[DataFusionBase] fix fusion when a fused percept is created directly … #67
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| name: overworld modules CI | |
| on: [push] | |
| jobs: | |
| build: | |
| runs-on: ${{ matrix.operating-system }} | |
| strategy: | |
| matrix: | |
| include: | |
| #- operating-system: ubuntu-18.04 | |
| # distro: melodic | |
| - operating-system: ubuntu-20.04 | |
| distro: noetic | |
| env: | |
| ROS_CI_DESKTOP: "`lsb_release -cs`" | |
| CI_SOURCE_PATH: $(pwd) | |
| ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall | |
| CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options | |
| ROS_PARALLEL_JOBS: '-j8 -l6' | |
| # Set the python path manually to include /usr/-/python2.7/dist-packages | |
| # as this is where apt-get installs python packages. | |
| PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages:/usr/lib/python3.8/dist-packages:/usr/local/lib/python3.8/dist-packages | |
| ROS_DISTRO: ${{ matrix.distro }} | |
| steps: | |
| - uses: actions/checkout@v1 | |
| - name: Install ROS | |
| run: | | |
| sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" | |
| sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | |
| sudo apt update -qq | |
| sudo apt install dpkg | |
| sudo apt install -y ros-$ROS_DISTRO-desktop qtbase5-dev qtdeclarative5-dev | |
| sudo apt install -y libcppunit-dev | |
| sudo apt install ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-tf2-geometry-msgs ros-$ROS_DISTRO-pr2-common | |
| if [ $ROS_DISTRO != noetic ] | |
| then | |
| sudo apt-get install python-rosdep | |
| else | |
| sudo apt-get install python3-rosdep | |
| fi | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| sudo rosdep init | |
| rosdep update --include-eol-distros # Support EOL distros. | |
| if [ $ROS_DISTRO != noetic ] | |
| then | |
| pip install requests --user | |
| else | |
| pip3 install requests --user | |
| fi | |
| - name: Install dependencies | |
| run: | | |
| mkdir -p ~/dependencies && cd ~/dependencies | |
| git clone https://github.com/bulletphysics/bullet3.git | |
| cd bullet3 | |
| mkdir build && mkdir install | |
| export BULLET_PATH=$(pwd) | |
| cd build | |
| cmake .. -DCMAKE_INSTALL_PREFIX=$BULLET_PATH/install -DBUILD_SHARED_LIBS=ON | |
| make install | |
| cd ~/work | |
| git clone -b dev https://github.com/sarthou/ontologenius.git | |
| - name: Install modules | |
| run: | | |
| cd ~/work | |
| mkdir overworld_modules && cd overworld_modules | |
| git clone https://github.com/sarthou/artrack_perception_module.git | |
| git clone https://github.com/sarthou/optitrack_perception_module.git | |
| git clone https://github.com/sarthou/pr2_gripper_perception_module.git | |
| cd .. | |
| git clone https://github.com/RIS-WITH/optitrack_msgs.git | |
| if [ $ROS_DISTRO != noetic ] | |
| then | |
| git clone https://github.com/sarthou/ar_track_alvar.git | |
| else | |
| git clone -b noetic-devel https://github.com/sarthou/ar_track_alvar.git | |
| fi | |
| - name: build | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| mkdir -p ~/catkin_ws/src | |
| cd ~/catkin_ws | |
| catkin_make | |
| source devel/setup.bash | |
| cd ~/catkin_ws/src | |
| ln -s ~/work | |
| cd .. | |
| export BULLET_INSTALL_PATH=~/dependencies/bullet3/install | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$BULLET_INSTALL_PATH/lib | |
| catkin_make |