Tuned linear evaluator code for outdoor deployments and refactored na… #382
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| name: Build-Test | |
| # Run this workflow every time a new commit pushed to your repository | |
| on: push | |
| jobs: | |
| # Set the job key. The key is displayed as the job name | |
| # when a job name is not provided | |
| build-test: | |
| # Name the Job | |
| name: Build test | |
| # Set the type of machine to run on | |
| runs-on: ubuntu-20.04 | |
| # Only run when merging to master. | |
| if: github.ref == 'refs/heads/master' | |
| steps: | |
| # Run package update | |
| - name: Run package update | |
| run: | | |
| sudo apt update | |
| sudo apt dist-upgrade -y | |
| # Install dependencies | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get install g++ cmake libpopt-dev \ | |
| liblua5.1-dev libeigen3-dev \ | |
| libjpeg8-dev libgoogle-perftools-dev \ | |
| libsuitesparse-dev libblas-dev liblapack-dev libopenmpi-dev \ | |
| libgoogle-glog-dev libgflags-dev libceres-dev libtbb-dev | |
| # Install ROS | |
| - name: Install ROS | |
| run: | | |
| sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | |
| sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | |
| sudo apt update | |
| sudo apt install ros-noetic-desktop | |
| sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential | |
| sudo rosdep init | |
| rosdep update | |
| sudo apt install ros-noetic-costmap-2d | |
| # Install libtorch | |
| - name: Install libtorch | |
| run: | | |
| wget https://download.pytorch.org/libtorch/lts/1.8/cpu/libtorch-cxx11-abi-shared-with-deps-1.8.2%2Bcpu.zip | |
| unzip libtorch-cxx11-abi-shared-with-deps-1.8.2+cpu.zip -d /opt/ | |
| # Checks out a copy of your repository | |
| - name: Checkout code | |
| uses: actions/checkout@v2 | |
| with: | |
| submodules: 'recursive' | |
| # Checkout and build amrl_msgs | |
| - name: Get amrl_msgs | |
| run: | | |
| source /opt/ros/noetic/setup.bash | |
| export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$GITHUB_WORKSPACE:$GITHUB_WORKSPACE/../amrl_msgs | |
| cd $GITHUB_WORKSPACE/.. | |
| git clone https://github.com/ut-amrl/amrl_msgs.git | |
| cd amrl_msgs | |
| make | |
| # Compiles the code | |
| - name: Run build | |
| run: | | |
| source /opt/ros/noetic/setup.bash | |
| export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$GITHUB_WORKSPACE:$GITHUB_WORKSPACE/../amrl_msgs | |
| cd $GITHUB_WORKSPACE | |
| make |