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Add DepthCamera gz-sim plugin #846

Add DepthCamera gz-sim plugin

Add DepthCamera gz-sim plugin #846

Workflow file for this run

name: CI Workflow
on:
workflow_dispatch:
pull_request:
schedule:
# * is a special character in YAML so you have to quote this string
# Execute a "nightly" build at 2 AM UTC
- cron: '0 2 * * *'
jobs:
build-with-conda-dependencies:
name: '[conda:${{ matrix.os }}]'
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
build_type: [Release]
os: [ubuntu-22.04, macos-latest, windows-2019]
steps:
- uses: actions/checkout@v4
- name: Print used environment (no conda)
shell: bash -l {0}
run: |
env
- uses: mamba-org/setup-micromamba@v1
with:
environment-file: ci_env.yml
# Additional dependencies useful only on Linux
- name: Additional Dependencies (Linux)
if: contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
# Additional dependencies only useful on Linux
# See https://github.com/robotology/robotology-superbuild/issues/477
micromamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64
# Update package lists
sudo apt-get update
# See https://github.com/robotology/gz-yarp-plugins/pull/38#issuecomment-1681909589 for more info
sudo apt install libgl1 libgl1-mesa-dri libselinux1 libxdamage1 libxxf86vm1 libxext6 libopengl0 libegl1
- name: Configure VS Toolchain (Windows)
if: contains(matrix.os, 'windows')
uses: ilammy/msvc-dev-cmd@v1.12.1
- name: Setup compilation env variables (Windows)
if: contains(matrix.os, 'windows')
shell: bash -l {0}
run: |
bash_vc_install=${VCToolsInstallDir//\\//}
compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe
echo "CC=${compiler_path}" >> $GITHUB_ENV
echo "CXX=${compiler_path}" >> $GITHUB_ENV
echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\Library" >> $GITHUB_ENV
- name: Setup compilation env variables (non-Windows)
if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
shell: bash -l {0}
run: |
echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}" >> $GITHUB_ENV
- name: Print used environment
shell: bash -l {0}
run: |
conda list --explicit
env
- name: Configure
shell: bash -l {0}
run: |
mkdir -p build
cd build
cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DBUILD_TESTING:BOOL=ON ..
- name: Build
shell: bash -l {0}
run: |
cd build
cmake --build . --config ${{ matrix.build_type }}
- name: Test_ubuntu
if: contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
# LaserTest and CameraTest are failing on conda-forge on Ubuntu: https://github.com/robotology/gz-sim-yarp-plugins/issues/196
ctest -E "^LaserTest|^CameraTest" --output-on-failure -C ${{ matrix.build_type }} .
- name: Test_macos
if: contains(matrix.os, 'macos')
shell: bash -l {0}
run: |
cd build
ctest --output-on-failure -C ${{ matrix.build_type }} .
- name: Install
run: |
cd build
cmake --build . --config ${{ matrix.build_type }} --target install
- name: Test installed package
shell: bash -l {0}
run: |
cd build
export CMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install
cmake-package-check gz-sim-yarp-plugins --targets gz-sim-yarp-plugins::gz-sim-yarp-device-registry