Added ci to compile with USD

Signed-off-by: ahcorde <[email protected]>

.github/ci/before_cmake.sh

@@ -0,0 +1,58 @@
+#!/bin/sh -l
+
+set -x
+
+BUILD_DIR=`pwd`
+
+cd /tmp
+
+# check that we can compile USD from sources
+mkdir cmake_test
+cd cmake_test
+
+echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
+
+return_code=0
+cmake . || return_code=$(($return_code + $?))
+if [ $return_code -eq 0 ]
+then
+  # compile USD from sources
+  cd /tmp
+  mkdir usd_binaries
+  cd usd_binaries
+
+  apt-get install libboost-all-dev libtbb-dev p7zip-full -y
+
+  wget https://github.com/PixarAnimationStudios/USD/archive/refs/tags/v21.11.zip
+  unzip v21.11.zip
+  sed -i '2059 i \ \ \ \ requiredDependencies.remove(BOOST)' USD-21.11/build_scripts/build_usd.py
+  cd USD-21.11
+  mkdir build
+  cd build
+
+  cmake -DCMAKE_INSTALL_PREFIX="/tmp/USD" -DCMAKE_PREFIX_PATH="/tmp/USD" \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPXR_PREFER_SAFETY_OVER_SPEED=ON \
+    -DPXR_ENABLE_PYTHON_SUPPORT=OFF \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DTBB_USE_DEBUG_BUILD=OFF  \
+    -DPXR_BUILD_DOCUMENTATION=OFF  \
+    -DPXR_BUILD_TESTS=OFF  \
+    -DPXR_BUILD_EXAMPLES=OFF  \
+    -DPXR_BUILD_TUTORIALS=OFF  \
+    -DPXR_BUILD_USD_TOOLS=OFF  \
+    -DPXR_BUILD_IMAGING=OFF  \
+    -DPXR_BUILD_USD_IMAGING=OFF  \
+    -DPXR_BUILD_USDVIEW=OFF  \
+    -DPXR_BUILD_ALEMBIC_PLUGIN=OFF  \
+    -DPXR_BUILD_DRACO_PLUGIN=OFF  \
+    -DPXR_ENABLE_MATERIALX_SUPPORT=OFF  \
+    -DBoost_NO_BOOST_CMAKE=On  \
+    -DBoost_INCLUDE_DIR=/usr/include  \
+    -DBoost_NO_BOOST_CMAKE=FALSE \
+    ..
+
+  make -j$(nproc) install
+fi
+
+cd $BUILD_DIR

.github/ci/packages.apt

@@ -3,6 +3,7 @@ libignition-cmake2-dev
 libignition-math6-dev
 libignition-tools-dev
 libignition-utils1-dev
+libignition-utils1-cli-dev
 libtinyxml2-dev
 liburdfdom-dev
 libxml2-utils

.github/workflows/ci.yml

@@ -7,6 +7,11 @@ jobs:
     runs-on: ubuntu-latest
     name: Ubuntu Bionic CI
     steps:
+      - name: Set env
+        run: |
+          export PATH=$PATH:/tmp/usd_binaries/bin
+          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/tmp/usd_binaries/lib
+          export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/tmp/usd_binaries
       - name: Checkout
         uses: actions/checkout@v2
       - name: Compile and test
@@ -18,6 +23,11 @@ jobs:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
     steps:
+      - name: Set env
+        run: |
+          echo "PATH=$PATH:/tmp/USD/bin" >> $GITHUB_ENV
+          echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/tmp/USD/lib" >> $GITHUB_ENV
+          echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/tmp/USD" >> $GITHUB_ENV
       - name: Checkout
         uses: actions/checkout@v2
       - name: Compile and test