Add support for velocity control mode #367
Workflow file for this run
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| # Copyright 2025 Enactic, Inc. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| name: Test | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| - '!dependabot/**' | |
| tags: | |
| - '**' | |
| pull_request: | |
| concurrency: | |
| group: ${{ github.head_ref || github.sha }}-${{ github.workflow }} | |
| cancel-in-progress: true | |
| jobs: | |
| lint: | |
| name: Lint | |
| runs-on: ubuntu-latest | |
| timeout-minutes: 5 | |
| steps: | |
| - uses: actions/checkout@v7 | |
| with: | |
| submodules: recursive | |
| - name: Install pre-commit | |
| run: | | |
| python -m pip install pre-commit | |
| - uses: actions/cache@v6 | |
| with: | |
| path: ~/.cache/pre-commit | |
| key: pre-commit-${{ hashFiles('.pre-commit-config.yaml') }} | |
| - name: Run pre-commit | |
| run: | | |
| pre-commit run --show-diff-on-failure --color=always --all-files | |
| build: | |
| name: Build | |
| runs-on: ${{ matrix.runs-on }} | |
| timeout-minutes: 5 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| runs-on: | |
| - ubuntu-22.04 | |
| - ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v7 | |
| with: | |
| submodules: recursive | |
| - name: "C++: Install dependencies" | |
| run: | | |
| sudo apt update | |
| sudo apt install -y -V \ | |
| cmake \ | |
| libcli11-dev \ | |
| ninja-build | |
| - name: "C++: CMake" | |
| run: | | |
| cmake \ | |
| -B ../build \ | |
| -S . \ | |
| -GNinja \ | |
| -DCMAKE_INSTALL_PREFIX=$PWD/install \ | |
| -DCMAKE_BUILD_TYPE=Debug | |
| - name: "C++: Build" | |
| run: | | |
| ninja -C ../build | |
| - name: Install | |
| run: | | |
| ninja -C ../build install | |
| - uses: actions/setup-python@v6 | |
| with: | |
| python-version: 3 | |
| - name: "Python: Install dependencies" | |
| run: | | |
| python3 -m pip install -r python/requirements.txt | |
| if apt show nanobind-dev; then | |
| sudo apt install -y -V nanobind-dev | |
| fi | |
| - name: "Python: Build" | |
| run: | | |
| python3 -m pip install \ | |
| -Ccmake.define.CMAKE_PREFIX_PATH=$PWD/install \ | |
| --verbose \ | |
| ./python | |
| - name: "Python: Test" | |
| run: | | |
| python3 -c "import openarm_can" |