build #99
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# ROS build pipeline based on kr_mav_control build | |
# https://github.com/KumarRobotics/kr_mav_control/blob/master/.github/workflows/build.yml | |
name: build | |
on: | |
push: | |
branches: [main] | |
workflow_dispatch: | |
schedule: | |
- cron: '0 0 * * 0' | |
jobs: | |
build: | |
strategy: | |
matrix: | |
ros_distro: [noetic] | |
runs-on: ubuntu-latest | |
container: osrf/ros:${{ matrix.ros_distro }}-desktop | |
steps: | |
- uses: actions/checkout@v2 | |
- name: Apt dependencies | |
run: | | |
apt-get update | |
apt-get install -qy g++ libeigen3-dev git python3-catkin-tools | |
rosdep update | |
rosdep install --from-paths . --ignore-src -y -r --as-root apt:false | |
- name: Setup catkin workspace | |
run: | | |
. /opt/ros/${{ matrix.ros_distro }}/setup.sh | |
mkdir -p ${RUNNER_WORKSPACE}/catkin_ws/src | |
cd ${RUNNER_WORKSPACE}/catkin_ws | |
catkin init | |
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release | |
- name: Install glog | |
run: | | |
git clone --depth 1 --branch v0.6.0 https://github.com/google/glog.git | |
cd glog | |
cmake -S . -B build -G "Unix Makefiles" -DCMAKE_CXX_STANDARD=17 | |
cmake --build build | |
sudo cmake --build build --target install | |
- name: Install fmt | |
run: | | |
git clone --depth 1 --branch 8.1.0 https://github.com/fmtlib/fmt.git | |
cd fmt | |
cmake -DCMAKE_POSITION_INDEPENDENT_CODE=TRUE -DCMAKE_CXX_STANDARD=17 -DFMT_TEST=False | |
sudo make install | |
- name: Install Abseil | |
run: | | |
git clone --depth 1 --branch 20220623.0 https://github.com/abseil/abseil-cpp.git | |
cd abseil-cpp | |
mkdir build && cd build | |
cmake -DABSL_BUILD_TESTING=OFF -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_POSITION_INDEPENDENT_CODE=ON .. | |
sudo cmake --build . --target install | |
- name: Install Sophus | |
run: | | |
git clone https://github.com/strasdat/Sophus.git | |
cd Sophus | |
git checkout 785fef3 | |
mkdir build && cd build | |
cmake -DBUILD_SOPHUS_TESTS=OFF -DBUILD_SOPHUS_EXAMPLES=OFF -DCMAKE_CXX_STANDARD=17 .. | |
sudo make install | |
- name: Build workspace | |
run: | | |
. /opt/ros/${{ matrix.ros_distro }}/setup.sh | |
cd ${RUNNER_WORKSPACE}/catkin_ws/src | |
ln -s ${GITHUB_WORKSPACE} | |
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 |