Fix usage of FootSteps_Planner #95
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| name: CI of LIPMWalking | |
| on: | |
| repository_dispatch: | |
| types: [build] | |
| push: | |
| paths-ignore: | |
| # Changes to those files don't mandate running CI | |
| - ".gitignore" | |
| - ".github/workflows/package.yml" | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| jobs: | |
| build: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| build-type: [RelWithDebInfo, Debug] | |
| compiler: [gcc, clang] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/head | |
| apt: libeigen3-dev doxygen doxygen-latex libboost-all-dev libmc-rtc-dev gfortran libcopra-dev | |
| ros: | | |
| apt: ros-base mc-rtc-plugin | |
| - name: Build and test | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| - name: Upload documentation | |
| # Only run on master branch and for one configuration | |
| if: matrix.os == 'ubuntu-20.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master' | |
| uses: jrl-umi3218/github-actions/upload-documentation@master | |
| with: | |
| GH_USER: gergondet | |
| GH_PAGES_TOKEN: ${{ secrets.GH_PAGES_TOKEN }} | |
| - name: Run JVRC1 simulation | |
| # Only run on master branch and for one configuration | |
| if: matrix.os == 'ubuntu-20.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' | |
| run: | | |
| set -x | |
| sudo apt-get install -qq mc-openrtm jvrc-choreonoid xvfb ffmpeg mesa-utils fluxbox xserver-xorg xserver-xorg-core xserver-xorg-video-all libwayland-egl1-mesa | |
| export DISPLAY=":1" | |
| Xvfb $DISPLAY -screen 0 1920x1080x24 & | |
| sleep 10s | |
| fluxbox 2> /dev/null & | |
| mkdir -p $HOME/.config/mc_rtc/controllers | |
| cp .github/workflows/mc_rtc.conf ~/.config/mc_rtc | |
| cp .github/workflows/LIPMWalking.conf ~/.config/mc_rtc/controllers/ | |
| mkdir -p /tmp/simulation | |
| pushd . | |
| ffmpeg -y -f x11grab -s 1920x1080 -r 30 -i $DISPLAY -qscale 0 -vcodec huffyuv grab.avi 2> /dev/null & | |
| FFMPEG_PID=$! | |
| cd /usr/share/hrpsys/samples/JVRC1 | |
| ./clear-omninames.sh | |
| choreonoid --start-simulation sim_mc.cnoid & | |
| CNOID_PID=$! | |
| popd | |
| sleep 70s | |
| kill -2 $CNOID_PID | |
| kill -2 $FFMPEG_PID | |
| sleep 10s | |
| ffmpeg -i grab.avi /tmp/simulation/simulation.mp4 | |
| cp /tmp/mc-control-LIPMWalking-latest.bin mc-control-LIPMWalking-latest.bin | |
| tar czf /tmp/simulation/log.tar.gz mc-control-LIPMWalking-latest.bin | |
| - name: Upload simulation data | |
| # Only run on master branch and for one configuration | |
| if: matrix.os == 'ubuntu-20.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: simulation | |
| path: /tmp/simulation |