revert: remove commits for robot model collision features from develop

.github/actions/build-test-protocol/Dockerfile

@@ -0,0 +1,5 @@
+FROM ghcr.io/aica-technology/control-libraries/development-dependencies:latest
+
+# Copy and set the entrypoint commands to execute when the container starts
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

.github/actions/build-test-protocol/action.yml

@@ -0,0 +1,5 @@
+name: 'Build and Test Protocol'
+description: 'Build the protobuf message libraries and run all unit tests'
+runs:
+  using: 'docker'
+  image: 'Dockerfile'

.github/actions/build-test-protocol/entrypoint.sh

@@ -0,0 +1,23 @@
+#!/bin/sh -l
+
+echo ">>> Installing control libraries..."
+bash /github/workspace/source/install.sh --auto --no-controllers --no-dynamical-systems --no-robot-model || exit 1
+ldconfig
+
+echo ">>> Building proto bindings..."
+cd /github/workspace/protocol/protobuf && make all || exit 2
+
+echo ">>> Configuring clproto_cpp cmake..."
+cd /github/workspace/protocol/clproto_cpp && mkdir build && cd build \
+  && cmake -DCMAKE_BUILD_TYPE=RELEASE -DBUILD_TESTING=ON .. \
+  || (echo ">>> [ERROR] Configuration stage failed!" && exit 3) || exit $?
+
+echo ">>> Building clproto_cpp..."
+make all || (echo ">>> [ERROR] Build stage failed!" && exit 4) || exit $?
+echo ">>> Build stage completed successfully!"
+
+echo ">>> Running all test stages..."
+CTEST_OUTPUT_ON_FAILURE=1 make test || (echo ">>> [ERROR] Test stage failed!" && exit 5) || exit $?
+echo ">>> Test stages completed successfully!"
+
+exit 0

.github/actions/build-test-python/Dockerfile

@@ -0,0 +1,5 @@
+FROM ghcr.io/aica-technology/control-libraries/development-dependencies:latest
+
+# Copy and set the entrypoint commands to execute when the container starts
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

.github/actions/build-test-python/action.yml

@@ -0,0 +1,5 @@
+name: 'Build and Test Python'
+description: 'Build the python bindings and run all unit tests'
+runs:
+  using: 'docker'
+  image: 'Dockerfile'

.github/actions/build-test-python/entrypoint.sh

@@ -0,0 +1,17 @@
+#!/bin/sh -l
+
+echo ">>> Installing control libraries..."
+bash /github/workspace/source/install.sh --auto || exit 1
+bash /github/workspace/protocol/install.sh --auto || exit 1
+
+echo ">>> Building Python bindings..."
+
+export OSQP_INCLUDE_DIR='/usr/local/include/osqp'
+pip3 install /github/workspace/python || (echo ">>> [ERROR] Build stage failed!" && exit 2) || exit $?
+
+echo ">>> Running all test stages..."
+pytest /github/workspace/python -v || (echo ">>> [ERROR] Test stage failed!" && exit 3) || exit $?
+
+echo ">>> Test stages completed successfully!"
+
+exit 0

.github/actions/build-test/Dockerfile

@@ -0,0 +1,5 @@
+FROM ghcr.io/aica-technology/control-libraries/development-dependencies:latest
+
+# Copy and set the entrypoint commands to execute when the container starts
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

.github/actions/build-test/action.yml

@@ -0,0 +1,12 @@
+name: 'Build and Test'
+description: 'Build the project sources and run all unit tests'
+inputs:
+  configuration:
+    description: 'CMake build configuration'
+    required: false
+    default: ''
+runs:
+  using: 'docker'
+  image: 'Dockerfile'
+  args:
+    - ${{ inputs.configuration }}

.github/actions/build-test/entrypoint.sh

@@ -0,0 +1,24 @@
+#!/bin/sh -l
+
+CONFIGURATION=""
+if [ -n "$1" ]; then
+  echo ">>> Configuration: $1"
+  CONFIGURATION="-DCMAKE_BUILD_TYPE=$1"
+fi
+
+cd /github/workspace/source && mkdir build && cd build || exit 1
+
+echo ">>> Configuring cmake..."
+cmake "${CONFIGURATION}" -DBUILD_TESTING=ON \
+  -DBUILD_CONTROLLERS=ON -DBUILD_DYNAMICAL_SYSTEMS=ON -DBUILD_ROBOT_MODEL=ON .. || \
+  (echo ">>> [ERROR] Configuration stage failed!" && exit 2) || exit $?
+
+echo ">>> Building project..."
+make -j all || (echo ">>> [ERROR] Build stage failed!" && exit 3) || exit $?
+echo ">>> Build stage completed successfully!"
+
+echo ">>> Running all test stages..."
+CTEST_OUTPUT_ON_FAILURE=1 make test || (echo ">>> [ERROR] Test stage failed!" && exit 4) || exit $?
+echo ">>> Test stages completed successfully!"
+
+exit 0

