Add TrajOpt multi threaded support #210
Workflow file for this run
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| name: Ubuntu | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| schedule: | |
| - cron: '0 5 * * *' | |
| release: | |
| types: | |
| - released | |
| jobs: | |
| ci: | |
| name: ${{ matrix.distro }} | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| distro: [focal] | |
| env: | |
| REGISTRY: ghcr.io | |
| IMAGE_NAME: ${{ github.repository }} | |
| PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }} | |
| TESSERACT_VERSION: 0.17 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v1 | |
| - name: Free disk space | |
| continue-on-error: true | |
| run: | | |
| sudo swapoff -a | |
| sudo rm -f /swapfile | |
| sudo apt clean | |
| docker rmi $(docker image ls -aq) | |
| df -h | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| shell: cmake -P {0} | |
| run: | | |
| string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) | |
| message("::set-output name=timestamp::${current_date}") | |
| - name: ccache cache files | |
| continue-on-error: true | |
| uses: actions/[email protected] | |
| with: | |
| path: ${{ matrix.distro }}/.ccache | |
| key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }} | |
| restore-keys: | | |
| ${{ matrix.distro }}-ccache- | |
| - name: Login to Github container registry | |
| uses: docker/login-action@v1 | |
| with: | |
| registry: ${{ env.REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Extract Docker meta-information | |
| id: meta | |
| uses: docker/metadata-action@v3 | |
| with: | |
| images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} | |
| flavor: | | |
| latest=false | |
| prefix= | |
| suffix= | |
| tags: | | |
| type=ref,event=branch,prefix=${{ matrix.distro }}- | |
| type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}- | |
| - name: Set build type | |
| run: | | |
| if [[ "${{ env.PUSH_DOCKER_IMAGE }}" = true ]] | |
| then | |
| echo "BUILD_TYPE=Release" >> $GITHUB_ENV | |
| else | |
| echo "BUILD_TYPE=Debug" >> $GITHUB_ENV | |
| fi | |
| - name: Build repository | |
| uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea' | |
| env: | |
| ADDITIONAL_DEBS: 'taskflow libompl-dev' | |
| ROS_DISTRO: false | |
| DOCKER_IMAGE: ${{ env.REGISTRY }}/tesseract-robotics/tesseract:${{ matrix.distro }}-${{ env.TESSERACT_VERSION }} | |
| UNDERLAY: /root/tesseract-robotics/tesseract_target_ws/install | |
| CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache | |
| PREFIX: ${{ github.repository }}_ | |
| BEFORE_INIT: './.github/workflows/add_sources.sh' | |
| AFTER_INIT: '' | |
| UPSTREAM_WORKSPACE: dependencies.repos | |
| UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release" | |
| ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow descartes_light trajopt trajopt_ifopt trajopt_sco trajopt_sqp ruckig" | |
| TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF" | |
| DOCKER_COMMIT: ${{ steps.meta.outputs.tags }} | |
| - name: Push post-build Docker | |
| if: ${{ env.PUSH_DOCKER_IMAGE == 'true' }} | |
| run: docker push ${{ steps.meta.outputs.tags }} |