Fix re-compilation issue and add CI test (#3)

* Force build despite local installation Signed-off-by: Chen Bainian <[email protected]> * Add CI build Signed-off-by: Chen Bainian <[email protected]> * Add missing dependencies Signed-off-by: Chen Bainian <[email protected]> * Only test foxy environment in CI Signed-off-by: Chen Bainian <[email protected]> --------- Signed-off-by: Chen Bainian <[email protected]>
ros-industrial · Feb 8, 2024 · 837c92c · 837c92c
1 parent 0b7f34a
commit 837c92c
Show file tree

Hide file tree

Showing 4 changed files with 45 additions and 41 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,24 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ~/.ccache
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v2
+      # step up caching
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,10 +2,6 @@ cmake_minimum_required(VERSION 3.13)
 
 project(epd_onnxruntime_vendor)
 
-option(FORCE_BUILD_VENDOR_PKG
-  "Build onnxruntime from source, even if system-installed package is available"
-  OFF)
-
 find_package(ament_cmake REQUIRED)
 
 macro(build_onnxruntime)
@@ -69,34 +65,24 @@ macro(build_onnxruntime)
   )
 endmacro()
 
-# NO_CMAKE_PACKAGE_REGISTRY used to avoid finding the library downloaded in WORKSPACE B
-# TODO(Briancbn): Verify force build vendor pkg with existing installation in /usr/local/lib
-find_library(onnxruntime_LIBRARIES NAMES onnxruntime PATHS /usr/local/lib)
-
-if(FORCE_BUILD_VENDOR_PKG OR onnxruntime_LIBRARIES STREQUAL onnxruntime_LIBRARIES-NOTFOUND)
-  build_onnxruntime()
+build_onnxruntime()
 
-  # TODO(Briancbn): environment variables in Windows
-  if(WIN32)
-    ament_environment_hooks(env_hook/epd_onnxruntime_vendor_library_path.bat)
-    set(ENV_VAR_NAME "PATH")
-    set(ENV_VAR_VALUE "opt\\epd_onnxruntime_vendor\\bin")
+# TODO(Briancbn): environment variables in Windows
+if(WIN32)
+  ament_environment_hooks(env_hook/epd_onnxruntime_vendor_library_path.bat)
+  set(ENV_VAR_NAME "PATH")
+  set(ENV_VAR_VALUE "opt\\epd_onnxruntime_vendor\\bin")
+else()
+  ament_environment_hooks(env_hook/epd_onnxruntime_vendor_library_path.sh)
+  if(APPLE)
+    set(ENV_VAR_NAME "DYLD_LIBRARY_PATH")
   else()
-    ament_environment_hooks(env_hook/epd_onnxruntime_vendor_library_path.sh)
-    if(APPLE)
-      set(ENV_VAR_NAME "DYLD_LIBRARY_PATH")
-    else()
-      set(ENV_VAR_NAME "LD_LIBRARY_PATH")
-    endif()
-    set(ENV_VAR_VALUE "opt/epd_onnxruntime_vendor/lib")
+    set(ENV_VAR_NAME "LD_LIBRARY_PATH")
   endif()
-  ament_environment_hooks(env_hook/epd_onnxruntime_vendor_library_path.dsv.in)
-else()
-  message(WARNING "Found onnxruntime in path ${onnxruntime_LIBRARIES}")
+  set(ENV_VAR_VALUE "opt/epd_onnxruntime_vendor/lib")
 endif()
+ament_environment_hooks(env_hook/epd_onnxruntime_vendor_library_path.dsv.in)
 
 ament_package(
   CONFIG_EXTRAS "epd_onnxruntime_vendor-extras.cmake.in"
 )
-
-
diff --git a/epd_onnxruntime_vendor-extras.cmake.in b/epd_onnxruntime_vendor-extras.cmake.in
@@ -1,21 +1,14 @@
-# Check local installation first
-find_library(onnxruntime_LIBRARIES NAMES onnxruntime PATHS /usr/local/lib)
-if(onnxruntime_LIBRARIES STREQUAL onnxruntime_LIBRARIES-NOTFOUND)
-  # add the local Modules directory to the modules path
-  # ONNXConfig.cmake is ignored for now, since it is not used by EPD
-  # TODO(anyone): Verify if ONNXConfig.cmake is needed as find_package(ONNX)
-  find_library(onnxruntime_LIBRARIES NAMES onnxruntime PATHS ${@PROJECT_NAME@_DIR}/../../../opt/epd_onnxruntime_vendor/lib)
+# add the local Modules directory to the modules path
+# ONNXConfig.cmake is ignored for now, since it is not used by EPD
+# TODO(anyone): Verify if ONNXConfig.cmake is needed as find_package(ONNX)
+find_library(onnxruntime_LIBRARIES NAMES onnxruntime PATHS ${@PROJECT_NAME@_DIR}/../../../opt/epd_onnxruntime_vendor/lib)
 
-  set(onnxruntime_INSTALL_PREFIX "${@PROJECT_NAME@_DIR}/../../../opt/epd_onnxruntime_vendor")
-else()
-  # Using local installation
-  set(onnxruntime_INSTALL_PREFIX "/usr/local")
-endif()
+set(onnxruntime_opt "${@PROJECT_NAME@_DIR}/../../../opt/epd_onnxruntime_vendor")
 
 message(WARNING "Find onnxruntime libraries at" ${onnxruntime_LIBRARIES})
 
 set(epd_onnxruntime_vendor_LIBRARIES ${onnxruntime_LIBRARIES})
 set(epd_onnxruntime_vendor_INCLUDE_DIRS 
-  ${onnxruntime_INSTALL_PREFIX}/include
-  ${onnxruntime_INSTALL_PREFIX}/include/onnxruntime/core/session
+  ${onnxruntime_opt}/include
+  ${onnxruntime_opt}/include/onnxruntime/core/session
 )
diff --git a/package.xml b/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>  <!-- the contents of this package are Apache 2.0 -->
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>git</buildtool_depend>
 
   <export>
     <build_type>ament_cmake</build_type>