overworld_modules.yml

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