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Add README and CI
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‎.github/workflows/build.yml

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name: CI of mc_panda_lirmm
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on:
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push:
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branches:
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- '**'
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pull_request:
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branches:
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- '**'
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schedule:
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# Run on Sunday, Tuesday and Thursday nights
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- cron: '0 23 * * 0,1,4'
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jobs:
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build:
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strategy:
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matrix:
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os: [ubuntu-18.04, ubuntu-20.04]
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runs-on: ${{ matrix.os }}
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: recursive
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- name: Install ROS dependencies
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run: |
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set -x
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set -e
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if [ "${{ matrix.os }}" = "ubuntu-18.04" ]
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then
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export ROS_DISTRO="melodic"
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else
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export ROS_DISTRO="noetic"
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fi
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
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sudo apt-get update -qq
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sudo apt-get -qq remove libomp5-9 || true
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sudo apt-get install -qq ros-${ROS_DISTRO}-libfranka ros-${ROS_DISTRO}-franka-ros
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. /opt/ros/${ROS_DISTRO}/setup.bash
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echo "ROS_DISTRO=${ROS_DISTRO}" >> $GITHUB_ENV
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echo "PKG_CONFIG_PATH=${PKG_CONFIG_PATH}" >> $GITHUB_ENV
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echo "ROS_MASTER_URI=${ROS_MASTER_URI}" >> $GITHUB_ENV
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echo "ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}" >> $GITHUB_ENV
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echo "PYTHONPATH=${PYTHONPATH}" >> $GITHUB_ENV
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echo "CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
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echo "PATH=${PATH}" >> $GITHUB_ENV
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echo "LD_LIBRARY_PATH=${LD_LIBRARY_PATH}" >> $GITHUB_ENV
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- name: Install mc_rtc
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run: |
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set -x
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set -e
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curl -1sLf 'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' | sudo -E bash
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sudo apt-get install -qq libmc-rtc-dev mc-rtc-utils python3-mc-rtc ros-${ROS_DISTRO}-mc-rtc-plugin mc-openrtm jvrc-choreonoid libcnoid-dev
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- name: Build and test
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uses: jrl-umi3218/github-actions/build-cmake-project@master
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with:
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compiler: gcc
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build-type: RelWithDebInfo
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- name: Slack Notification
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if: failure()
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uses: archive/github-actions-slack@master
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with:
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slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
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slack-channel: '#ci'
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slack-text: >
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[mc_panda] Build *${{ matrix.os }}/${{ matrix.build-type }}* failed on ${{ github.ref }}

