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Add windows support stage 1
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‎.github/workflows/bionic_build.yml‎

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name: Bionic-Build
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on:
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push:
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branches:
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- master
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- feature/CommandLanguage
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pull_request:
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schedule:
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- cron: '0 5 * * *'
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jobs:
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industrial_ci:
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name: Melodic
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runs-on: ubuntu-latest
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env:
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CI_NAME: Bionic-Build
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OS_NAME: ubuntu
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OS_CODE_NAME: bionic
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ROS_DISTRO: melodic
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ROS_REPO: main
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UPSTREAM_WORKSPACE: "github:swri-robotics/descartes_light#feature/CommandLanguage github:Jmeyer1292/opw_kinematics#master github:ethz-adrl/ifopt#master github:ros-industrial/cmake_common_scripts#master"
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TARGET_WORKSPACE: ". github:ros-industrial-consortium/tesseract#feature/CommandLanguage"
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ROSDEP_SKIP_KEYS: "bullet3 descartes_opw descartes_samplers descartes_light opw_kinematics cmake_common_scripts fcl ifopt taskflow"
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DOCKER_IMAGE: "rosindustrial/tesseract:melodic"
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PARALLEL_TESTS: false
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CCACHE_DIR: "/home/runner/work/trajopt_ros/trajopt_ros/Bionic-Build/.ccache"
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UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
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TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTRAJOPT_ENABLE_TESTING=ON -DTRAJOPT_ENABLE_CLANG_TIDY=ON"
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AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps --verbose trajopt trajopt_ifopt trajopt_sco trajopt_sqp --make-args test'
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steps:
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- uses: actions/checkout@v1
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- name: Free Disk Space
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run: |
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sudo swapoff -a
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sudo rm -f /swapfile
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sudo apt clean
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docker rmi $(docker image ls -aq)
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df -h
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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shell: cmake -P {0}
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run: |
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string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
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message("::set-output name=timestamp::${current_date}")
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- name: ccache cache files
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uses: actions/[email protected]
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with:
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path: ${{ env.CI_NAME }}/.ccache
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key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
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restore-keys: |
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${{ env.CI_NAME }}-ccache-
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{env}}

‎.github/workflows/clang_format.yml‎

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name: Clang-Format
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on:
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push:
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branches:
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- master
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- feature/CommandLanguage
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pull_request:
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schedule:
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- cron: '0 5 * * *'
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jobs:
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industrial_ci:
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name: Format
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runs-on: ubuntu-latest
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env:
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CI_NAME: Clang-Format
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OS_NAME: ubuntu
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OS_CODE_NAME: bionic
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ROS_DISTRO: melodic
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ROS_REPO: main
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ROSDEP_SKIP_KEYS: "bullet3 descartes_opw descartes_samplers descartes_light opw_kinematics cmake_common_scripts fcl ifopt taskflow benchmark"
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CLANG_FORMAT_CHECK: file
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CLANG_FORMAT_VERSION: 8
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DOCKER_IMAGE: "rosindustrial/tesseract:melodic"
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steps:
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- uses: actions/checkout@v1
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- name: Free Disk Space
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run: |
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sudo swapoff -a
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sudo rm -f /swapfile
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sudo apt clean
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docker rmi $(docker image ls -aq)
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df -h
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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shell: cmake -P {0}
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run: |
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string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
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message("::set-output name=timestamp::${current_date}")
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- name: ccache cache files
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uses: actions/[email protected]
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with:
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path: ${{ env.CI_NAME }}/.ccache
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key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
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restore-keys: |
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${{ env.CI_NAME }}-ccache-
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{env}}

