Merge pull request #1220 from cmastalli/topic/ci-and-cmake

loco-3d · Feb 5, 2024 · b57d566 · b57d566
2 parents 0b830c4 + 36328f9
commit b57d566
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diff --git a/.github/workflows/changelog.yaml b/.github/workflows/changelog.yaml
@@ -0,0 +1,16 @@
+name: CHANGELOG
+
+on:
+  pull_request:
+    types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
+    branches:
+      - devel
+
+jobs:
+  check-changelog:
+    name: Check changelog action
+    runs-on: ubuntu-latest
+    steps:
+      - uses: tarides/changelog-check-action@v2
+        with:
+          changelog: CHANGELOG.md
diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
@@ -1,43 +1,74 @@
 name: CONDA
 
-on: [push, pull_request]
+# This determines when this workflow is run
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   crocoddyl-conda:
     name: (${{ matrix.os }}, clang, multi-threading, ipopt, ${{ matrix.build_type }})
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_DIR: ${{ matrix.CCACHE_DIR }}
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 5
 
     strategy:
       fail-fast: false
       matrix:
         # os: ["ubuntu-latest", "macos-latest"]
         os: ["macos-latest"]
         build_type: [Release, Debug]
+        python-version: ["3.8", "3.12"]
         compiler: [clang]
 
         include:
           # - os: ubuntu-latest
-          #   CCACHE_DIR: /home/runner/.ccache
           - os: macos-latest
-            CCACHE_DIR: /Users/runner/.ccache
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
 
-    - uses: actions/cache@v3
+    - uses: actions/cache@v4
       with:
         path: ${{ env.CCACHE_DIR }}
-        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}
+        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
+        restore-keys: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
 
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: conda-incubator/setup-miniconda@v3
       with:
         activate-environment: crocoddyl
         auto-update-conda: true
         environment-file: .github/workflows/conda/conda-env.yml
+        python-version: ${{ matrix.python-version }}
+        auto-activate-base: false
 
     - name: Install conda dependencies
       shell: bash -l {0}

diff --git a/.github/workflows/ros1-ci.yaml b/.github/workflows/ros1-ci.yaml
@@ -1,7 +1,32 @@
 name: ROS
 
 # This determines when this workflow is run
-on: [push, pull_request] # on all pushes and PRs
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   CI:
@@ -28,14 +53,15 @@ jobs:
     runs-on: ubuntu-latest
     continue-on-error: true
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v3
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
+          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
       # Run industrial_ci
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{ matrix.env }}
diff --git a/.github/workflows/ros2-ci.yaml b/.github/workflows/ros2-ci.yaml
@@ -1,7 +1,32 @@
 name: ROS
 
 # This determines when this workflow is run
-on: [push, pull_request]
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   CI:
@@ -29,13 +54,14 @@ jobs:
     runs-on: ubuntu-latest
     continue-on-error: true
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v3
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
+          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{ matrix.env }}
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+* Improved CI, updated cmake and fixed launch file in https://github.com/loco-3d/crocoddyl/pull/1220
 * Introduced a Rviz display in https://github.com/loco-3d/crocoddyl/pull/1216
 * Enabled display of thrust and simplied displayers code in https://github.com/loco-3d/crocoddyl/pull/1215
 * Introduced floating base thruster actuation model in https://github.com/loco-3d/crocoddyl/pull/1213

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -88,11 +88,11 @@ endif()
 
 # Add the different required and optional dependencies
 if(BUILD_PYTHON_INTERFACE)
-  add_project_dependency(eigenpy 3.1.4 REQUIRED PKG_CONFIG_REQUIRES
-                         "eigenpy >= 3.1.4")
+  add_project_dependency(eigenpy 3.1.0 REQUIRED PKG_CONFIG_REQUIRES
+                         "eigenpy >= 3.1.0")
 endif(BUILD_PYTHON_INTERFACE)
-add_project_dependency(pinocchio 2.6.21 REQUIRED PKG_CONFIG_REQUIRES
-                       "pinocchio >= 2.6.21")
+add_project_dependency(pinocchio 2.6.20 REQUIRED PKG_CONFIG_REQUIRES
+                       "pinocchio >= 2.6.20")
 if(BUILD_EXAMPLES
    OR BUILD_TESTING
    OR BUILD_BENCHMARK)

diff --git a/bindings/python/crocoddyl/crocoddyl.launch b/bindings/python/crocoddyl/crocoddyl.launch
@@ -1,4 +1,3 @@
-<?xml version="1.0" ?>
 <launch>
 	<arg name="filename" default="$(eval env('PWD'))"/>
 

diff --git a/cmake b/cmake
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -1,4 +1,4 @@
 - git:
     uri: https://github.com/Gepetto/example-robot-data.git
-    version: devel
+    version: v4.0.9
     local-name: example-robot-data