‎.github/workflows/package.yml

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---
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name: Package mc_panda_lirmm
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on:
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repository_dispatch:
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types:
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- package-master
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- package-release
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pull_request:
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branches:
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- "**"
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push:
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paths-ignore:
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- README.md
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- ".github/workflows/build.yml"
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branches:
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- "**"
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tags:
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- v*
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jobs:
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check-tag:
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runs-on: ubuntu-18.04
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: recursive
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if: startsWith(github.ref, 'refs/tags/')
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- name: Check version coherency
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run: |
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set -x
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export VERSION=`echo ${{ github.ref }} | sed -e 's@refs/tags/v@@'`
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echo "REJECTION=PROJECT_VERSION in CMakeLists.txt does not match tag" >> $GITHUB_ENV
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grep -q "project(mc_panda_lirmm .* VERSION ${VERSION}.*)" CMakeLists.txt
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echo "REJECTION=Upstream version in debian/changelog does not match tag" >> $GITHUB_ENV
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head -n 1 debian/changelog | grep -q "mc-panda (${VERSION}"
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echo "REJECTION=" >> $GITHUB_ENV
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export TAG=`echo ${{ github.ref }} | sed -e 's@refs/tags/@@'`
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echo "RELEASE_TAG=${TAG}" >> $GITHUB_ENV
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if: startsWith(github.ref, 'refs/tags/')
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- name: Delete tag
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run: |
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set -x
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curl --header 'authorization: Bearer ${{ secrets.GITHUB_TOKEN }}' -X DELETE https://api.github.com/repos/${{ github.repository }}/git/${{ github.ref }}
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if: failure()
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- name: Notify tag deletion
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uses: archive/github-actions-slack@master
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with:
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slack-bot-user-oauth-access-token: "${{ secrets.SLACK_BOT_TOKEN }}"
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slack-channel: "#ci"
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slack-text: |
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Tag *${{ github.ref }}* in *${{ github.repository }}* was deleted:
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${{ env.REJECTION}}
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if: failure()
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- name: Create release
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uses: jrl-umi3218/github-actions/create-release@master
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with:
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GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
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tag: "${{ env.RELEASE_TAG }}"
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if: startsWith(github.ref, 'refs/tags/')
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build-packages:
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needs: check-tag
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strategy:
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fail-fast: false
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matrix:
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dist:
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- bionic
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- focal
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arch:
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- amd64
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runs-on: ubuntu-18.04
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: recursive
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- name: Choose extra mirror
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run: |
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# We upload in all conditions except when building on PR or branch other than master
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export PACKAGE_UPLOAD=true
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if ${{ startsWith(github.ref, 'refs/tags/') }}
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then
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export USE_HEAD=false
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elif [ "${{ github.event.action }}" == "package-master" ]
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then
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export USE_HEAD=true
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elif [ "${{ github.event.action }}" == "package-release" ]
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then
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export USE_HEAD=false
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export REF=`git tag --sort=committerdate --list 'v[0-9]*'|tail -1`
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git checkout $REF
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git submodule sync && git submodule update
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else
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export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
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export USE_HEAD=true
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if [ $REF != "master" ]
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then
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export PACKAGE_UPLOAD=false
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fi
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fi
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if $USE_HEAD
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then
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echo "CLOUDSMITH_REPO=mc-rtc/head" >> $GITHUB_ENV
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echo "PACKAGE_JOB=package-master" >> $GITHUB_ENV
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else
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echo "CLOUDSMITH_REPO=mc-rtc/stable" >> $GITHUB_ENV
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echo "PACKAGE_JOB=package-release" >> $GITHUB_ENV
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fi
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echo "PACKAGE_UPLOAD=${PACKAGE_UPLOAD}" >> $GITHUB_ENV
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- name: Setup ROS packages
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run: |
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set -x
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export ROS_PYTHON=python2.7
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export ROS_DISTRO=""
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if [ "${{ matrix.dist }}" = "xenial" ]
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then
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export ROS_DISTRO="kinetic"
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fi
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if [ "${{ matrix.dist }}" = "bionic" ]
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then
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export ROS_DISTRO="melodic"
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fi
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if [ "${{ matrix.dist }}" = "focal" ]
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then
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export ROS_DISTRO="noetic"
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export ROS_PYTHON=python3
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export MC_LOG_UI_PYTHON_EXECUTABLE=python3
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fi
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echo "ROS_DISTRO=${ROS_DISTRO}" >> $GITHUB_ENV
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sed -i -e"s/@ROS_DISTRO@/${ROS_DISTRO}/g" debian/control
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cat debian/control
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sed -i -e"s/@ROS_DISTRO@/${ROS_DISTRO}/g" debian/rules
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sed -i -e"s/@ROS_PYTHON@/${ROS_PYTHON}/g" debian/rules
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cat debian/rules
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- name: Build package
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uses: jrl-umi3218/github-actions/build-package-native@master
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with:
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dist: "${{ matrix.dist }}"
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arch: "${{ matrix.arch }}"
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ros-distro: "${{ env.ROS_DISTRO }}"
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cloudsmith-repo: "${{ env.CLOUDSMITH_REPO }}"
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- uses: actions/upload-artifact@v1
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with:
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name: packages-${{ matrix.dist }}-${{ matrix.arch }}
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path: "/tmp/packages-${{ matrix.dist }}-${{ matrix.arch }}/"
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if: env.PACKAGE_UPLOAD == 'true'
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upload-packages:
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needs: build-packages
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strategy:
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max-parallel: 1
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fail-fast: false
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matrix:
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dist:
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- bionic
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- focal
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arch:
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- amd64
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runs-on: ubuntu-18.04
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: recursive
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- name: Choose extra mirror
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run: |
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# We upload in all conditions except when building on PR or branch other than master
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export PACKAGE_UPLOAD=true
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if ${{ startsWith(github.ref, 'refs/tags/') }}
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then
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export USE_HEAD=false
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elif [ "${{ github.event.action }}" == "package-master" ]
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then
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export USE_HEAD=true
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elif [ "${{ github.event.action }}" == "package-release" ]
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then
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export USE_HEAD=false
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export REF=`git tag --sort=committerdate --list 'v[0-9]*'|tail -1`
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git checkout $REF
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git submodule sync && git submodule update
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else
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export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
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export USE_HEAD=true
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if [ $REF != "master" ]
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then
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export PACKAGE_UPLOAD=false
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fi
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fi
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if $USE_HEAD
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then
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echo "CLOUDSMITH_REPO=mc-rtc/head" >> $GITHUB_ENV
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echo "PACKAGE_JOB=package-master" >> $GITHUB_ENV
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else
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echo "CLOUDSMITH_REPO=mc-rtc/stable" >> $GITHUB_ENV
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echo "PACKAGE_JOB=package-release" >> $GITHUB_ENV
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fi
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echo "PACKAGE_UPLOAD=${PACKAGE_UPLOAD}" >> $GITHUB_ENV
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- name: Download packages
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uses: actions/download-artifact@v1
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with:
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name: packages-${{ matrix.dist }}-${{ matrix.arch }}
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if: env.PACKAGE_UPLOAD == 'true'
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- name: Upload
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uses: jrl-umi3218/github-actions/upload-package@master
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with:
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dist: ubuntu/${{ matrix.dist }}
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repo: "${{ env.CLOUDSMITH_REPO }}"
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path: packages-${{ matrix.dist }}-${{ matrix.arch }}
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CLOUDSMITH_API_KEY: "${{ secrets.CLOUDSMITH_API_KEY }}"
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if: env.PACKAGE_UPLOAD == 'true'

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