Workflow for build OCS2 needed packages

.github/workflows/ros-build-test.yml

@@ -2,38 +2,57 @@ name: Build and Test OCS2
 
 on:
   push:
-    branches: [ main ]
+    branches: [ ubuntu24-ci ]
   pull_request:
-    branches: [ main ]
+    branches: [ ros-one-devel ]
 
 jobs:
   build:
 
-    # build both Debug and Release mode
     strategy:
       fail-fast: false
-      matrix:
-        build_type: [ Debug, Release ]
 
-    # environment: regular Ubuntu with a vanilla ROS container
-    runs-on: ubuntu-latest
-    container: 
-      image: ros:noetic
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:24.04
 
     steps:
     - name: Environment Info
       run: |
+        apt-get update 
+        apt-get install -y lsb-release
         pwd
         uname -r
         lsb_release -a
 
     - name: System deps
       run: |
         apt-get update
-        apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev checkinstall wget rsync
+        apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev checkinstall wget rsync curl
 
-    - uses: actions/checkout@v2
+    - name: ROS One installation
+      run: |
+        curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros1.list
+        apt-get update
+        apt-get install -y python3-rosdep python3-catkin-tools
+        rosdep init
+        echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | tee /etc/ros/rosdep/sources.list.d/1-ros-one.list
+        rosdep update
+        apt-get install -y ros-one-desktop
+
+    - name: Pinocchio from robotpkg
+      run: |
+        curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | tee /etc/apt/keyrings/robotpkg.asc
+        echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | tee /etc/apt/sources.list.d/robotpkg.list
+        apt-get update
+        apt-get install -y robotpkg-coal robotpkg-pinocchio
+        echo "CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
+        echo "LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}" >> $GITHUB_ENV
+
+    - uses: actions/checkout@v4
       with: 
+        ref: ros-one-devel
         path: src/ocs2 
 
     - name: Rosdep
@@ -43,36 +62,36 @@ jobs:
 
     - name: Checkout dependencies
       run: |
-        git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git src/pinocchio
-        git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git src/hpp-fcl
         git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets
 
-    - name: Install RaiSim
-      run: |
-        git clone --depth 1 https://github.com/raisimTech/raisimLib.git -b v1.1.01 src/raisim_tech
-        cd src/raisim_tech
-        mkdir build
-        cd build
-        cmake .. -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
-        make -j4 && checkinstall
+    # - name: Install RaiSim
+    #   run: |
+    #     git clone --depth 1 https://github.com/raisimTech/raisimLib.git -b v1.1.01 src/raisim_tech
+    #     cd src/raisim_tech
+    #     mkdir build
+    #     cd build
+    #     cmake .. -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+    #     make -j4 && checkinstall
 
-    - name: Install ONNX Runtime
-      run: |
-        wget https://github.com/microsoft/onnxruntime/releases/download/v1.7.0/onnxruntime-linux-x64-1.7.0.tgz -P tmp/microsoft
-        tar xf tmp/microsoft/onnxruntime-linux-x64-1.7.0.tgz -C tmp/microsoft
-        rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/include/ /usr/local/include/onnxruntime
-        rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/lib/ /usr/local/lib
-        rsync -a src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ /usr/local/share/onnxruntime
+    # - name: Install ONNX Runtime
+    #   run: |
+    #     wget https://github.com/microsoft/onnxruntime/releases/download/v1.7.0/onnxruntime-linux-x64-1.7.0.tgz -P tmp/microsoft
+    #     tar xf tmp/microsoft/onnxruntime-linux-x64-1.7.0.tgz -C tmp/microsoft
+    #     rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/include/ /usr/local/include/onnxruntime
+    #     rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/lib/ /usr/local/lib
+    #     rsync -a src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ /usr/local/share/onnxruntime
 
-    - name: Build (${{ matrix.build_type }})
+    - name: Build Release
       shell: bash
       run: |
-        source /opt/ros/noetic/setup.bash
-        catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} 
+        source /opt/ros/one/setup.bash
+        catkin init
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+        catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization  
 
-    - name: Test
-      shell: bash
-      run: |
-        source devel_isolated/setup.bash
-        catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --catkin-make-args run_tests
-        catkin_test_results
+    # - name: Test
+    #   shell: bash
+    #   run: |
+    #     source devel_isolated/setup.bash
+    #     catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --catkin-make-args run_tests
+    #     catkin_test_results

ocs2_pinocchio/ocs2_pinocchio_interface/CMakeLists.txt

@@ -13,10 +13,10 @@ find_package(catkin REQUIRED COMPONENTS
   ${CATKIN_PACKAGE_DEPENDENCIES}
 )
 
+find_package(urdfdom REQUIRED)
 find_package(PkgConfig REQUIRED)
 find_package(pinocchio REQUIRED)
 find_package(Eigen3 3.3 REQUIRED NO_MODULE)
-
 # Add pinocchio configurations
 include(cmake/pinocchio_config.cmake)
 
@@ -47,6 +47,7 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
   ${pinocchio_INCLUDE_DIRS}
+  ${urdfdom_INCLUDE_DIRS}
 )
 
 # ocs2 pinocchio interface library

ocs2_pinocchio/ocs2_self_collision/CMakeLists.txt

@@ -16,9 +16,11 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(coal REQUIRED coal)
+
+#find_package(coal REQUIRED)
 find_package(pinocchio REQUIRED)
 # requires liboctomap-dev and libassimp-dev
-
+find_package(urdfdom REQUIRED)
 find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 
 ###################################
@@ -56,11 +58,13 @@ include_directories(
   ${EIGEN3_INCLUDE_DIRS}
   ${pinocchio_INCLUDE_DIRS}
   ${coal_INCLUDE_DIRS}
+  ${urdfdom_INCLUDE_DIRS}
 )
 
-#link_directories(
-#  ${pinocchio_LIBRARY_DIRS}
-#)
+link_directories(
+  ${pinocchio_LIBRARY_DIRS}
+  ${coal_LIBRARY_DIRS}
+)
 
 # ocs2 pinocchio interface library
 add_library(${PROJECT_NAME}
@@ -75,7 +79,8 @@ add_dependencies(${PROJECT_NAME}
 )
 target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  pinocchio::pinocchio
+  ${coal_LIBRARIES}
+  ${pinocchio_LIBRARIES}
 )
 target_compile_options(${PROJECT_NAME} PUBLIC ${FLAGS})