Hotfix/update GitHub actions (#139)

* Fix GitHub actions

Author: pzhu-flexiv

.github/workflows/shared_steps/action.yml

@@ -3,19 +3,24 @@ runs:
   using: "composite"
   # Note: working directory will be reset to the repo root for each new step
   steps:
+    # Use a fixed CMake version
+    - name: Set up CMake
+      uses: jwlawson/actions-setup-cmake@v2
+      with:
+        cmake-version: '3.22.1'
+
     # Build and install all dependencies to RDK installation directory.
     - name: Build and install dependencies
       shell: bash
       run: |
-        pwd
+        cmake --version
         cd thirdparty
         bash build_and_install_dependencies.sh ~/rdk_install 4
 
     # Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
     - name: Build and install library
       shell: bash
       run: |
-        pwd
         mkdir -p build && cd build
         cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
         cmake --build . --target install --config Release
@@ -24,7 +29,6 @@ runs:
     - name: Build examples
       shell: bash
       run: |
-        pwd
         cd example
         mkdir -p build && cd build
         cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
@@ -34,7 +38,6 @@ runs:
     - name: Build tests
       shell: bash
       run: |
-        pwd
         cd test
         mkdir -p build && cd build
         cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install

cmake/FlexivInstallLibrary.cmake

@@ -82,7 +82,9 @@ macro(FlexivInstallLibrary)
             DESTINATION "lib/cmake/${PROJECT_NAME}"
             )
 
-    # Override the dummy static lib with the actual static lib
+    # Replace the dummy static lib with the actual static lib 
+    install(CODE 
+            "file(REMOVE ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/${CMAKE_STATIC_LIBRARY_PREFIX}${PROJECT_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})")
     install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${RDK_LIB}
             DESTINATION ${CMAKE_INSTALL_LIBDIR}
             RENAME ${CMAKE_STATIC_LIBRARY_PREFIX}${PROJECT_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX}

thirdparty/scripts/install_Fast-DDS.sh

@@ -29,8 +29,7 @@ mkdir -p build && cd build
 cmake .. $SHARED_CMAKE_ARGS \
          -DTHIRDPARTY_Asio=ON \
          -DCOMPILE_EXAMPLES=OFF \
-         -DSQLITE3_SUPPORT=OFF \
-         -DOPENSSL_USE_STATIC_LIBS=ON
+         -DSQLITE3_SUPPORT=OFF
 
 # Build and install
 cmake --build . --target install --config Release -j $NUM_JOBS