Various fixes around compiler options management #2793
Workflow file for this run
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| name: Ubuntu-dep-src | |
| # https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events | |
| on: | |
| pull_request: | |
| types: [opened, reopened, synchronize] | |
| schedule: | |
| - cron: '0 2 * * SUN' | |
| # https://stackoverflow.com/questions/66335225/how-to-cancel-previous-runs-in-the-pr-when-you-push-new-commitsupdate-the-curre#comment133398800_72408109 | |
| # https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#concurrency | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref || github.run_id }} | |
| cancel-in-progress: true | |
| env: | |
| # Function to get the most recent tag of a remote repository without having to clone it, excluding tag with 'pr' as in Pre Release | |
| FUNCTION_GET_LATEST: 'git -c "versionsort.suffix=-" ls-remote --exit-code --refs --sort="version:refname" --tags ${GIT_ADDRESS} "*.*.*" | cut --delimiter="/" --fields=3 | grep -v -e pr | tail --lines=1' | |
| jobs: | |
| build-ubuntu-dep-src: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-22.04, ubuntu-latest] | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Print system information | |
| run: lscpu | |
| - name: Print OS information | |
| run: lsb_release -a | |
| - name: Install common dependencies for ubuntu | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev gfortran liblapack-dev libeigen3-dev | |
| sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev | |
| sudo apt-get install -y mesa-common-dev mesa-utils freeglut3-dev libflann-dev libboost-all-dev | |
| sudo apt-get install -y nlohmann-json3-dev libcjson-dev | |
| - name: Build OpenBLAS from source | |
| run: | | |
| pwd | |
| echo $GITHUB_WORKSPACE | |
| GIT_ADDRESS=https://github.com/xianyi/OpenBLAS.git | |
| LATEST_TAG=`eval ${FUNCTION_GET_LATEST}` | |
| echo "Newest tag is ${LATEST_TAG}" | |
| git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/OpenBLAS | |
| cd ${HOME}/OpenBLAS | |
| mkdir install | |
| make -j$(nproc) | |
| make -j$(nproc) install PREFIX=$(pwd)/install | |
| echo "OpenBLAS_HOME=$(pwd)/install" >> $GITHUB_ENV | |
| echo $OpenBLAS_HOME | |
| - name: Build VTK from source | |
| # We set GIT_CLONE_PROTECTION_ACTIVE=false to avoid the issue described in | |
| # https://github.com/git-lfs/git-lfs/issues/5749 | |
| run: | | |
| pwd | |
| echo "GIT_CLONE_PROTECTION_ACTIVE=false" >> $GITHUB_ENV | |
| export GIT_CLONE_PROTECTION_ACTIVE=false | |
| GIT_ADDRESS="https://github.com/Kitware/VTK.git" | |
| LATEST_TAG=`eval ${FUNCTION_GET_LATEST}` | |
| echo "Newest tag is ${LATEST_TAG}" | |
| git clone --recursive --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/VTK | |
| cd ${HOME}/VTK | |
| mkdir build && cd build && mkdir install | |
| cmake .. -DVTK_ANDROID_BUILD=OFF -DVTK_BUILD_DOCUMENTATION=OFF -DVTK_BUILD_EXAMPLES=OFF -DVTK_BUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release \ | |
| -DVTK_GROUP_ENABLE_Imaging=DONT_WANT -DVTK_GROUP_ENABLE_MPI=DONT_WANT -DVTK_GROUP_ENABLE_Web=DONT_WANT -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| make -j$(nproc) install | |
| echo "VTK_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $VTK_DIR | |
| - name: Build OpenCV from source | |
| run: | | |
| pwd | |
| GIT_ADDRESS="https://github.com/opencv/opencv.git" | |
| LATEST_TAG=`eval ${FUNCTION_GET_LATEST}` | |
| echo "Newest tag is ${LATEST_TAG}" | |
| git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/opencv | |
| cd ${HOME}/opencv | |
| mkdir build && cd build && mkdir install | |
| cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| make -j$(nproc) install | |
| echo "OpenCV_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $OpenCV_DIR | |
| - name: Build librealsense2 from source | |
| run: | | |
| pwd | |
| GIT_ADDRESS="https://github.com/IntelRealSense/librealsense.git" | |
| LATEST_TAG=`eval ${FUNCTION_GET_LATEST}` | |
| echo "Newest tag is ${LATEST_TAG}" | |
| git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/librealsense | |
| cd ${HOME}/librealsense | |
| mkdir build && cd build && mkdir install | |
| cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| make -j$(nproc) install | |
| echo "REALSENSE2_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $REALSENSE2_DIR | |
| - name: Build PCL from source | |
| run: | | |
| pwd | |
| GIT_ADDRESS="https://github.com/PointCloudLibrary/pcl.git" | |
| LATEST_TAG=`eval ${FUNCTION_GET_LATEST}` | |
| echo "Newest tag is ${LATEST_TAG}" | |
| git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/pcl | |
| cd ${HOME}/pcl | |
| mkdir build && cd build && mkdir install | |
| cmake .. -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DPCL_DISABLE_GPU_TESTS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| make -j$(nproc) install | |
| echo "PCL_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $PCL_DIR | |
| - name: Build qualisys_cpp_sdk from source | |
| run: | | |
| pwd | |
