Merged in feature/ocs2_anymal_perception (pull request #690) #39
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| name: Build and Test OCS2 | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| jobs: | |
| build: | |
| # build both Debug and Release mode | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [ Debug, Release ] | |
| # environment: regular Ubuntu with a vanilla ROS container | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:noetic | |
| steps: | |
| - name: Environment Info | |
| run: | | |
| pwd | |
| uname -r | |
| lsb_release -a | |
| - name: System deps | |
| run: | | |
| apt-get update | |
| apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev checkinstall wget rsync | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: src/ocs2 | |
| - name: Rosdep | |
| run: | | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Checkout dependencies | |
| run: | | |
| git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git src/pinocchio | |
| git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git src/hpp-fcl | |
| git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets | |
| - name: Install RaiSim | |
| run: | | |
| git clone --depth 1 https://github.com/raisimTech/raisimLib.git -b v1.1.01 src/raisim_tech | |
| cd src/raisim_tech | |
| mkdir build | |
| cd build | |
| cmake .. -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") | |
| make -j4 && checkinstall | |
| - name: Install ONNX Runtime | |
| run: | | |
| wget https://github.com/microsoft/onnxruntime/releases/download/v1.7.0/onnxruntime-linux-x64-1.7.0.tgz -P tmp/microsoft | |
| tar xf tmp/microsoft/onnxruntime-linux-x64-1.7.0.tgz -C tmp/microsoft | |
| rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/include/ /usr/local/include/onnxruntime | |
| rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/lib/ /usr/local/lib | |
| rsync -a src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ /usr/local/share/onnxruntime | |
| - name: Build (${{ matrix.build_type }}) | |
| shell: bash | |
| run: | | |
| source /opt/ros/noetic/setup.bash | |
| catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} | |
| - name: Test | |
| shell: bash | |
| run: | | |
| source devel_isolated/setup.bash | |
| catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --catkin-make-args run_tests | |
| catkin_test_results |