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| name: CI of RobotArrayVisualization | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| build-and-test: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| build-type: [RelWithDebInfo, Debug] | |
| mc-rtc-version: [head, stable] | |
| compiler: [gcc] | |
| exclude: | |
| - build-type: Debug | |
| mc-rtc-version: stable | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Setup environment variables | |
| run: | | |
| set -e | |
| set -x | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mc-rtc-version }}" == "head" ] && \ | |
| [ "${{ matrix.compiler }}" == "gcc" ] | |
| then | |
| echo "RUN_SIMULATION_STEPS=true" >> $GITHUB_ENV | |
| else | |
| echo "RUN_SIMULATION_STEPS=false" >> $GITHUB_ENV | |
| fi | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mc-rtc-version }}" == "head" ] && \ | |
| [ "${{ matrix.compiler }}" == "gcc" ] | |
| then | |
| echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV | |
| else | |
| echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV | |
| fi | |
| echo "DISPLAY=:1" >> $GITHUB_ENV | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| ubuntu: | | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/${{ matrix.mc-rtc-version }} | |
| apt: librbdyn-dev doxygen graphviz | |
| ros: | | |
| apt: ros-base | |
| - name: Setup display | |
| run: | | |
| set -e | |
| set -x | |
| sudo apt-get install -y -qq xvfb ffmpeg mesa-utils fluxbox xserver-xorg xserver-xorg-core xserver-xorg-video-all libwayland-egl1-mesa | |
| Xvfb ${{ env.DISPLAY }} -screen 0 1920x1080x24 & | |
| sleep 10s | |
| fluxbox 2> /dev/null & | |
| - name: Catkin build | |
| uses: jrl-umi3218/github-actions/build-catkin-project@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| cmake-args: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} | |
| catkin-test-args: --no-deps | |
| build-packages: robot_array_rviz_plugins | |
| test-packages: robot_array_rviz_plugins | |
| # - name: Run simulation | |
| # if: env.RUN_SIMULATION_STEPS == 'true' | |
| # # https://github.com/jrl-umi3218/lipm_walking_controller/blob/b564d655388ae6a6725c504e5c74a62192e58c7c/.github/workflows/build.yml#L64-L92 | |
| # run: | | |
| # set -e | |
| # set -x | |
| # sudo apt-get install -y -qq xvfb ffmpeg mesa-utils fluxbox xserver-xorg xserver-xorg-core xserver-xorg-video-all libwayland-egl1-mesa | |
| # set +x | |
| # if [ "${{ matrix.catkin-build }}" == "catkin" ] | |
| # then | |
| # . ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash | |
| # fi | |
| # set -x | |
| # export DISPLAY=":1" | |
| # Xvfb ${DISPLAY} -screen 0 1920x1080x24 & | |
| # sleep 10s | |
| # fluxbox 2> /dev/null & | |
| # mkdir -p ${HOME}/.config/mc_rtc/controllers | |
| # if [ "${{ matrix.catkin-build }}" == "catkin" ] | |
| # then | |
| # cp ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/etc/mc_rtc.yaml ${HOME}/.config/mc_rtc | |
| # else | |
| # echo "Enabled: RobotArrayVisualization" > ${HOME}/.config/mc_rtc/mc_rtc.yaml | |
| # fi | |
| # python3 ${{ env.CI_DIR }}/scripts/mergeConfigs.py ${{ env.CI_DIR }}/config/${{ matrix.mpc-method }}.yaml ${{ env.CI_DIR }}/config/${{ matrix.mpc-framework }}.yaml ${{ env.CI_DIR }}/config/${{ matrix.motion-type }}.yaml > ${HOME}/.config/mc_rtc/controllers/RobotArrayVisualization.yaml | |
| # ffmpeg -y -f x11grab -s 1920x1080 -r 30 -i ${DISPLAY} -qscale 0 -vcodec huffyuv /tmp/video.avi > /dev/null 2>&1 < /dev/null & | |
| # FFMPEG_PID=$! | |
| # cd /usr/share/hrpsys/samples/JVRC1 | |
| # ./clear-omninames.sh | |
| # roscore > /dev/null 2>&1 < /dev/null & | |
| # ROSCORE_PID=$! | |
| # sleep 1s | |
| # if [ "${{ matrix.motion-type }}" == "WalkingOnPlane" -o "${{ matrix.motion-type }}" == "WalkingOnPlaneWaypoint" -o "${{ matrix.motion-type }}" == "WalkingOnPlaneVel" ]; then | |
| # CNOID_FILE=sim_mc.cnoid | |
| # else | |
| # CNOID_FILE=sim_mc_comanoid_staircase.cnoid | |
| # fi | |
| # choreonoid ${CNOID_FILE} --test-mode --start-simulation & | |
| # CNOID_PID=$! | |
| # if [ "${{ matrix.motion-type }}" == "WalkingWithFootstepPlanner" ]; then | |
| # SLEEP_DURATION="70s" | |
| # else | |
| # SLEEP_DURATION="50s" | |
| # fi | |
| # sleep ${SLEEP_DURATION} | |
| # kill -2 ${ROSCORE_PID} | |
| # kill -2 ${CNOID_PID} | |
| # kill -2 ${FFMPEG_PID} | |
| # sleep 1s | |
| # kill -9 ${CNOID_PID} || true | |
| # sleep 10s | |
| # mkdir -p /tmp/results | |
| # ffmpeg -nostats -i /tmp/video.avi /tmp/results/BWC-video-${RESULTS_POSTFIX}.mp4 | |
| # LOG_FILENAME=BWC-log-${RESULTS_POSTFIX} | |
| # mv `readlink -f /tmp/mc-control-RobotArrayVisualization-latest.bin` /tmp/${LOG_FILENAME}.bin | |
| # tar czf /tmp/results/${LOG_FILENAME}.tar.gz -C /tmp ${LOG_FILENAME}.bin | |
| # - name: Upload simulation data | |
| # if: env.RUN_SIMULATION_STEPS == 'true' | |
| # uses: actions/upload-artifact@v3 | |
| # with: | |
| # name: BWC-ci-results-${{ matrix.catkin-build }} | |
| # path: /tmp/results | |
| # - name: Upload documentation | |
| # if: env.UPLOAD_DOCUMENTATION == 'true' | |
| # run: | | |
| # set -e | |
| # set -x | |
| # cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }} | |
| # git config --global user.name "Masaki Murooka" | |
| # git config --global user.email "m-murooka@aist.go.jp" | |
| # git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/RobotArrayVisualization" | |
| # git fetch --depth=1 origin gh-pages:gh-pages | |
| # git clean -dfx | |
| # rm -rf cmake/ | |
| # git checkout --quiet gh-pages | |
| # rm -rf doxygen/ | |
| # cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/robot_array_rviz_plugins/doc/html/ doxygen | |
| # git add doxygen | |
| # git_status=`git status -s` | |
| # if test -n "$git_status"; then | |
| # git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" | |
| # git push origin gh-pages | |
| # else | |
| # echo "Github pages documentation is already up-to-date." | |
| # fi |