.github/workflows/build-push.yml

@@ -0,0 +1,57 @@
+name: Build and Push
+
+# Run workflow on pushes to main branch or by manual dispatch
+on:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build-publish-proto-dependencies-focal-fossa:
+    name: Build and publish proto dependencies image on ubuntu 20.04
+    uses: aica-technology/.github/.github/workflows/[email protected]
+    with:
+      image_name: ${{ github.repository }}/proto-dependencies
+      image_tags: 20.04
+      dockerfile_path: Dockerfile.proto
+      platforms: linux/amd64
+      build_flags: '--build-arg BASE_TAG=20.04'
+    secrets:
+      token: ${{ secrets.GITHUB_TOKEN }}
+
+  build-publish-proto-dependencies-jammy-jellyfish:
+    name: Build and publish proto dependencies image on ubuntu 22.04
+    uses: aica-technology/.github/.github/workflows/[email protected]
+    with:
+      image_name: ${{ github.repository }}/proto-dependencies
+      image_tags: 22.04,latest
+      platforms: linux/amd64,linux/arm64
+      dockerfile_path: Dockerfile.proto
+      build_flags: '--build-arg BASE_TAG=22.04'
+    secrets:
+      token: ${{ secrets.GITHUB_TOKEN }}
+
+  build-publish-development-dependencies-focal-fossa:
+    needs: build-publish-proto-dependencies-focal-fossa
+    uses: aica-technology/.github/.github/workflows/[email protected]
+    with:
+      image_name: ${{ github.repository }}/development-dependencies
+      image_tags: 20.04
+      platforms: linux/amd64
+      dockerfile_path: Dockerfile.base
+      build_flags: '--build-arg BASE_TAG=20.04'
+    secrets:
+      token: ${{ secrets.GITHUB_TOKEN }}
+
+  build-publish-development-dependencies-jammy-jellyfish:
+    needs: build-publish-proto-dependencies-jammy-jellyfish
+    uses: aica-technology/.github/.github/workflows/[email protected]
+    with:
+      image_name: ${{ github.repository }}/development-dependencies
+      image_tags: 22.04,latest
+      platforms: linux/amd64,linux/arm64
+      dockerfile_path: Dockerfile.base
+      build_flags: '--build-arg BASE_TAG=22.04'
+    secrets:
+      token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/build-release.yaml

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+name: Build and Push Multi-Arch Images
+
+on:
+  push:
+    branches:
+      - develop
+      - main
+    tags:
+      - "v*.*.*"
+
+jobs:
+  get-tag:
+    runs-on: ubuntu-latest
+    name: Get tag
+    outputs:
+      tag: ${{ steps.parse-tag.outputs.tag }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: aica-technology/.github/.github/actions/[email protected]
+        id: parse-tag
+
+  build:
+    needs: [get-tag]
+    strategy:
+      matrix:
+        arch: [amd64, arm64]
+        include:
+          - image: ubuntu-latest
+          # FIXME: using 4vcpu image because of heavy RAM usage when building pinoccio on arm64
+          - image: buildjet-4vcpu-ubuntu-2204-arm
+            arch: arm64
+
+    runs-on: ${{ matrix.image }}
+    name: Build and publish (${{ matrix.arch }})
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: aica-technology/.github/.github/actions/[email protected]
+        id: merge-tags
+        with:
+          list: ${{ needs.get-tag.outputs.tag }}
+          suffixes: ${{ matrix.arch }}
+          glue_separator: "-"
+
+      - uses: aica-technology/.github/.github/actions/[email protected]
+        with:
+          image_name: aica-technology/control-libraries
+          image_tags: ${{ steps.merge-tags.outputs.list }}
+          dockerfile_path: Dockerfile
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+  multi-arch:
+    runs-on: ubuntu-latest
+    name: Merge into a multi-arch image
+    needs: [get-tag, build]
+    steps:
+      - uses: aica-technology/.github/.github/actions/[email protected]
+        with:
+          image_name: aica-technology/control-libraries
+          image_tags: ${{ needs.get-tag.outputs.tag }}
+          archs: amd64,arm64
+          token: ${{ secrets.GITHUB_TOKEN }}