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CI Workflows

GTDynamics has two GitHub Actions workflows that run on every pull request:

  • .github/workflows/linux-ci.yml
  • .github/workflows/macos-ci.yml

They are intentionally kept as similar as possible: both build GTSAM from source first, then build/test GTDynamics against that installed GTSAM (C++ always; Python in Release only). This avoids relying on a prebuilt GTSAM package, so CI picks up fixes from GTSAM's default branch as soon as they land.

Platforms and toolchains

  • Ubuntu 24.04: gcc-14 and clang-16
  • macOS 15: Xcode 16.4

Both platforms test Debug and Release.

Build / test matrix behavior

  • Release:
    • Builds GTSAM with Python wrappers (GTSAM_BUILD_PYTHON=ON)
    • Builds GTDynamics with Python wrappers (GTDYNAMICS_BUILD_PYTHON=ON)
    • Runs C++ tests (make check) and Python tests (make python-test)
  • Debug:
    • Builds GTSAM without Python wrappers
    • Builds GTDynamics without Python wrappers
    • Runs C++ tests only

Python environment (same on macOS and Linux)

In Release builds, both workflows create a Python virtual environment (venv) and pass its interpreter to CMake via PYTHON_EXECUTABLE. This ensures:

  • The locally built gtsam Python package (from the GTSAM build) is installed into the same environment used to install/test gtdynamics.
  • CI does not accidentally try to fetch gtsam from PyPI during pip install ..

CPU flags / Eigen alignment consistency

Eigen's alignment requirements can change when AVX is enabled (e.g., via -march=native). CI keeps GTSAM and GTDynamics consistent in two ways:

  • Release builds enable -march=native for clang on Linux; it is disabled for gcc on Linux.
  • GTDynamics' CMake configuration matches GTSAM_BUILD_WITH_MARCH_NATIVE to the installed gtsam target's exported compile options, so the downstream build stays consistent even if the workflow does not explicitly set the flag for GTDynamics.

Runtime library paths

Because GTSAM is installed under a workspace prefix in CI (not a system default), tests need appropriate dynamic loader search paths:

  • macOS: DYLD_LIBRARY_PATH is set to ${GTSAM_INSTALL_DIR}/lib during C++ and Python tests.
  • Linux: LD_LIBRARY_PATH is set to ${GTSAM_INSTALL_DIR}/lib for Python tests, and for gcc C++ tests as needed.

For local "build from source like CI" instructions, see the top-level README.md (section at the end).