Use the Cartesian waypoint seed when solving IK in the OMPL move profile #2022
Workflow file for this run
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| name: Mac OSX | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - 'dev**' | |
| pull_request: | |
| paths: | |
| - 'command_language/**' | |
| - 'examples/**' | |
| - 'motion_planners/**' | |
| - 'time_parameterization/**' | |
| - 'task_composer/**' | |
| - '.github/workflows/mac.yml' | |
| - '**.repos' | |
| schedule: | |
| - cron: '0 5 * * *' | |
| release: | |
| types: | |
| - released | |
| env: | |
| VCPKG_PKGS: >- | |
| boost-dll boost-program-options boost-stacktrace | |
| boost-filesystem boost-format cereal | |
| tinyxml2 console-bridge assimp | |
| urdfdom octomap orocos-kdl pcl | |
| gtest benchmark flann jsoncpp | |
| yaml-cpp eigen3 | |
| openblas | |
| fcl ompl taskflow | |
| bullet3[multithreading,double-precision,rtti] | |
| ccd[double-precision] gperftools | |
| jobs: | |
| build-macos: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - runner: macos-15-intel | |
| vcpkg_triplet: x64-osx-dynamic-release | |
| arch: x64 | |
| homebrew_root: /usr/local | |
| - runner: macos-15 | |
| vcpkg_triplet: arm64-osx-dynamic-release | |
| arch: arm64 | |
| homebrew_root: /opt/homebrew | |
| runs-on: ${{ matrix.config.runner }} | |
| steps: | |
| - uses: actions/checkout@v7 | |
| with: | |
| path: target_ws/src | |
| - uses: actions/setup-python@v6 | |
| id: setup-python | |
| with: | |
| python-version: '3.12' | |
| - name: brew | |
| run: | | |
| brew install libomp cmake automake autoconf autoconf-archive libtool gcc ninja | |
| - name: vcpkg build | |
| uses: johnwason/vcpkg-action@v8 | |
| with: | |
| pkgs: >- | |
| ${{ env.VCPKG_PKGS }} | |
| triplet: ${{ matrix.config.vcpkg_triplet }} | |
| extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/target_ws/src/.github/workflows/vcpkg_triplets --overlay-ports=${{ github.workspace }}/target_ws/src/.github/workflows/vcpkg_overlays | |
| token: ${{ github.token }} | |
| cache-key: osx-${{ matrix.config.arch }}-vcpkg | |
| revision: master | |
| - name: pip3 | |
| run: | | |
| python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool | |
| - name: update environment | |
| shell: bash | |
| run: | | |
| echo "DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib" >> "$GITHUB_ENV" | |
| echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}" >> "$GITHUB_ENV" | |
| - name: Build and Tests | |
| uses: tesseract-robotics/colcon-action@v14 | |
| with: | |
| ccache-prefix: ci-mac-build-${{ matrix.config.name }} | |
| vcs-file: .github/workflows/windows_dependencies.repos | |
| rosdep-enabled: false | |
| upstream-args: >- | |
| --merge-install | |
| --packages-ignore tesseract_examples vhacd tesseract_python | |
| --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=${{ matrix.config.vcpkg_triplet }} -DCMAKE_BUILD_TYPE=Release | |
| -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \ | |
| -DTESSERACT_ENABLE_BENCHMARKING=OFF -DTESSERACT_ENABLE_RUN_BENCHMARKING=OFF \ | |
| -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=ON \ | |
| -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \ | |
| -DOpenMP_CXX_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \ | |
| -DOpenMP_C_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \ | |
| -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_libomp_LIBRARY=${{ matrix.config.homebrew_root }}/opt/libomp/lib/libomp.dylib \ | |
| -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib/libtcmalloc_minimal.dylib | |
| target-path: target_ws/src | |
| target-args: >- | |
| --merge-install | |
| --packages-ignore tesseract_examples vhacd tesseract_python | |
| --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=${{ matrix.config.vcpkg_triplet }} | |
| -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON \ | |
| -DTESSERACT_ENABLE_BENCHMARKING=OFF -DTESSERACT_ENABLE_RUN_BENCHMARKING=OFF \ | |
| -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=ON \ | |
| -DVCPKG_APPLOCAL_DEPS=OFF \ | |
| -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \ | |
| -DOpenMP_CXX_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \ | |
| -DOpenMP_C_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \ | |
| -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_libomp_LIBRARY=${{ matrix.config.homebrew_root }}/opt/libomp/lib/libomp.dylib \ | |
| -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib/libtcmalloc_minimal.dylib | |
| run-tests-args: --merge-install --packages-ignore tesseract_examples | |
| - name: collect logs | |
| if: failure() | |
| uses: actions/upload-artifact@v7 | |
| with: | |
| name: ci-mac-logs-${{ matrix.config.runner }} | |
| path: ./**/*.log | |
| retention-days: 7 |