Merge pull request #184 from wxmerkt/topic/add-tsid-as-downstream-test

[CI] ROS: Add friendly names; add TSID on Rolling as downstream test

Author: jcarpent

.github/workflows/ci-linux-ros.yml

@@ -6,14 +6,16 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF}
-          - {ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: OFF}
-          - {ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
-          - {ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
-          - {ROS_DISTRO: humble, PRERELEASE: true}
-          - {ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
-          - {ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
-          - {ROS_DISTRO: rolling, PRERELEASE: true}
+          - {name: "Noetic / Debug", ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF}
+          - {name: "Noetic / Release", ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: OFF}
+          - {name: "Humble / Debug / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
+          - {name: "Humble / Release / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
+          - {name: "Humble / Pre-Release", ROS_DISTRO: humble, PRERELEASE: true}
+          - {name: "Rolling / Debug / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
+          - {name: "Rolling / Release / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
+          - {name: "Rolling / Pre-Release", ROS_DISTRO: rolling, PRERELEASE: true}
+          - {name: "Rolling / TSID-Downstream", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: ON, DOWNSTREAM_WORKSPACE: "github:stack-of-tasks/tsid#devel github:stack-of-tasks/eiquadprog#devel", DOWNSTREAM_CMAKE_ARGS: -DBUILD_WITH_PROXQP=ON}
+    name: ${{ matrix.env.name }}
     env:
       #CCACHE_DIR: /github/home/.ccache # Enable ccache
       CMAKE_ARGS: -DBUILD_WITH_VECTORIZATION_SUPPORT=${{ matrix.env.VECTORIZATION_SUPPORT }}  # Simde is available since humble

CMakeLists.txt

@@ -168,3 +168,31 @@ if(BUILD_TESTING AND NOT PROXSUITE_AS_SUBPROJECT)
   add_subdirectory(test)
   add_subdirectory(examples)
 endif()
+
+# catkin/ament/colcon integration (ROS1/2)
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+# Allows Colcon to find non-Ament packages when using workspace underlays
+file(
+  WRITE
+  ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
+  "")
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
+  DESTINATION share/ament_index/resource_index/packages)
+file(
+  WRITE
+  ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
+  "prepend-non-duplicate;AMENT_PREFIX_PATH;")
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
+  DESTINATION share/${PROJECT_NAME}/hook)
+if(BUILD_PYTHON_INTERFACE)
+  file(WRITE
+       ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
+       "prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
+  install(
+    FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
+    DESTINATION share/${PROJECT_NAME}/hook)
+endif(BUILD_PYTHON_INTERFACE)

package.xml

@@ -3,12 +3,24 @@
   <name>proxsuite</name>
   <version>0.3.3</version>
   <description>The Advanced Proximal Optimization Toolbox</description>
-  <maintainer email="[email protected]">Antoine Bambade</maintainer>
-  <maintainer email="[email protected]">Fabian Schramm</maintainer>
+  <!-- Project maintainers -->
   <maintainer email="[email protected]">Justin Carpentier</maintainer>
+
+  <!-- ROS buildfarm release -->
+  <maintainer email="[email protected]">Wolfgang Merkt</maintainer>
+
   <license>BSD-2</license>
 
-  <url type="website">https://github.com/Simple-Robotics/proxsuite</url>
+  <!-- Core authors - cf. CITATION.bib and CITATION.cff -->
+  <author email="[email protected]">Antoine Bambade</author>
+  <author>Adrien Taylor</author>
+  <author email="[email protected]">Fabian Schramm</author>
+  <author>Sarah El-Kazdadi</author>
+  <author email="[email protected]">Justin Carpentier</author>
+
+  <url type="website">https://simple-robotics.github.io/proxsuite</url>
+  <url type="repository">https://github.com/Simple-Robotics/proxsuite</url>
+  <url type="bugtracker">https://github.com/Simple-Robotics/proxsuite/issues</url>
 
   <build_depend>git</build_depend>
   <build_depend>doxygen</build_depend>