From fb3bd2ceddbfbacef2b01c3dc2ea4089a2f54477 Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Sun, 10 Nov 2024 14:27:37 -0800 Subject: [PATCH] Add CI for Gazebo --- .github/workflows/ci_gazebo.yml | 47 + pixi.lock | 3338 ++++++++++++++++++++++++++++++- pixi.toml | 55 + 3 files changed, 3384 insertions(+), 56 deletions(-) create mode 100644 .github/workflows/ci_gazebo.yml diff --git a/.github/workflows/ci_gazebo.yml b/.github/workflows/ci_gazebo.yml new file mode 100644 index 0000000000000..7039260417af5 --- /dev/null +++ b/.github/workflows/ci_gazebo.yml @@ -0,0 +1,47 @@ +# https://help.github.com/en/articles/workflow-syntax-for-github-actions + +name: CI Gazebo + +on: + push: + branches: + - "**" + paths-ignore: + - ".github/workflows/cache_*.yml" + - "docker/dev/**" + pull_request: + branches: + - "**" + paths-ignore: + - ".github/workflows/cache_*.yml" + - "docker/dev/**" + schedule: + # Cron syntax: [minute hour day_of_the_month month day_of_the_week] + - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00 + workflow_dispatch: + +jobs: + test_gazebo: + name: ${{ matrix.os }} + runs-on: ${{ matrix.os }} + strategy: + fail-fast: false + matrix: + os: [ubuntu-latest, windows-latest, macos-latest] + steps: + - name: Checkout + uses: actions/checkout@v4 + + - name: Setup pixi + uses: prefix-dev/setup-pixi@v0.8.1 + with: + cache: true + + - uses: awalsh128/cache-apt-pkgs-action@v1.4.2 + with: + packages: libgl1-mesa-dev libglu1-mesa-dev + version: 1.0 + + - name: Test Gazebo + run: | + pixi r -e gazebo test-gz diff --git a/pixi.lock b/pixi.lock index 1ee38d06924a7..f2a3153501637 100644 --- a/pixi.lock +++ b/pixi.lock @@ -524,6 +524,327 @@ environments: - conda: https://conda.anaconda.org/conda-forge/win-64/xz-5.2.6-h8d14728_0.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/win-64/zlib-1.3.1-h2466b09_2.conda - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda + gazebo: + channels: + - url: https://conda.anaconda.org/conda-forge/ + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_kmp_llvm.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2 + - 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__glibc >=2.17,<3.0.a0 + - aws-crt-cpp >=0.29.3,<0.29.4.0a0 + - aws-sdk-cpp >=1.11.407,<1.11.408.0a0 + - azure-core-cpp >=1.14.0,<1.14.1.0a0 + - azure-identity-cpp >=1.10.0,<1.10.1.0a0 + - azure-storage-blobs-cpp >=12.13.0,<12.13.1.0a0 + - azure-storage-common-cpp >=12.8.0,<12.8.1.0a0 + - bzip2 >=1.0.8,<2.0a0 + - fmt >=11.0.2,<12.0a0 + - libabseil * cxx17* + - libabseil >=20240722.0,<20240723.0a0 + - libcurl >=8.10.1,<9.0a0 + - libgcc >=13 + - libgoogle-cloud >=2.31.0,<2.32.0a0 + - libgoogle-cloud-storage >=2.31.0,<2.32.0a0 + - libstdcxx >=13 + - libwebp-base >=1.4.0,<2.0a0 + - libzlib >=1.3.1,<2.0a0 + - lz4-c >=1.9.3,<1.10.0a0 + - openssl >=3.3.2,<4.0a0 + - spdlog >=1.14.1,<1.15.0a0 + - zstd >=1.5.6,<1.6.0a0 + license: MIT + license_family: MIT + size: 4562372 + timestamp: 1731260809216 - kind: conda name: tinyxml2 version: 10.0.0 @@ -7177,6 +10275,21 @@ packages: license_family: MIT size: 18203 timestamp: 1727974767524 +- kind: conda + name: tzcode + version: 2024b + build: hb9d3cd8_0 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/tzcode-2024b-hb9d3cd8_0.conda + sha256: 20c72e7ba106338d51fdc29a717a54fcd52340063232e944dcd1d38fb6348a28 + md5: db124840386e1f842f93372897d1b857 + depends: + - __glibc >=2.17,<3.0.a0 + - libgcc >=13 + license: BSD-3-Clause + license_family: BSD + size: 69349 + timestamp: 1725600364789 - kind: conda name: tzdata version: 2024b @@ -7385,6 +10498,21 @@ packages: license_family: BSD size: 19489 timestamp: 1726152723966 +- kind: conda + name: uriparser + version: 0.9.8 + build: hac33072_0 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/uriparser-0.9.8-hac33072_0.conda + sha256: 2aad2aeff7c69a2d7eecd7b662eef756b27d6a6b96f3e2c2a7071340ce14543e + md5: d71d3a66528853c0a1ac2c02d79a0284 + depends: + - libgcc-ng >=12 + - libstdcxx-ng >=12 + license: BSD-3-Clause + license_family: BSD + size: 48270 + timestamp: 1715010035325 - kind: conda name: userpath version: 1.7.0 @@ -7468,6 +10596,52 @@ packages: license_family: MIT size: 321561 timestamp: 1724530461598 +- kind: conda + name: wayland-protocols + version: '1.37' + build: hd8ed1ab_0 + subdir: noarch + noarch: generic + url: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.37-hd8ed1ab_0.conda + sha256: f6cac1efd4d2a6e30c1671f0566d4e6ac3fe2dc34c9ff7f309bbbc916520ebcf + md5: 73ec79a77d31eb7e4a3276cd246b776c + depends: + - wayland + license: MIT + license_family: MIT + size: 95953 + timestamp: 1725657284103 +- kind: conda + name: x264 + version: 1!164.3095 + build: h166bdaf_2 + build_number: 2 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/x264-1!164.3095-h166bdaf_2.tar.bz2 + sha256: 175315eb3d6ea1f64a6ce470be00fa2ee59980108f246d3072ab8b977cb048a5 + md5: 6c99772d483f566d59e25037fea2c4b1 + depends: + - libgcc-ng >=12 + license: GPL-2.0-or-later + license_family: GPL + size: 897548 + timestamp: 1660323080555 +- kind: conda + name: x265 + version: '3.5' + build: h924138e_3 + build_number: 3 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/x265-3.5-h924138e_3.tar.bz2 + sha256: 76c7405bcf2af639971150f342550484efac18219c0203c5ee2e38b8956fe2a0 + md5: e7f6ed84d4623d52ee581325c1587a6b + depends: + - libgcc-ng >=10.3.0 + - libstdcxx-ng >=10.3.0 + license: GPL-2.0-or-later + license_family: GPL + size: 3357188 + timestamp: 1646609687141 - kind: conda name: xcb-util version: 0.4.1 @@ -7546,6 +10720,25 @@ packages: license_family: MIT size: 51689 timestamp: 1718844051451 +- kind: conda + name: xerces-c + version: 3.2.5 + build: h988505b_2 + build_number: 2 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/xerces-c-3.2.5-h988505b_2.conda + sha256: 339ab0ff05170a295e59133cd0fa9a9c4ba32b6941c8a2a73484cc13f81e248a + md5: 9dda9667feba914e0e80b95b82f7402b + depends: + - __glibc >=2.17,<3.0.a0 + - icu >=75.1,<76.0a0 + - libgcc >=13 + - libnsl >=2.0.1,<2.1.0a0 + - libstdcxx >=13 + license: Apache-2.0 + license_family: Apache + size: 1648243 + timestamp: 1727733890754 - kind: conda name: xkeyboard-config version: '2.43' @@ -7833,6 +11026,24 @@ packages: license_family: MIT size: 13891 timestamp: 1727908521531 +- kind: conda + name: xorg-libxrender + version: 0.9.11 + build: hb9d3cd8_1 + build_number: 1 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxrender-0.9.11-hb9d3cd8_1.conda + sha256: f1217e902c0b1d8bc5d3ce65e483ebf38b049c823c9117b7198cfb16bd2b9143 + md5: a7a49a8b85122b49214798321e2e96b4 + depends: + - __glibc >=2.17,<3.0.a0 + - libgcc >=13 + - xorg-libx11 >=1.8.10,<2.0a0 + - xorg-xorgproto + license: MIT + license_family: MIT + size: 37780 + timestamp: 1727529943015 - kind: conda name: xorg-libxxf86vm version: 1.1.5 @@ -7962,6 +11173,21 @@ packages: license: LGPL-2.1 and GPL-2.0 size: 217804 timestamp: 1660346976440 +- kind: conda + name: yaml + version: 0.2.5 + build: h7f98852_2 + build_number: 2 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2 + sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535 + md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae + depends: + - libgcc-ng >=9.4.0 + license: MIT + license_family: MIT + size: 89141 + timestamp: 1641346969816 - kind: conda name: zlib version: 1.3.1 diff --git a/pixi.toml b/pixi.toml index 67bf879e15c20..4f7247d2b7661 100644 --- a/pixi.toml +++ b/pixi.toml @@ -254,3 +254,58 @@ tu-multi-pendulum-fi = { cmd = "cmake --build build --config Release --target tu install = { cmd = "cmake --build build --config Release -j --target install", depends_on = [ "build", ] } + +#================= +# Feature: Gazebo +#================= + +[feature.gazebo] +channels = ["conda-forge"] +platforms = ["linux-64"] + +[feature.gazebo.build-dependencies] +git = ">=1" + +[feature.gazebo.dependencies] +libgz-cmake4 = ">=4.0.0" +libgz-plugin3 = ">=3.0.0" +libgz-math8 = ">=8.0.0" +libgz-common6 = ">=6.0.0" +libgz-utils2 = ">=2.0.0" +libsdformat15 = ">=15.0.0" +eigen = ">=3.4.0" +assimp = ">=5.4.3" +libode = ">=0.16.2" +bullet-cpp = ">=3.25" + +[feature.gazebo.tasks] +download-gz = { cmd = """ + rm -rf .deps/gz-physics/ \ + && git clone --branch gz-physics8_8.0.0 https://github.com/gazebosim/gz-physics .deps/gz-physics + """, outputs = [ + ".deps/gz-physics/README.md", +] } + +config-gz = { cmd = """ + cmake \ + -G Ninja \ + -S .deps/gz-physics \ + -B .deps/gz-physics/build \ + -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ + -DCMAKE_BUILD_TYPE=Release +""", depends_on = ["download-gz", "install"] } + +build-gz = { cmd = "cmake --build .deps/gz-physics/build -j --target all", depends_on = [ + "config-gz", +] } + +test-gz = { cmd = "ctest --test-dir .deps/gz-physics/build --output-on-failure", depends_on = [ + "build-gz", +] } + +#============== +# Environments +#============== + +[environments] +gazebo = ["gazebo"]