Handles gpu/cpu transfer in QPFunction's backward + replaces torch.Te… #431
Workflow file for this run
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| name: CI - Linux - ROS | |
| on: [push, pull_request] | |
| jobs: | |
| CI: | |
| strategy: | |
| matrix: | |
| env: | |
| - {name: "Noetic / Debug", ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF} | |
| - {name: "Noetic / Release", ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: OFF} | |
| - {name: "Iron / Debug", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF} | |
| - {name: "Iron / Release", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: OFF} | |
| - {name: "Iron / Debug / Vectorization", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON} | |
| - {name: "Iron / Release / Vectorization", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: ON} | |
| - {name: "Humble / Debug / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON} | |
| - {name: "Humble / Release / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: ON} | |
| - {name: "Humble / Pre-Release", ROS_DISTRO: humble, PRERELEASE: true} | |
| - {name: "Rolling / Debug / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON} | |
| - {name: "Rolling / Release / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: ON} | |
| - {name: "Rolling / Pre-Release", ROS_DISTRO: rolling, PRERELEASE: true} | |
| - {name: "Rolling / TSID-Downstream", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: ON, DOWNSTREAM_WORKSPACE: "github:stack-of-tasks/tsid#devel github:stack-of-tasks/eiquadprog#devel", DOWNSTREAM_CMAKE_ARGS: -DBUILD_WITH_PROXQP=ON} | |
| name: ${{ matrix.env.name }} | |
| env: | |
| #CCACHE_DIR: /github/home/.ccache # Enable ccache | |
| CMAKE_ARGS: -DBUILD_WITH_VECTORIZATION_SUPPORT=${{ matrix.env.VECTORIZATION_SUPPORT }} # Simde is available since humble | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| # This step will fetch/store the directory used by ccache before/after the ci run | |
| #- uses: actions/cache@v3 | |
| # with: | |
| # path: ${{ env.CCACHE_DIR }} | |
| # key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }} | |
| # Run industrial_ci | |
| - uses: 'ros-industrial/industrial_ci@master' | |
| env: ${{ matrix.env }} | |
| check: | |
| if: always() | |
| name: check-ci-linux-ros | |
| needs: | |
| - CI | |
| runs-on: Ubuntu-latest | |
| steps: | |
| - name: Decide whether the needed jobs succeeded or failed | |
| uses: re-actors/alls-green@release/v1 | |
| with: | |
| jobs: ${{ toJSON(needs) }} |