| git clone https://github.com/qualisys/qualisys_cpp_sdk.git ${HOME}/qualisys_cpp_sdk | |
| cd ${HOME}/qualisys_cpp_sdk | |
| mkdir build && cd build && mkdir install | |
| cmake .. qualisys_cpp_sdk_BUILD_EXAMPLE=OFF qualisys_cpp_sdk_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-fPIC -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| make -j$(nproc) install | |
| echo "QUALISYS_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $QUALISYS_DIR | |
| - name: Build libfranka from source | |
| # Since libfranka version 0.14.0 or later, you will need to install pinocchio and some more dependencies | |
| env: | |
| LD_LIBRARY_PATH: /opt/openrobots/lib | |
| run: | | |
| sudo apt-get install -y lsb-release curl | |
| sudo mkdir -p /etc/apt/keyrings | |
| curl -fsSL 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 | |
| sudo apt-get update | |
| sudo apt-get install -y robotpkg-pinocchio libpoco-dev libfmt-dev | |
| pwd | |
| GIT_ADDRESS="https://github.com/frankaemika/libfranka" | |
| LATEST_TAG=`eval ${FUNCTION_GET_LATEST}` | |
| echo "Newest tag is ${LATEST_TAG}" | |
| git clone --recursive --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/libfranka | |
| cd ${HOME}/libfranka | |
| mkdir build && cd build && mkdir install | |
| cmake .. -DCMAKE_PREFIX_PATH=/opt/openrobots/lib/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| make -j$(nproc) install | |
| echo "Franka_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $Franka_DIR | |
| - name: Build Cerebellum Afma and Viper robots SDK from source | |
| run: | | |
| pwd | |
| git clone https://gitlab.inria.fr/adept_robots/cerebellum.git ${HOME}/cerebellum | |
| git clone https://gitlab.inria.fr/adept_robots/afma6 ${HOME}/afma6 | |
| git clone https://gitlab.inria.fr/adept_robots/viper650 ${HOME}/viper650 | |
| git clone https://gitlab.inria.fr/adept_robots/viper850 ${HOME}/viper850 | |
| cd ${HOME}/cerebellum/CALinux | |
| make -j$(nproc) | |
| sudo make install | |
| cd ${HOME}/cerebellum/Irisa | |
| cmake . | |
| make -j$(nproc) | |
| sudo make install | |
| echo "AFMA6_DATA_DIR=${HOME}/afma6" >> $GITHUB_ENV | |
| echo "VIPER650_DATA_DIR=${HOME}/viper650" >> $GITHUB_ENV | |
| echo "VIPER850_DATA_DIR=${HOME}/viper850" >> $GITHUB_ENV | |
| echo $AFMA6_DATA_DIR | |
| echo $VIPER650_DATA_DIR | |
| echo $VIPER850_DATA_DIR | |
| - name: Build Universal Robots ur_rtde SDK from source | |
| run: | | |
| sudo apt-get update | |
| sudo apt install -y libboost-system-dev libboost-thread-dev libboost-program-options-dev | |
| pwd | |
| GIT_ADDRESS="https://gitlab.com/sdurobotics/ur_rtde.git" | |
| LATEST_TAG=`eval ${FUNCTION_GET_LATEST}` | |
| echo "Newest tag is ${LATEST_TAG}" | |
| git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/ur_rtde | |
| cd ${HOME}/ur_rtde | |
| mkdir build && cd build && mkdir install | |
| cmake .. -DCMAKE_BUILD_TYPE=Release -DPYTHON_BINDINGS=OFF -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| make -j$(nproc) install | |
| echo "ur_rtde_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $ur_rtde_DIR | |
| - name: Clone visp-images | |
| env: | |
| BRANCH_NAME: ${{ github.head_ref || github.ref_name }} | |
| # https://remarkablemark.org/blog/2022/09/25/check-git-branch-exists-in-remote-repository/ | |
| run: | | |
| git clone --depth 1 https://github.com/lagadic/visp-images ${HOME}/visp-images | |
| echo "VISP_INPUT_IMAGE_PATH=$HOME/visp-images" >> $GITHUB_ENV | |
| echo ${VISP_INPUT_IMAGE_PATH} | |
| - name: Configure CMake | |
| run: | | |
| pwd | |
| mkdir build && cd build && mkdir install | |
| cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install | |
| cat ViSP-third-party.txt | |
| - name: Build visp-config script | |
| working-directory: build | |
| run: | | |
| make -j$(nproc) developer_scripts | |
| ./bin/visp-config --cflags | |
| ./bin/visp-config --libs | |
| - name: Build and install ViSP | |
| env: | |
| LD_LIBRARY_PATH: /opt/openrobots/lib | |
| working-directory: build | |
| run: | | |
| make -j$(nproc) install | |
| echo "VISP_DIR=$(pwd)/install" >> $GITHUB_ENV | |
| echo $VISP_DIR | |
| - name: Run unit tests | |
| env: | |
| LD_LIBRARY_PATH: /opt/openrobots/lib | |
| working-directory: build | |
| run: ctest -j$(nproc) --output-on-failure | |
| - name: Clone camera_localization | |
| run: | | |
| git clone --depth 1 https://github.com/lagadic/camera_localization ${HOME}/camera_localization | |
| - name: Build camera_localization with ViSP as 3rdparty | |
| env: | |
| LD_LIBRARY_PATH: /opt/openrobots/lib | |
| run: | | |
| cd ${HOME}/camera_localization | |
| mkdir camera_localization-build | |
| cd camera_localization-build | |
| cmake .. | |
| make -j$(nproc) | |
| - name: Clone visp_started | |
| run: | | |
| git clone --depth 1 https://github.com/lagadic/visp_started ${HOME}/visp_started | |
| - name: Build visp_started with ViSP as 3rdparty | |
| env: | |
| LD_LIBRARY_PATH: /opt/openrobots/lib | |
| run: | | |
| cd ${HOME}/visp_started | |
| mkdir visp_started-build | |
| cd visp_started-build | |
| cmake .. | |
| make -j$(nproc) |