build #120
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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 ${RUNNER_WORKSPACE}/catkin_ws | |
| catkin init | |
| catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release | |
| - name: Install glog | |
| run: | | |
| git clone --depth 1 --branch v0.6.0 https://github.com/google/glog.git | |
| cd glog | |
| cmake -S . -B build -G "Unix Makefiles" -DCMAKE_CXX_STANDARD=17 | |
| cmake --build build | |
| sudo cmake --build build --target install | |
| - name: Install fmt | |
| run: | | |
| git clone --depth 1 --branch 8.1.0 https://github.com/fmtlib/fmt.git | |
| cd fmt | |
| cmake -DCMAKE_POSITION_INDEPENDENT_CODE=TRUE -DCMAKE_CXX_STANDARD=17 -DFMT_TEST=False | |
| sudo make install | |
| - name: Install Abseil | |
| run: | | |
| git clone --depth 1 --branch 20220623.0 https://github.com/abseil/abseil-cpp.git | |
| cd abseil-cpp | |
| mkdir build && cd build | |
| cmake -DABSL_BUILD_TESTING=OFF -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_POSITION_INDEPENDENT_CODE=ON .. | |
| sudo cmake --build . --target install | |
| - name: Install Sophus | |
| run: | | |
| git clone https://github.com/strasdat/Sophus.git | |
| cd Sophus | |
| mkdir build && cd build | |
| git checkout 785fef3 | |
| cmake -DBUILD_SOPHUS_TESTS=OFF -DBUILD_SOPHUS_EXAMPLES=OFF -DCMAKE_CXX_STANDARD=17 .. | |
| sudo make install | |
| - name: Install Google benchmark | |
| run: | | |
| git clone --depth 1 --branch v1.6.2 https://github.com/google/benchmark.git | |
| cd benchmark | |
| cmake -E make_directory "build" | |
| cmake -E chdir "build" cmake -DBENCHMARK_DOWNLOAD_DEPENDENCIES=on -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 -DBENCHMARK_ENABLE_GTEST_TESTS=OFF ../ | |
| sudo cmake --build "build" --config Release --target install | |
| - name: Build workspace | |
| run: | | |
| . /opt/ros/${{ 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 |