Upload progress on robot controller to go beyond workspace #37
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: C/C++ CI | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: | | |
| os_name=$(uname -s) | |
| if [ "$os_name" = "Linux" ]; then | |
| echo "Installing dependencies for linux." | |
| sudo apt-get update | |
| sudo apt-get install build-essential cmake git libeigen3-dev libtinyxml2-dev libgtest-dev \ | |
| libasound2-dev libusb-1.0.0-dev freeglut3-dev xorg-dev libglew-dev libglfw3-dev \ | |
| libopenal-dev redis libhiredis-dev libjsoncpp-dev tmux | |
| elif [ "$os_name" = "Darwin" ]; then | |
| echo "Installing dependencies for macOS." | |
| brew update | |
| brew install cmake git eigen tinyxml2 googletest glfw3 glew redis hiredis jsoncpp tmux openal-soft | |
| else | |
| echo "ERROR: Unsupported OS. Only Linux and macOS are supported." | |
| exit 1 | |
| fi | |
| echo "Dependencies installed." | |
| - name: Build core libraries | |
| run: | | |
| mkdir -p core | |
| cd core | |
| # Clone all repositories if needed | |
| if [ ! -d "sai2-common" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-common.git | |
| fi | |
| if [ ! -d "sai2-urdfreader" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-urdfreader.git | |
| fi | |
| if [ ! -d "sai2-model" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-model.git | |
| fi | |
| if [ ! -d "chai3d" ]; then | |
| git clone https://github.com/manips-sai-org/chai3d.git | |
| fi | |
| if [ ! -d "sai2-graphics" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-graphics.git | |
| fi | |
| if [ ! -d "sai2-simulation" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-simulation.git | |
| fi | |
| if [ ! -d "sai2-primitives" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-primitives.git | |
| fi | |
| if [ ! -d "sai2-interfaces" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-interfaces.git | |
| fi | |
| # Build all the repositories | |
| cd sai2-common | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-urdfreader | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-model | |
| git checkout master && git pull | |
| cd rbdl | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd chai3d | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-graphics | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-simulation | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-primitives | |
| git checkout master && git pull | |
| cd ruckig | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-interfaces | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd .. | |
| - name: Clone and build OpenSai | |
| run: | | |
| git clone https://github.com/manips-sai-org/OpenSai.git | |
| cd OpenSai | |
| mkdir build && cd build | |
| cmake .. -DCMAKE_PREFIX_PATH=${{github.workspace}}/core/chai3d/build:${{github.workspace}}/core/sai2-common/build | |
| make -j8 | |
| - name: Clone and build chaiHapticdeviceRedisDriver | |
| run: | | |
| git clone https://github.com/manips-sai-org/chaiHapticdeviceRedisDriver.git | |
| cd chaiHapticdeviceRedisDriver | |
| mkdir build && cd build | |
| cmake .. -DCMAKE_PREFIX_PATH=${{github.workspace}}/core/chai3d/build:${{github.workspace}}/core/sai2-common/build | |
| make -j8 | |
| - name: Configure CMake | |
| run: | | |
| mkdir build && cd build | |
| cmake .. -DCMAKE_PREFIX_PATH="${{github.workspace}}/core/chai3d/build;${{github.workspace}}/core/sai2-common/build;${{github.workspace}}/core/sai2-urdfreader/build;${{github.workspace}}/core/sai2-model/build;${{github.workspace}}/core/sai2-graphics/build;${{github.workspace}}/core/sai2-simulation/build;${{github.workspace}}/core/sai2-primitives/build;${{github.workspace}}/core/sai2-interfaces/build;${{github.workspace}}/OpenSai/build;${{github.workspace}}/chaiHapticdeviceRedisDriver/build" | |
| - name: Build | |
| run: cmake --build build |