ws
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set +x
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. install/setup.bash
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set -x
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colcon test --merge-install --packages-select centroidal_control_collection
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colcon test-result --all --verbose
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- name: Upload documentation
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# Only run for one configuration and on origin master branch
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if: env.UPLOAD_DOCUMENTATION == 'true'
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run: |
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set -e
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set -x
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cd ${GITHUB_WORKSPACE}/colcon_ws/src/${{ github.repository }}
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git config --global user.name "Masaki Murooka"
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git config --global user.email "m-murooka@aist.go.jp"
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git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/CentroidalControlCollection"
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git fetch --depth=1 origin gh-pages:gh-pages
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git checkout --quiet gh-pages
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rm -rf doxygen/ cmake/
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cp -r ${GITHUB_WORKSPACE}/colcon_ws/build/centroidal_control_collection/doc/html/ doxygen
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git add doxygen
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git_status=`git status -s`
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if test -n "$git_status"; then
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git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}"
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git push origin gh-pages
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else
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echo "Github pages documentation is already up-to-date."
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fi

‎.github/workflows/ci-standalone.yaml‎

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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-20.04]
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os: [ubuntu-22.04]
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build-type: [Debug, RelWithDebInfo]
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compiler: [gcc, clang]
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runs-on: ${{ matrix.os }}
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steps:
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- name: Set environment variables
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run: |
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set -e
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set -x
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echo "LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
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- uses: actions/checkout@v3
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with:
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submodules: recursive
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- name: Install dependencies
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uses: jrl-umi3218/github-actions/install-dependencies@master
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with:

‎.github/workflows/package.yaml‎

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uses: jrl-umi3218/github-actions/.github/workflows/package-project.yml@master
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with:
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main-repo: isri-aist/CentroidalControlCollection
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matrix: |
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{
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"dist": ["jammy"],
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"arch": ["amd64"]
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}
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secrets:
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CLOUDSMITH_API_KEY: ${{ secrets.CLOUDSMITH_API_KEY }}
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GH_TOKEN: ${{ secrets.GH_PAGES_TOKEN }}

‎.gitmodules‎

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