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Add conda tests (#380)
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‎.github/workflows/conda.yml‎

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name: Conda
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on:
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push:
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branches:
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- master
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- 'dev**'
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pull_request:
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release:
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types:
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- released
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jobs:
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conda-win:
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runs-on: windows-2019
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defaults:
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run:
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shell: powershell
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steps:
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- uses: actions/checkout@v3
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with:
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path: workspace/src/trajopt
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- name: install-depends
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shell: cmd
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run: |
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python -m pip install vcstool -q
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- name: vcs import
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run: >
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vcs import --input "${{ github.workspace }}/workspace/src/trajopt/.github/workflows/windows_dependencies.repos" workspace/src/
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- uses: conda-incubator/setup-miniconda@v3
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with:
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channel-priority: strict
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environment-file: workspace/src/trajopt/.github/workflows/conda/environment.yml
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use-mamba: true
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auto-update-conda: true
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activate-environment: tesseract-build
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- name: build and test
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run: |
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conda info
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conda list
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mkdir conda
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xcopy /E workspace\src\trajopt\.github\workflows\conda conda
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cd conda
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New-Item -Name conda-forge.yml -ItemType File
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conda smithy regenerate
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conda mambabuild -m .ci_support/win_64_.yaml .
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conda-linux:
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runs-on: ubuntu-latest
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defaults:
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run:
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shell: bash -el {0}
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steps:
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- uses: actions/checkout@v3
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with:
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path: workspace/src/trajopt
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- name: install-depends
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run: |
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python -m pip install vcstool -q
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- name: vcs import
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run: >
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vcs import --input "${{ github.workspace }}/workspace/src/trajopt/.github/workflows/windows_dependencies.repos" workspace/src/
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- uses: conda-incubator/setup-miniconda@v3
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with:
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channel-priority: strict
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environment-file: workspace/src/trajopt/.github/workflows/conda/environment.yml
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use-mamba: true
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auto-update-conda: true
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activate-environment: tesseract-build
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- name: build and test
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run: |
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conda info
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conda list
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cp -r workspace/src/trajopt/.github/workflows/conda ./conda
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cd conda
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touch conda-forge.yml
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conda smithy regenerate
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conda mambabuild -m .ci_support/linux_64_.yaml .

‎.github/workflows/conda/environment.yml‎

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name: tesseract-build
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channels:
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- conda-forge
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dependencies:
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- boa
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- conda-smithy

‎.github/workflows/conda/recipe/activate.bat‎

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@if not defined CONDA_PREFIX goto:eof
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@call "%CONDA_PREFIX%\opt\tesseract_robotics\setup.bat"
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@set TESSERACT_PYTHON_DLL_PATH=%CONDA_PREFIX%\opt\tesseract_robotics\bin

‎.github/workflows/conda/recipe/activate.sh‎

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source "${CONDA_PREFIX}/opt/tesseract_robotics/setup.sh"

‎.github/workflows/conda/recipe/bld.bat‎

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set CXXFLAGS=%CXXFLAGS% -DEIGEN_DONT_ALIGN=1 -DEIGEN_DONT_VECTORIZE=1
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set CXXFLAGS=%CXXFLAGS% /std:c++17
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colcon build --merge-install --install-base="%PREFIX%\opt\tesseract_robotics" ^
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--event-handlers console_cohesion+ desktop_notification- status- terminal_title- ^
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--packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp ^
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--cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release ^
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-DCMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING="/MD /O2 /Ob0 /Zi /DNDEBUG" ^
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-DCMAKE_RELWITHDEBINFO_POSTFIX="" ^
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-DBUILD_SHARED_LIBS=ON ^
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-DUSE_MSVC_RUNTIME_LIBRARY_DLL=ON ^
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-DBUILD_IPOPT=OFF ^
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-DBUILD_SNOPT=OFF ^
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-DCMAKE_PREFIX_PATH:PATH="%LIBRARY_PREFIX%" ^
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-DTESSERACT_ENABLE_CLANG_TIDY=OFF ^
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-DTESSERACT_ENABLE_CODE_COVERAGE=OFF ^
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-DPYTHON_EXECUTABLE="%PREFIX%\python.exe" ^
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-DTESSERACT_ENABLE_EXAMPLES=OFF ^
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-DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF ^
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-DTESSERACT_ENABLE_TESTING=OFF ^
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-DTRAJOPT_ENABLE_TESTING=ON
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if %errorlevel% neq 0 exit /b %errorlevel%
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set TESSERACT_RESOURCE_PATH=%PREFIX%\opt\tesseract_robotics\share
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colcon test --event-handlers console_direct+ desktop_notification- status- terminal_title- ^
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--return-code-on-test-failure ^
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--packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp tesseract_common ^
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tesseract_collision tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph ^
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tesseract_srdf tesseract_state_solver tesseract_support tesseract_urdf tesseract_visualization ^
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--merge-install --install-base="%PREFIX%\opt\tesseract_robotics"
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if %errorlevel% neq 0 exit /b %errorlevel%
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setlocal EnableDelayedExpansion
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:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
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:: This will allow them to be run on environment activation.
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for %%F in (activate deactivate) DO (
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if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
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copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
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)
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if %errorlevel% neq 0 exit /b %errorlevel%