‎.github/workflows/focal_build.yml‎

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name: Focal-Build
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on:
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push:
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branches:
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- master
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- feature/CommandLanguage
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pull_request:
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schedule:
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- cron: '0 5 * * *'
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jobs:
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industrial_ci:
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name: Noetic
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runs-on: ubuntu-latest
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env:
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CI_NAME: Focal-Build
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OS_NAME: ubuntu
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OS_CODE_NAME: focal
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ROS_DISTRO: noetic
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ROS_REPO: main
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UPSTREAM_WORKSPACE: "github:swri-robotics/descartes_light#feature/CommandLanguage github:Jmeyer1292/opw_kinematics#master github:ethz-adrl/ifopt#master github:ros-industrial/cmake_common_scripts#master"
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TARGET_WORKSPACE: ". github:ros-industrial-consortium/tesseract#feature/CommandLanguage"
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ROSDEP_SKIP_KEYS: "bullet3 descartes_opw descartes_samplers descartes_light opw_kinematics cmake_common_scripts fcl ifopt taskflow"
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DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
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PARALLEL_TESTS: false
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CCACHE_DIR: "/home/runner/work/trajopt_ros/trajopt_ros/Focal-Build/.ccache"
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UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
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TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTRAJOPT_ENABLE_TESTING=ON"
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steps:
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- uses: actions/checkout@v1
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- name: Free Disk Space
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run: |
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sudo swapoff -a
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sudo rm -f /swapfile
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sudo apt clean
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docker rmi $(docker image ls -aq)
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df -h
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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shell: cmake -P {0}
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run: |
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string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
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message("::set-output name=timestamp::${current_date}")
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- name: ccache cache files
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uses: actions/[email protected]
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with:
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path: ${{ env.CI_NAME }}/.ccache
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key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
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restore-keys: |
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${{ env.CI_NAME }}-ccache-
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{env}}

‎.github/workflows/main.yml‎

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‎.github/workflows/windows_noetic_build.yml‎

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name: Windows-Noetic-Build
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on:
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push:
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branches:
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- master
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- feature/CommandLanguage
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pull_request:
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schedule:
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- cron: '0 5 * * *'
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jobs:
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windows_ci:
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name: Noetic
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runs-on: windows-latest
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env:
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ROS_DISTRO: noetic
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: recursive
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path: src/trajopt_ros
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- name: Build
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shell: cmd
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run: |
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choco sources add -n=roswin -s https://aka.ms/ros/public --priority 1
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choco install ros-%ROS_DISTRO%-desktop_full -y --no-progress
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call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64
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call "C:\opt\ros\%ROS_DISTRO%\x64\setup.bat"
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choco install console_bridge -y --no-progress
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choco install clapack -y --no-progress
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choco install openblas -y --no-progress
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set PATH=D:\a\trajopt_ros\trajopt_ros\install_isolated\bin;C:\opt\rosdeps\x64\bin;C:\opt\rosdeps\x64\lib;%PATH%
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set LD_LIBRARY_PATH=D:\a\trajopt_ros\trajopt_ros\install_isolated\lib;C:\opt\rosdeps\x64\lib;%LD_LIBRARY_PATH%
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set CMAKE_PREFIX_PATH=D:\a\trajopt_ros\trajopt_ros\install_isolated\CMake;C:\opt\rosdeps\x64;%CMAKE_PREFIX_PATH%
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set PKG_CONFIG_PATH=D:\a\trajopt_ros\trajopt_ros\install_isolated\lib\pkgconfig;C:\opt\rosdeps\x64\lib\pkgconfig;%PKG_CONFIG_PATH%
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set
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vcs import --input "${{ github.workspace }}/src/trajopt_ros/dependencies.rosinstall" src/
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catkin_make_isolated --install --force-cmake --only-pkg-with-deps trajopt trajopt_ifopt trajopt_sco trajopt_sqp --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
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call "D:\a\trajopt_ros\trajopt_ros\install_isolated\setup.bat"
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catkin_make_isolated --install --force-cmake --pkg trajopt trajopt_sco --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF -DTRAJOPT_ENABLE_TESTING=ON --make-args test

