Add workaround for "ODE INTERNAL ERROR 1: assertion "!colliders_initialized" failed in dInitColliders() [collision_kernel.cpp:168]" crash #736
Workflow file for this run
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| name: apt CI Workflow | |
| on: | |
| push: | |
| branches: | |
| - main | |
| 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: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}@yarp:${{ matrix.yarp_tag }}@gazebo:${{ matrix.gazebo_distro }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release, Debug] | |
| os: [ubuntu-22.04] | |
| ycm_tag: [v0.16.2] | |
| yarp_tag: [v3.9.0] | |
| gazebo_distro: [harmonic] | |
| steps: | |
| - uses: actions/checkout@v2 | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| run: env | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: apt Dependencies | |
| run: | | |
| sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list' | |
| wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - | |
| sudo apt-get update | |
| # YARP dependencies | |
| sudo apt-get install git build-essential cmake ninja-build libace-dev libeigen3-dev libopencv-dev libtinyxml-dev | |
| # gz-sim-yarp-plugins dependencies | |
| sudo apt-get install gz-${{ matrix.gazebo_distro }} libcli11-dev | |
| # Test dependencies | |
| sudo apt-get install libgtest-dev | |
| - name: Cache Source-based Dependencies | |
| id: cache-source-deps | |
| uses: actions/cache@v3 | |
| with: | |
| path: ${{ github.workspace }}/install/deps | |
| key: source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-ycm-${{ matrix.ycm_tag }}-yarp-${{ matrix.yarp_tag }} | |
| - name: Source-based Dependencies | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' | |
| run: | | |
| # YCM | |
| git clone https://github.com/robotology/ycm | |
| cd ycm | |
| git checkout ${{ matrix.ycm_tag }} | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| git checkout ${{ matrix.yarp_tag }} | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Configure Environment variables for Source-based Dependencies | |
| run: | | |
| # Configure environment | |
| echo "YARP_DATA_DIRS=${GITHUB_WORKSPACE}/install/deps/share/yarp" >> $GITHUB_ENV | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_CXX_FLAGS_DEBUG="--coverage -g -O0" -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON .. | |
| - name: Build | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test (Release) | |
| if: contains(matrix.build_type, 'Release') | |
| run: | | |
| cd build | |
| # Deterministic tests | |
| ctest -E "^CameraTest" --output-on-failure -C ${{ matrix.build_type }} . | |
| # Non-deterministic tests | |
| ctest -R "^CameraTest" --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} . | |
| - name: Test (Debug) | |
| if: contains(matrix.build_type, 'Debug') | |
| run: | | |
| cd build | |
| # Deterministic tests | |
| ctest -E "^CameraTest" -T Test -T Coverage --output-on-failure -C ${{ matrix.build_type }} . | |
| # Non-deterministic tests | |
| ctest -R "^CameraTest" -T Test -T Coverage --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} . | |
| - name: Install | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |