build #79
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| name: build | |
| on: | |
| push: | |
| paths-ignore: | |
| - 'docs/**' | |
| workflow_dispatch: | |
| schedule: | |
| - cron: "0 1 * * 1" | |
| jobs: | |
| build: | |
| runs-on: ubuntu-20.04 | |
| env: | |
| ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...] | |
| CI_SOURCE_PATH: $(pwd) | |
| WS_DEF_FILE: ${{ github.workspace }}/smb.repos | |
| HW_FILE: ${{ github.workspace }}/smb_hw.repos | |
| ROS_PARALLEL_JOBS: '-j8 -l6' | |
| ROS_DISTRO: noetic | |
| CATKIN_WS: /root/catkin_ws_test/ | |
| LIBSPINNAKER_FILEID: 1r4LNuU9IhfRWavegSaLTFLIenTrmMpN1 | |
| LIBSPINNAKER_FILENAME: spinnaker-2.7.0.128-Ubuntu20.04-amd64-pkg.tar.gz | |
| container: | |
| image: ethzrobotx/smb_docker:latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Python and ROS | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y python3-catkin-tools python3-pip python3-vcstool git software-properties-common wget | |
| - name: Create workspace | |
| run: | | |
| mkdir -p $CATKIN_WS/src | |
| cd $CATKIN_WS | |
| catkin config --init --extend /opt/ros/noetic -DCMAKE_BUILD_TYPE=Release | |
| - name: Install ROS packages with rosdep | |
| run: | | |
| rosdep update | |
| cd $CATKIN_WS/src | |
| vcs import --recursive --input $WS_DEF_FILE . | |
| vcs import --recursive --input $HW_FILE . | |
| rosdep install --from-paths . --ignore-src --os=ubuntu:focal -r -y | |
| - name: catkin build smb_opc | |
| run: | | |
| cd $CATKIN_WS | |
| catkin build smb_opc --no-status | |
| - name: catkin build smb_gazebo | |
| run: | | |
| cd $CATKIN_WS | |
| catkin build smb_gazebo --no-status | |
| - name: catkin build smb_slam | |
| run: | | |
| cd $CATKIN_WS | |
| catkin build smb_slam --no-status | |
| - name: catkin build smb_path_planner | |
| run: | | |
| cd $CATKIN_WS | |
| catkin build smb_path_planner --no-status | |
| - name: catkin build gbplanner | |
| run: | | |
| cd $CATKIN_WS | |
| catkin build gbplanner* pci_general --no-status | |
| - name: catkin build frontier_exploration | |
| run: | | |
| cd $CATKIN_WS | |
| catkin build explore_lite slam_gmapping --no-status | |
| - name: Install librealsense and dependencies | |
| run: | | |
| # Realsense | |
| sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE | |
| sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" | |
| sudo apt update | |
| sudo apt install librealsense2-dev librealsense2-dkms librealsense2-utils -y | |
| sudo apt install ros-noetic-ddynamic-reconfigure -y | |
| - name: Install Robosense dependencies | |
| run: | | |
| # Robosense | |
| sudo apt-get install -y libyaml-cpp-dev libpcap-dev libprotobuf-dev protobuf-compiler git | |
| # - name: Install FLIR camera driver (libspinnaker) | |
| # run: | | |
| # # Spinnaker | |
| # sudo apt update | |
| # sudo apt install debconf-utils libusb-1.0-0 -y | |
| # wget --quiet --load-cookies /tmp/cookies.txt "https://drive.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://drive.google.com/uc?export=download&id='"$LIBSPINNAKER_FILEID" -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$LIBSPINNAKER_FILEID" -O $LIBSPINNAKER_FILENAME && rm -rf /tmp/cookies.txt | |
| # tar -xf $LIBSPINNAKER_FILENAME | |
| # SPINNAKER_DIR=$(tar -xvf $LIBSPINNAKER_FILENAME | head -1) | |
| # SPINNAKER_VERSION=${SPINNAKER_DIR#spinnaker-} | |
| # SPINNAKER_VERSION="${SPINNAKER_VERSION%-amd64/}"_amd64 | |
| # rm $LIBSPINNAKER_FILENAME | |
| # cd $SPINNAKER_DIR | |
| # echo libspinnaker libspinnaker/accepted-flir-eula boolean true | sudo debconf-set-selections | |
| # sudo dpkg -i libgentl_${SPINNAKER_VERSION}.deb libspinnaker_${SPINNAKER_VERSION}.deb libspinnaker-dev_${SPINNAKER_VERSION}.deb libspinnaker-c_${SPINNAKER_VERSION}.deb libspinnaker-c-dev_${SPINNAKER_VERSION}.deb | |
| - name: catkin build smb | |
| run: | | |
| cd $CATKIN_WS | |
| catkin build smb --no-status |