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main.yml
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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
cuda_distribution: ubuntu2004
ros_distribution: noetic
ros_version: 1
- docker_image: ubuntu:22.04
cuda_distribution: ubuntu2204
ros_distribution: humble
ros_version: 2
container:
image: ${{ matrix.docker_image }}
steps:
- name: install core dependencies
run: |
apt update
apt install --no-install-recommends -y ca-certificates gnupg wget software-properties-common
- name: install CUDA
run: |
wget https://developer.download.nvidia.com/compute/cuda/repos/${{ matrix.cuda_distribution }}/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 cuda-nvrtc-dev-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 }}
extra-cmake-args: "-D CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc"
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 }}
extra-cmake-args: "-D CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc"
vcs-repo-file-url: .github/dependencies.yaml