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Update RobotModel

Update RobotModel #278

Workflow file for this run

name: Build-IRSL-system
#run-name: ${{ github.actor }} is building all-in system of irsl_choreonoid
#
on:
workflow_dispatch:
push:
branches: [main]
pull_request:
branches: [main]
schedule:
- cron: '30 2 * * 4'
jobs:
build:
strategy:
fail-fast: false
matrix:
# ubuntu: [ 18.04, 20.04 ] ## apt for 18.04 is not working well (2023.11.21)
ubuntu: [ 20.04 ] ## for 22.04 / ROS2 environment
runs-on: self-hosted
env:
IMAGE_NAME: irsl_choreonoid
# DOCKER_LOCAL: ghcr.io/
# DOCKER_LOCAL: repo.irsl.eiiris.tut.ac.jp/
DOCKER_DEPLOY: repo.irsl.eiiris.tut.ac.jp/
steps:
- name: Check Version
run: |
if [ ${{ matrix.ubuntu }} == 22.04 ]; then
echo "ROS_DISTRO=noetic" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 20.04 ]; then
echo "ROS_DISTRO=noetic" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 18.04 ]; then
echo "ROS_DISTRO=melodic" >> $GITHUB_ENV
else
echo "ROS_DISTRO=none" >> $GITHUB_ENV
fi
- name: Check out repository code(src)
uses: actions/checkout@v3
- name: Check Build (no cache)
if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
run: >
docker build . -f .github/workflows/Dockerfile --pull --no-cache
--build-arg BASE_IMAGE=ros:${{ env.ROS_DISTRO }}-ros-base
-t actions/irsl_choreonoid:${{ matrix.ubuntu }}
- name: Check Build (cached)
if: github.event_name != 'workflow_dispatch' && github.event_name != 'pull_request'
run: >
docker build . -f .github/workflows/Dockerfile --pull
--build-arg BASE_IMAGE=ros:${{ env.ROS_DISTRO }}-ros-base
-t actions/irsl_choreonoid:${{ matrix.ubuntu }}
- name: Tests
run: >
docker run --rm actions/irsl_choreonoid:${{ matrix.ubuntu }}
-- bash -c 'source /choreonoid_ws/install/setup.bash; roscd irsl_choreonoid/test; ./run_all_tests.sh'
- name: Dispatch
if: github.event_name == 'push' && matrix.ubuntu == '20.04'
env:
GITHUB_TOKEN: ${{ secrets.IRSL_PAT_CLS }}
uses: actions/github-script@v6
with:
github-token: ${{ secrets.IRSL_PAT_CLS }}
script: |
github.rest.actions.createWorkflowDispatch({
owner: 'IRSL-tut',
repo: 'irsl_docker_irsl_system',
ref: 'main',
workflow_id: 'build-irsl-system.yaml',
inputs: {
event_type: 'build_all',
source: 'irsl_choreonoid',
hash: '${{ github.sha }}'
}
})
- run: echo "🍏 This job's status is ${{ job.status }}."