‎.github/workflows/xenial_build.yml‎

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name: Xenial-Build
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on:
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push:
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branches:
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- master
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- feature/CommandLanguage
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pull_request:
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schedule:
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- cron: '0 5 * * *'
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jobs:
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industrial_ci:
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name: Kinetic
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runs-on: ubuntu-latest
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env:
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CI_NAME: Xenial-Build
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OS_NAME: ubuntu
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OS_CODE_NAME: xenial
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ROS_DISTRO: kinetic
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ROS_REPO: main
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UPSTREAM_WORKSPACE: "github:swri-robotics/descartes_light#feature/CommandLanguage github:Jmeyer1292/opw_kinematics#master github:ethz-adrl/ifopt#master github:ros-industrial/cmake_common_scripts#master"
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TARGET_WORKSPACE: ". github:ros-industrial-consortium/tesseract#feature/CommandLanguage"
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ROSDEP_SKIP_KEYS: "bullet3 descartes_opw descartes_samplers descartes_light opw_kinematics cmake_common_scripts fcl ifopt taskflow benchmark"
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DOCKER_IMAGE: "rosindustrial/tesseract:kinetic"
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PARALLEL_TESTS: false
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CCACHE_DIR: "/home/runner/work/trajopt_ros/trajopt_ros/Xenial-Build/.ccache"
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UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
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TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTRAJOPT_ENABLE_TESTING=ON"
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AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps --verbose trajopt trajopt_ifopt trajopt_sco trajopt_sqp --make-args test'
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steps:
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- uses: actions/checkout@v1
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- name: Free Disk Space
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run: |
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sudo swapoff -a
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sudo rm -f /swapfile
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sudo apt clean
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docker rmi $(docker image ls -aq)
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df -h
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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shell: cmake -P {0}
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run: |
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string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
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message("::set-output name=timestamp::${current_date}")
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- name: ccache cache files
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uses: actions/[email protected]
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with:
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path: ${{ env.CI_NAME }}/.ccache
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key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
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restore-keys: |
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${{ env.CI_NAME }}-ccache-
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{env}}

‎.github_actions.yml‎

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‎README.md‎

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# trajopt_ros
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3-
[![Build Status](https://github.com/ros-industrial-consortium/trajopt_ros/workflows/CI/badge.svg)](https://github.com/ros-industrial-consortium/trajopt_ros/actions?query=branch%3Amaster+)
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Platform | CI Status
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---------------------|:---------
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Linux (Focal) | [![Build Status](https://github.com/ros-industrial-consortium/trajopt_ros/workflows/Focal-Build/badge.svg)](https://github.com/ros-industrial-consortium/trajopt_ros/actions)
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Linux (Bionic) | [![Build Status](https://github.com/ros-industrial-consortium/trajopt_ros/workflows/Bionic-Build/badge.svg)](https://github.com/ros-industrial-consortium/trajopt_ros/actions)
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Linux (Xenial) | [![Build Status](https://github.com/ros-industrial-consortium/trajopt_ros/workflows/Xenial-Build/badge.svg)](https://github.com/ros-industrial-consortium/trajopt_ros/actions)
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Windows | [![Build Status](https://github.com/ros-industrial-consortium/trajopt_ros/workflows/Windows-Noetic-Build/badge.svg)](https://github.com/ros-industrial-consortium/trajopt_ros/actions)
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Lint (Clang-Format) | [![Build Status](https://github.com/ros-industrial-consortium/trajopt_ros/workflows/Clang-Format/badge.svg)](https://github.com/ros-industrial-consortium/trajopt_ros/actions)
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[![Github Issues](https://img.shields.io/github/issues/ros-industrial-consortium/trajopt_ros.svg)](http://github.com/ros-industrial-consortium/trajopt_ros/issues)
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[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)

‎ci‎

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.github/workflows/

‎dependencies.rosinstall‎

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local-name: tesseract
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uri: https://github.com/ros-industrial-consortium/tesseract.git
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version: feature/CommandLanguage
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- git:
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local-name: tesseract_ext
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uri: https://github.com/ros-industrial-consortium/tesseract_ext.git
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version: master
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- git:
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local-name: descartes_light
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uri: https://github.com/swri-robotics/descartes_light.git
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version: master
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version: feature/CommandLanguage
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- git:
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local-name: opw_kinematics
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uri: https://github.com/Jmeyer1292/opw_kinematics.git

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