update building against LibTorch and CI pipeline #7
Workflow file for this run
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| name: ROS workspace CI | |
| on: [push, pull_request] | |
| jobs: | |
| build: | |
| # test multiple Ubuntu and ROS distributions | |
| # https://github.com/ros-tooling/setup-ros#iterating-on-all-ros-distributions-for-all-platforms | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| ros_distribution: [noetic, humble] | |
| include: | |
| - docker_image: ubuntu:20.04 | |
| ros_distribution: noetic | |
| ros_version: 1 | |
| - docker_image: ubuntu:22.04 | |
| ros_distribution: humble | |
| ros_version: 2 | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - name: install core dependencies | |
| run: | | |
| apt update | |
| apt install --no-install-recommends -y ca-certificates gnupg wget software-properties-common | |
| - name: install CUDA (Ubuntu 20.04) | |
| if: ${{ matrix.docker_image == 'ubuntu:20.04' }} | |
| run: | | |
| wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin | |
| mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600 | |
| apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub | |
| add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /" | |
| apt install --no-install-recommends -y libcurand-dev-11-3 libcufft-dev-11-3 libcublas-dev-11-3 cuda-nvcc-11-3 cuda-nvtx-11-3 libcudnn8-dev | |
| - name: install CUDA (Ubuntu 22.04) | |
| if: ${{ matrix.docker_image == 'ubuntu:22.04' }} | |
| run: | | |
| wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb | |
| dpkg -i cuda-keyring_1.1-1_all.deb | |
| rm cuda-keyring_1.1-1_all.deb | |
| apt update | |
| apt install --no-install-recommends -y libcurand-dev-11-8 libcufft-dev-11-8 libcublas-dev-11-8 cuda-nvcc-11-8 cuda-nvtx-11-8 libcudnn8-dev | |
| - uses: actions/checkout@v4 | |
| - name: Setup ROS environment | |
| uses: ros-tooling/[email protected] | |
| - name: ROS 1 CI Action | |
| if: ${{ matrix.ros_version == 1 }} | |
| uses: ros-tooling/[email protected] | |
| with: | |
| package-name: super_point_inference | |
| target-ros1-distro: ${{ matrix.ros_distribution }} | |
| vcs-repo-file-url: .github/dependencies.yaml | |
| - name: ROS 2 CI Action | |
| if: ${{ matrix.ros_version == 2 }} | |
| uses: ros-tooling/[email protected] | |
| with: | |
| package-name: super_point_inference | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| vcs-repo-file-url: .github/dependencies.yaml |