CI of HumanRetargetingController #4
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| name: CI of HumanRetargetingController | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| build-and-test: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| catkin-build: [catkin, standalone] | |
| build-type: [RelWithDebInfo, Debug] | |
| mc-rtc-version: [head, stable] | |
| motion-type: [UpperBodyRetargeting] | |
| exclude: | |
| - build-type: Debug | |
| mc-rtc-version: stable | |
| # Some packages have not been released onto the stable mirror yet | |
| - catkin-build: standalone | |
| mc-rtc-version: stable | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| RESULTS_POSTFIX: ${{ matrix.motion-type }}-${{ matrix.catkin-build }} | |
| steps: | |
| - name: Setup environment variables | |
| run: | | |
| set -e | |
| set -x | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mc-rtc-version }}" == "head" ] | |
| then | |
| echo "RUN_SIMULATION_STEPS=true" >> $GITHUB_ENV | |
| else | |
| echo "RUN_SIMULATION_STEPS=false" >> $GITHUB_ENV | |
| fi | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.catkin-build }}" == "catkin" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mc-rtc-version }}" == "head" ] && \ | |
| [ "${{ matrix.motion-type }}" == "UpperBodyRetargeting" ] && \ | |
| [ "${{ github.repository_owner }}" == "isri-aist" ] && \ | |
| [ "${{ github.ref }}" == "refs/heads/master" ] | |
| then | |
| echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV | |
| else | |
| echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV | |
| fi | |
| if [ "${{ matrix.catkin-build }}" == "catkin" ] | |
| then | |
| echo "CI_DIR=${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/.github/workflows" >> $GITHUB_ENV | |
| else | |
| echo "CI_DIR=${GITHUB_WORKSPACE}/.github/workflows" >> $GITHUB_ENV | |
| fi | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| ubuntu: | | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/${{ matrix.mc-rtc-version }} | |
| apt: libmc-rtc-dev mc-rtc-utils mc-state-observation doxygen graphviz jvrc-choreonoid choreonoid libcnoid-dev | |
| ros: | | |
| apt: ros-base mc-rtc-plugin eigen-conversions | |
| - name: Install standalone dependencies | |
| if: matrix.catkin-build == 'standalone' | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt: libforcecontrolcollection-dev libtrajectorycollection-dev libcentroidalcontrolcollection-dev | |
| github: | | |
| - path: isri-aist/BaselineWalkingController | |
| - path: isri-aist/CnoidRosUtils | |
| - name: Checkout repository code | |
| if: matrix.catkin-build == 'standalone' | |
| uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Standalone build | |
| if: matrix.catkin-build == 'standalone' | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| - name: Catkin build | |
| if: matrix.catkin-build == 'catkin' | |
| uses: jrl-umi3218/github-actions/build-catkin-project@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| cmake-args: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} -DENABLE_QLD=ON | |
| catkin-test-args: --no-deps | |
| build-packages: human_retargeting_controller | |
| test-packages: human_retargeting_controller | |
| - name: Upload documentation | |
| if: env.UPLOAD_DOCUMENTATION == 'true' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }} | |
| git config --global user.name "Masaki Murooka" | |
| git config --global user.email "[email protected]" | |
| git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/HumanRetargetingController" | |
| git fetch --depth=1 origin gh-pages:gh-pages | |
| git clean -dfx | |
| rm -rf cmake/ | |
| git checkout --quiet gh-pages | |
| rm -rf doxygen/ | |
| cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/human_retargeting_controller/doc/html/ doxygen | |
| git add doxygen | |
| git_status=`git status -s` | |
| if test -n "$git_status"; then | |
| git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" | |
| git push origin gh-pages | |
| else | |
| echo "Github pages documentation is already up-to-date." | |
| fi |