‎.github/workflows/conda/recipe/build.sh‎

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set -e
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ln -s $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-gcc $BUILD_PREFIX/bin/gcc
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colcon build --merge-install --install-base="$PREFIX/opt/tesseract_robotics" \
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--event-handlers console_cohesion+ \
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--packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp \
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--cmake-args -DCMAKE_BUILD_TYPE=Release \
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-DBUILD_SHARED_LIBS=ON \
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-DBUILD_IPOPT=OFF \
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-DBUILD_SNOPT=OFF \
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-DCMAKE_PREFIX_PATH:PATH="$PREFIX" \
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-DTESSERACT_ENABLE_CLANG_TIDY=OFF \
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-DTESSERACT_ENABLE_CODE_COVERAGE=OFF \
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-DTESSERACT_ENABLE_EXAMPLES=OFF \
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-DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \
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-DSETUPTOOLS_DEB_LAYOUT=OFF \
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-DTESSERACT_ENABLE_TESTING=ON \
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-DTRAJOPT_ENABLE_TESTING=ON
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export TESSERACT_RESOURCE_PATH="$PREFIX/opt/tesseract_robotics/share"
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colcon test --event-handlers console_direct+ \
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--return-code-on-test-failure \
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--packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp tesseract_common \
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--merge-install --install-base="$PREFIX/opt/tesseract_robotics"
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for CHANGE in "activate" "deactivate"
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do
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mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
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cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
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done

‎.github/workflows/conda/recipe/deactivate.bat‎

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‎.github/workflows/conda/recipe/deactivate.sh‎

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‎.github/workflows/conda/recipe/meta.yaml‎

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package:
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name: trajopt
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version: "0.1.0"
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source:
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path: ../../workspace
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requirements:
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build:
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- {{ compiler('c') }}
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- {{ compiler('cxx') }}
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- gtest
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- gmock
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- cmake
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- ninja # [win]
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- make # [linux]
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- pkg-config
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- colcon-common-extensions
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- lcov
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- {{ cdt('mesa-libgl-devel') }} # [linux]
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- {{ cdt('mesa-dri-drivers') }} # [linux]
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- git
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host:
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- boost-cpp
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- eigen
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- tinyxml2
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- console_bridge
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- assimp
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- urdfdom
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- fcl
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- octomap
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- orocos-kdl
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- pcl
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- gtest
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- gmock
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- pkg-config
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- xz
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- flann
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- jsoncpp
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- yaml-cpp
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- bullet-cpp
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- xorg-libx11 # [unix]
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- xorg-libxext # [unix]
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- blas
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- osqp
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- qpoases
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run:
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- boost-cpp
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- eigen
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- tinyxml2
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- console_bridge
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- assimp
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- urdfdom
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- fcl
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- octomap
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- orocos-kdl
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- pcl
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- gtest
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- gmock
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- xz
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- jsoncpp
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- taskflow
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- yaml-cpp
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- bullet-cpp
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- xorg-libx11 # [unix]
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- xorg-libxext # [unix]
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- blas
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- osqp
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- qpoases
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build:
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skip: true # [py<37]
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number: 0
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about:
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home: https://github.com/ros-industrial-consortium/trajopt
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summary: Trajopt motion planner

‎trajopt/test/benchmarks/CMakeLists.txt‎

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target_link_libraries(
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${benchmark_name}
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${PROJECT_NAME}
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osqp::osqpstatic
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osqp::osqp
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benchmark::benchmark)
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target_include_directories(${benchmark_name} PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
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add_dependencies(${benchmark_name} ${PROJECT_NAME})

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