add pinocchio paths to docker construction #5
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| # build docker files with the gsplines installed | |
| name: compilation | |
| on: push | |
| jobs: | |
| deploy: | |
| name: build image | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| docker_image: | |
| - image_name: "rafa606/ros-opstop-vim-dev:noetic" | |
| base_image: "rafa606/ros-gsplines-vim-dev:noetic" | |
| ros_distro: "noetic" | |
| - image_name: "rafa606/moveit-opstop-vim-dev:noetic" | |
| base_image: "rafa606/moveit-gsplines-vim-dev:noetic" | |
| ros_distro: "noetic" | |
| steps: | |
| - name: checkout code | |
| uses: actions/checkout@main | |
| with: | |
| fetch-depth: 2 | |
| submodules: recursive | |
| - name: Check last modified time of Foo Dockerfile | |
| id: image_modify_date | |
| run: | | |
| echo "image=$(date -d "$(curl -s https://hub.docker.com/v2/repositories/"$(echo ${{ matrix.docker_image.image_name }} | sed 's/:/\/tags\//')" | jq -r '.last_updated')" +%s)" >> $GITHUB_OUTPUT; | |
| echo "base_image=$(date -d "$(curl -s https://hub.docker.com/v2/repositories/"$(echo ${{ matrix.docker_image.base_image }} | sed 's/:/\/tags\//')" | jq -r '.last_updated')" +%s)" >> $GITHUB_OUTPUT; | |
| - name: Check last modified time of Foo Docker image | |
| id: file_modify_date | |
| run: | | |
| echo "docker_file=$(date -d "$(git log -1 --format=%cd --date=iso -- ./docker/docker.dockerfile)" +%s)" >> $GITHUB_OUTPUT | |
| echo "source=$(date -d "$(git log -1 --format=%cd --date=iso -- ./source)" +%s)" >> $GITHUB_OUTPUT | |
| echo "include=$(date -d "$(git log -1 --format=%cd --date=iso -- ./include)" +%s)" >> $GITHUB_OUTPUT | |
| echo "python=$(date -d "$(git log -1 --format=%cd --date=iso -- ./python)" +%s)" >> $GITHUB_OUTPUT | |
| echo "bindings=$(date -d "$(git log -1 --format=%cd --date=iso -- ./bindings)" +%s)" >> $GITHUB_OUTPUT | |
| - name: Login to DockerHub | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKER_USERNAME }} | |
| password: ${{ secrets.DOCKER_PASSWORD }} | |
| - name: build and push ${{ matrix.docker_image.image_name }} | |
| uses: docker/build-push-action@v3 | |
| with: | |
| tags: ${{ matrix.docker_image.image_name }} | |
| file: docker/docker.dockerfile | |
| push: true | |
| build-args: | | |
| BASEIMAGE=${{ matrix.docker_image.base_image }} | |
| ROS_DISTRO=${{ matrix.docker_image.ros_distro }} | |
| if: | | |
| steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.docker_file || | |
| steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.source || | |
| steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.include || | |
| steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.python || | |
| steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.bindings || | |
| steps.image_modify_date.outputs.image < steps.image_modify_date.outputs.base_image | |
| buildpackage: | |
| name: build dep package | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:noetic-ros-core-focal | |
| steps: | |
| - name: Git Sumbodule Update ad build | |
| run: | | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew" software-properties-common lsb-release curl wget | |
| mkdir -p /etc/apt/keyrings | |
| curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc | |
| echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew" git ros-noetic-ifopt libgtest-dev cmake build-essential libeigen3-dev ros-noetic-hpp-fcl robotpkg-pinocchio | |
| export PATH=/opt/openrobots/bin:$PATH | |
| export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH | |
| export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH | |
| export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH # Adapt your desired python version here | |
| export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH | |
| wget https://github.com/rafaelrojasmiliani/gsplines_cpp/releases/download/master/gsplines-0.0.1-amd64.deb | |
| dpkg -i gsplines-0.0.1-amd64.deb | |
| git clone --recursive https://github.com/rafaelrojasmiliani/opstop_cpp.git | |
| cd opstop_cpp | |
| mkdir build | |
| cd build | |
| bash -c "source /opt/ros/noetic/setup.bash && cmake .. -DBUILD_TESTING=OFF && make -j2 && cpack -G DEB" | |
| - name: Upload binaries to release | |
| uses: svenstaro/upload-release-action@v2 | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: opstop_cpp/build/opstop-0.0.1-amd64.deb | |
| asset_name: opstop-0.0.1-amd64.deb | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| body: "Debian pack compiled with standard ros noetic docker image" | |
| buildpackage2: | |
| name: build dep package with g++-11 | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:noetic-ros-core-focal | |
| steps: | |
| - name: Git Sumbodule Update ad build | |
| run: | | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew" software-properties-common lsb-release curl wget | |
| mkdir -p /etc/apt/keyrings | |
| curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc | |
| echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list | |
| add-apt-repository ppa:ubuntu-toolchain-r/test | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew" git ros-noetic-ifopt libgtest-dev cmake build-essential libeigen3-dev gcc-11 g++-11 ros-noetic-hpp-fcl robotpkg-pinocchio | |
| export PATH=/opt/openrobots/bin:$PATH | |
| export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH | |
| export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH | |
| export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH # Adapt your desired python version here | |
| export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH | |
| bash -c 'update-alternatives \ | |
| --install /usr/bin/gcc gcc /usr/bin/gcc-9 90 \ | |
| --slave /usr/bin/g++ g++ /usr/bin/g++-9 \ | |
| --slave /usr/bin/gcov gcov /usr/bin/gcov-9 \ | |
| --slave /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-9 \ | |
| --slave /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-9 && | |
| update-alternatives \ | |
| --install /usr/bin/gcc gcc /usr/bin/gcc-11 110 \ | |
| --slave /usr/bin/g++ g++ /usr/bin/g++-11 \ | |
| --slave /usr/bin/gcov gcov /usr/bin/gcov-11 \ | |
| --slave /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-11 \ | |
| --slave /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-11' | |
| wget https://github.com/rafaelrojasmiliani/gsplines_cpp/releases/download/master/gsplines-0.0.1-gcc-11-amd64.deb | |
| dpkg -i gsplines-0.0.1-gcc-11-amd64.deb | |
| git clone --recursive https://github.com/rafaelrojasmiliani/opstop_cpp.git | |
| cd opstop_cpp | |
| mkdir build | |
| cd build | |
| bash -c "source /opt/ros/noetic/setup.bash && cmake .. -DBUILD_TESTING=OFF && make -j2 && cpack -G DEB" | |
| - name: Upload binaries to release | |
| uses: svenstaro/upload-release-action@v2 | |
| with: | |
| repo_token: ${{ secrets.GITHUB_TOKEN }} | |
| file: opstop_cpp/build/opstop-0.0.1-amd64.deb | |
| asset_name: opstop-0.0.1-gcc-11-amd64.deb | |
| tag: ${{ github.ref }} | |
| overwrite: true | |
| body: "Debian pack compiled with g++-11" |