fixing the computer vision test pipeline

.github/workflows/build_and_test.yml

@@ -51,14 +51,20 @@ jobs:
         run: |
           touch ./opencv-install/COLCON_IGNORE
 
+      - name: Download and extract LibTorch
+        run: |
+          wget https://download.pytorch.org/libtorch/cu111/libtorch-shared-with-deps-1.8.1%2Bcu111.zip
+          unzip -o libtorch-shared-with-deps-1.8.1+cu111.zip -d libtorch
+
       - name: Source setup and build then test using colcon
         shell: bash
         env:
           LD_LIBRARY_PATH: /usr/local/lib/
+          Torch_DIR: ${{ github.workspace }}/libtorch/libtorch/share/cmake/Torch
         run: |
           source /opt/ros/foxy/setup.bash
           source /usr/share/gazebo/setup.sh
-          colcon build --cmake-args -DCMAKE_CXX_STANDARD=14
+          colcon build --cmake-args -DCMAKE_CXX_STANDARD=14 -DTorch_DIR=$Torch_DIR
           source ./install/setup.bash
           colcon test
           colcon test-result --verbose

src/triton_object_recognition/CMakeLists.txt

@@ -25,9 +25,15 @@ find_package(cv_bridge REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(OpenCV 4.5.3 REQUIRED)
-find_package(Boost REQUIRED COMPONENTS filesystem) 
-find_package(Torch REQUIRED)
+find_package(Boost REQUIRED COMPONENTS filesystem)
 
+# Use Torch_DIR environment variable if set
+if(DEFINED ENV{Torch_DIR})
+  set(Torch_DIR $ENV{Torch_DIR})
+else()
+  set(Torch_DIR "/default/path/to/libtorch/share/cmake/Torch")
+endif()
+find_package(Torch REQUIRED)
 
 include_directories(include ${catkin_INCLUDE_DIRS})
 include_directories(${OpenCV_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
@@ -39,7 +45,6 @@ add_library(triton_object_recognition SHARED
 target_link_libraries(triton_object_recognition ${OpenCV_LIBRARIES} ${Boost_LIBRARIES})
 target_link_libraries(your_executable_name "${TORCH_LIBRARIES}")
 
-
 rclcpp_components_register_nodes(triton_object_recognition 
   "triton_object_recognition::ObjectRecognizer"
 )