Extending CI jobs

[cmastalli]

No description provided.

[hrp2-14]

Hi ! This project doesn't usually accept pull requests on the main branch.
If this wasn't intentionnal, you can change the base branch of this PR to devel
(No need to close it for that). Best, a bot.

[cmastalli]

Hi guys

I am trying to set up a CI that runs unit tests with CppADCodeGen. To do so, I have defined a CI using Conda. However, I am blocked by the following compilation error (that you can find here https://github.com/loco-3d/crocoddyl/actions/runs/5741143361/job/15569452210?pr=1152):

/usr/share/miniconda/envs/crocoddyl/include/boost/math/constants/constants.hpp:259:3: error: no matching function for call to 'boost::math::constants::detail::constant_pi<CppAD::AD<CppAD::cg::CG<double> > >::get(boost::math::constants::construction_traits<CppAD::AD<CppAD::cg::CG<double> >, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >::type)'
In file included from /usr/share/miniconda/envs/crocoddyl/include/pinocchio/codegen/cppadcg.hpp:15,
                 from /home/runner/work/crocoddyl/crocoddyl/include/crocoddyl/core/codegen/action-base.hpp:16,
                 from /home/runner/work/crocoddyl/crocoddyl/unittest/test_codegen.cpp:20:
/usr/share/miniconda/envs/crocoddyl/include/pinocchio/autodiff/cppad.hpp:35:34: note: candidate: 'template<int N> static boost::math::constants::detail::constant_pi<CppAD::AD<Base> >::ADScalar boost::math::constants::detail::constant_pi<CppAD::AD<Base> >::get(const mpl_::int_<N>&) [with int N = N; Scalar = CppAD::cg::CG<double>]'
   35 |           static inline ADScalar get(const mpl::int_<N>& n)
      |                                  ^~~
/usr/share/miniconda/envs/crocoddyl/include/pinocchio/autodiff/cppad.hpp:35:34: note:   template argument deduction/substitution failed:
In file included from /usr/share/miniconda/envs/crocoddyl/include/pinocchio/math/fwd.hpp:10,
                 from /usr/share/miniconda/envs/crocoddyl/include/pinocchio/math/quaternion.hpp:12,
                 from /usr/share/miniconda/envs/crocoddyl/include/pinocchio/spatial/se3-tpl.hpp:12,
                 from /usr/share/miniconda/envs/crocoddyl/include/pinocchio/spatial/se3.hpp:44,
                 from /usr/share/miniconda/envs/crocoddyl/include/pinocchio/multibody/model.hpp:10,
                 from /usr/share/miniconda/envs/crocoddyl/include/pinocchio/algorithm/model.hpp:8,
                 from /home/runner/work/crocoddyl/crocoddyl/unittest/test_codegen.cpp:13:
/usr/share/miniconda/envs/crocoddyl/include/boost/math/constants/constants.hpp:259:3: note:   'boost::math::constants::construction_traits<CppAD::AD<CppAD::cg::CG<double> >, boost::math::policies::policy<boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >::type' {aka 'std::integral_constant<int, 0>'} is not derived from 'const mpl_::int_<N>'
  259 |   BOOST_DEFINE_MATH_CONSTANT(pi, 3.141592653589793238462643383279502884e+00, "3.14159265358979323846264338327950288419716939937510582097494459230781640628620899862803482534211706798214808651e+00")
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [unittest/CMakeFiles/test_codegen.dir/build.make:79: unittest/CMakeFiles/test_codegen.dir/test_codegen.cpp.o] Error 1

This is happening with Boost 1.78 and both Linux and macOS environments. I can say that Conda works well on my PC, which also has Boost 1.78.

I would appreciate any help as I am lacking of ideas. (tag @nim65s and @jcarpent as you might have some clues for me)

Thanks

[cmastalli]

This PR extends Crocoddyl CI as follows:

• ROS2 jobs for humble and rolling
• CONDA jobs for Linux and macOS offering us to test Ipopt and in the near future CppADCodeGen (this last requires a new Pinocchio release).

Additionally, this PR contains a few basic code clean-ups, ROS2 support and robustification of collision tests. It is worth mentioning that these collision tests weren't passing in macOS.