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| name: ROS2 Build and Test CI | |
| on: | |
| push: | |
| workflow_dispatch: | |
| jobs: | |
| build_and_test: | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: hashaam1217/subbots_triton_testing:1.0.1 | |
| steps: | |
| - name: Ensure Permissions | |
| run: | | |
| sudo mkdir -p /__w/_temp | |
| sudo mkdir -p /__w/_actions | |
| sudo chmod -R 777 /__w/_temp | |
| sudo chmod -R 777 /__w/_actions | |
| # Cleaning up disk space | |
| - name: Clean up disk space | |
| run: | | |
| sudo apt-get clean | |
| sudo rm -rf /var/lib/apt/lists/* | |
| sudo rm -rf /var/cache/apt/* | |
| sudo rm -rf /usr/share/man/?? | |
| sudo rm -rf /usr/share/man/??_* | |
| sudo rm -rf /var/tmp/* | |
| sudo rm -rf /tmp/* | |
| - name: Update and upgrade | |
| run: | | |
| sudo apt update -y | |
| sudo apt upgrade -y | |
| - name: Install CUDA | |
| run: | | |
| sudo apt-key adv --fetch-keys http://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/7fa2af80.pub | |
| sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub | |
| sudo sh -c 'echo "deb http://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64 /" > /etc/apt/sources.list.d/cuda.list' | |
| sudo apt-get update | |
| sudo apt-get -y install cuda libcudnn8 libcudnn8-dev | |
| - name: Set CUDA paths | |
| run: | | |
| echo "/usr/local/cuda/lib64" >> $GITHUB_PATH | |
| echo "/usr/local/cuda/bin" >> $GITHUB_PATH | |
| - name: Check out ubc-subbots/triton | |
| uses: actions/checkout@v3 # Update to the latest version. | |
| - name: Install deps with rosdep | |
| run: | | |
| rosdep init | |
| rosdep update --include-eol | |
| rosdep install -i --from-path src --rosdistro foxy -y | |
| - name: Cache OpenCV | |
| id: opencv-cache | |
| uses: actions/cache@v3 # Update to the latest version | |
| with: | |
| path: ./opencv-install | |
| key: ${{ runner.os }}-opencv-cache | |
| - name: Install OpenCV | |
| uses: rayandrews/with-opencv-action@v1 | |
| with: | |
| dir: ./opencv-install | |
| cached: ${{ steps.opencv-cache.outputs.cache-hit }} | |
| opencv-version: '4.5.3' | |
| CMAKE_BUILD_TYPE: RELEASE | |
| ENABLE_PRECOMPILED_HEADERS: OFF | |
| - name: Ignore with colcon build | |
| run: | | |
| touch ./opencv-install/COLCON_IGNORE | |
| - name: Source setup and build then test using colcon | |
| shell: bash | |
| env: | |
| LD_LIBRARY_PATH: /usr/local/lib/ | |
| Torch_DIR: ${{ github.workspace }}/libtorch/libtorch/share/cmake/Torch | |
| run: | | |
| source /opt/ros/foxy/setup.bash | |
| source /usr/share/gazebo/setup.sh | |
| colcon build --cmake-args -DCMAKE_CXX_STANDARD=14 -DTorch_DIR=$Torch_DIR | |
| source ./install/setup.bash | |
| colcon test | |
| colcon test-result --verbose |