ci: get git to work on ci

Author: Meow404

.bazelrc

@@ -61,3 +61,5 @@ build:omp --linkopt=-fopenmp
 
 # use python3 by default
 build --python_path=python3
+
+build --local_cpu_resources=3

.cirrus.yml

@@ -5,19 +5,10 @@ build_jammy_task:
     cpu: 8
     memory: 24
   test_script:
-    - export CC=clang-15
-    - export CXX=clang++-15
-    - bazel build
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      --jobs=8 
-      //...
-    - bazel test
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      //...
+  - export CC=clang-15
+  - export CXX=clang++-15
+  - bazel build --define=WITH_GUROBI=OFF --define=WITH_SNOPT=OFF --local_ram_resources=24000 --local_cpu_resources=8 --jobs=8 //...
+  - bazel test --define=WITH_SNOPT=OFF --local_ram_resources=24000 --local_cpu_resources=8 //...
 drake_master_build_task:
   timeout_in: 120m
   container:
@@ -28,20 +19,10 @@ drake_master_build_task:
   env:
     DAIRLIB_WITH_ROS: ON
   test_script:
-    - git clone https://github.com/RobotLocomotion/drake.git ../drake
-    - export DAIRLIB_LOCAL_DRAKE_PATH=$PWD/../drake
-    - cd tools/workspace/ros
-    - ./compile_ros_workspace.sh
-    - cd ../../../
-    - bazel build
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      --jobs=8 
-      //...
-    - bazel test
-      --define=WITH_SNOPT=OFF
-      --local_ram_resources=24000
-      --local_cpu_resources=8
-      --jobs=8 
-      //...
+  - git clone https://github.com/RobotLocomotion/drake.git ../drake
+  - export DAIRLIB_LOCAL_DRAKE_PATH=$PWD/../drake
+  - cd tools/workspace/ros
+  - ./compile_ros_workspace.sh
+  - cd ../../../
+  - bazel build --define=WITH_GUROBI=OFF --define=WITH_SNOPT=OFF --local_ram_resources=24000 --local_cpu_resources=8 --jobs=8 //...
+  - bazel test --define=WITH_SNOPT=OFF --local_ram_resources=24000 --local_cpu_resources=8 --jobs=8 //...

bindings/pydairlib/systems/robot_lcm_systems_py.cc

@@ -29,21 +29,20 @@ PYBIND11_MODULE(robot_lcm_systems, m) {
       m, "RobotOutputSender")
       .def(py::init<const MultibodyPlant<double>&, bool>())
       .def("get_input_port_state", &RobotOutputSender::get_input_port_state,
-          py_rvp::reference_internal)
+           py_rvp::reference_internal)
       .def("get_input_port_effort", &RobotOutputSender::get_input_port_effort,
-          py_rvp::reference_internal)
+           py_rvp::reference_internal)
       .def("get_input_port_imu", &RobotOutputSender::get_input_port_imu,
-          py_rvp::reference_internal);
+           py_rvp::reference_internal);
   py::class_<systems::RobotCommandSender, drake::systems::LeafSystem<double>>(
       m, "RobotCommandSender")
       .def(py::init<const MultibodyPlant<double>&>());
   m.def("AddActuationRecieverAndStateSenderLcm",
         &dairlib::systems::AddActuationRecieverAndStateSenderLcm,
         py::arg("builder"), py::arg("plant"), py::arg("lcm"),
         py::arg("actuator_channel"), py::arg("state_channel"),
-        py::arg("publish_rate"), py::arg("publish_efforts"),
-        py::arg("actuator_delay"));
-
+        py::arg("publish_rate"), py::arg("model_instance_index"),
+        py::arg("publish_efforts"), py::arg("actuator_delay"));
 }
 
 }  // namespace pydairlib

install/focal/ros/Dockerfile

@@ -3,7 +3,7 @@ WORKDIR /dairlib
 ENV DAIRLIB_DOCKER_VERSION_26=26
 ENV ROS_PYTHON_VERSION=3
 COPY . .
-RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip python
+RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip python git
 RUN apt-get install -y python3-rosinstall-generator python3-catkin-tools python3-vcstool python3-osrf-pycommon python3-vcstool python3-empy clang-12 clang-format-12
 RUN set -eux \
   && apt-get install --no-install-recommends  locales \

install/jammy/Dockerfile

@@ -2,7 +2,7 @@ FROM ubuntu:jammy
 WORKDIR ./dairlib
 ENV DAIRLIB_DOCKER_VERSION_25=25
 COPY . .
-RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip clang-15 clang-format-15 ca-certificates gnupg
+RUN apt-get update && apt-get install -y wget lsb-release pkg-config zip g++ zlib1g-dev unzip clang-15 clang-format-15 ca-certificates gnupg git
 RUN set -eux \
   && apt-get install --no-install-recommends  locales \
   && locale-gen en_US.UTF-8

systems/framework/geared_motor.cc

@@ -5,12 +5,14 @@
 namespace dairlib {
 namespace systems {
 
+using drake::BasicVector;
 using drake::multibody::JointActuator;
 using drake::multibody::MultibodyPlant;
 using drake::systems::kUseDefaultName;
 
-GearedMotor::GearedMotor(const MultibodyPlant<double>& plant,
-                         const std::unordered_map<std::string, double>& max_motor_speeds)
+GearedMotor::GearedMotor(
+    const MultibodyPlant<double>& plant,
+    const std::unordered_map<std::string, double>& max_motor_speeds)
     : n_q(plant.num_positions()),
       n_v(plant.num_velocities()),
       n_u(plant.num_actuators()),
@@ -19,11 +21,12 @@ GearedMotor::GearedMotor(const MultibodyPlant<double>& plant,
     const JointActuator<double>& joint_actuator =
         plant.get_joint_actuator(drake::multibody::JointActuatorIndex(i));
     actuator_gear_ratios.push_back(joint_actuator.default_gear_ratio());
-    actuator_ranges.push_back(joint_actuator.effort_limit() / joint_actuator.default_gear_ratio());
+    actuator_ranges.push_back(joint_actuator.effort_limit() /
+                              joint_actuator.default_gear_ratio());
     actuator_max_speeds.push_back(max_motor_speeds.at(joint_actuator.name()));
   }
-  systems::BasicVector<double> input(plant.num_actuators());
-  systems::BasicVector<double> output(plant.num_actuators());
+  BasicVector<double> input(plant.num_actuators());
+  BasicVector<double> output(plant.num_actuators());
 
   command_input_port_ =
       this->DeclareVectorInputPort("u_cmd", input).get_index();
@@ -36,11 +39,10 @@ GearedMotor::GearedMotor(const MultibodyPlant<double>& plant,
 
 void GearedMotor::CalcTorqueOutput(
     const drake::systems::Context<double>& context,
-    systems::BasicVector<double>* output) const {
-  const systems::BasicVector<double>& u =
-      *this->template EvalVectorInput<BasicVector>(context,
-                                                   command_input_port_);
-  const systems::BasicVector<double>& x =
+    BasicVector<double>* output) const {
+  const BasicVector<double>& u = *this->template EvalVectorInput<BasicVector>(
+      context, command_input_port_);
+  const BasicVector<double>& x =
       *this->template EvalVectorInput<BasicVector>(context, state_input_port_);
   Eigen::VectorXd actuator_velocities = B_.transpose() * x.value().tail(n_v);
   Eigen::VectorXd tau = Eigen::VectorXd::Zero(n_u);