Windows #959
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| name: Windows | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| paths: | |
| - 'trajopt**' | |
| - '.github/workflows/windows.yml' | |
| - '.github/workflows/windows_dependencies.repos' | |
| schedule: | |
| - cron: '0 5 * * *' | |
| jobs: | |
| ci: | |
| name: ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [windows-2019,windows-2022] | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: target_ws/src | |
| - name: Setup cmake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: '3.28.x' | |
| - name: vcpkg build | |
| uses: johnwason/vcpkg-action@v6 | |
| with: | |
| pkgs: >- | |
| fcl bullet3[multithreading,double-precision,rtti] octomap console-bridge eigen3 yaml-cpp boost-stacktrace | |
| benchmark tinyxml2 assimp orocos-kdl pcl lapack-reference boost-dll boost-filesystem boost-filesystem | |
| boost-format | |
| boost-serialization boost-program-options boost-graph urdfdom ccd[double-precision] gtest jsoncpp | |
| triplet: x64-windows-release | |
| extra-args: --clean-after-build | |
| token: ${{ github.token }} | |
| cache-key: ci-${{ matrix.os }} | |
| github-binarycache: true | |
| - name: configure-msvc | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| with: | |
| arch: x64 | |
| - name: update environment | |
| shell: bash | |
| run: | | |
| echo "PATH=${{ env.PATH }};$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release\bin" >> "$GITHUB_ENV" | |
| echo "CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release" >> "$GITHUB_ENV" | |
| - name: Build and Tests | |
| uses: tesseract-robotics/colcon-action@v4 | |
| with: | |
| ccache-prefix: ${{ matrix.distro }} | |
| vcs-file: .github/workflows/windows_dependencies.repos | |
| upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF | |
| target-path: target_ws/src | |
| target-args: --packages-ignore trajopt_ifopt trajopt_sqp --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON | |
| run-tests-args: --packages-ignore trajopt_ifopt trajopt_sqp |