[CI] Test WalkingOnPlaneWaypoint. #209
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| name: CI of BaselineWalkingController | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| build-and-test: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| catkin-build: [catkin, standalone] | |
| build-type: [RelWithDebInfo, Debug] | |
| mc-rtc-version: [head, stable] | |
| compiler: [gcc] | |
| mpc-method: [PreviewControlZmp] | |
| mpc-framework: [OpenLoopMpc] | |
| motion-type: [WalkingOnPlane] | |
| exclude: | |
| - build-type: Debug | |
| mc-rtc-version: stable | |
| # Some packages have not been released onto the stable mirror yet | |
| - catkin-build: standalone | |
| mc-rtc-version: stable | |
| include: | |
| # compiler | |
| - os: ubuntu-20.04 | |
| catkin-build: standalone # catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: clang # gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| # motion-type | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnStairs # WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlaneWaypoint # WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlaneVel # WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingWithFootstepPlanner # WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: standalone # catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnStairs # WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: standalone # catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlaneWaypoint # WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: standalone # catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlaneVel # WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: standalone # catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingWithFootstepPlanner # WalkingOnPlane | |
| # mpc-method, mpc-framework | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: DdpZmp # PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: FootGuidedControl # PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: IntrinsicallyStableMpc # PreviewControlZmp | |
| mpc-framework: OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: PreviewControlZmp | |
| mpc-framework: ClosedLoopMpc # OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: DdpZmp # PreviewControlZmp | |
| mpc-framework: ClosedLoopMpc # OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: FootGuidedControl # PreviewControlZmp | |
| mpc-framework: ClosedLoopMpc # OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| - os: ubuntu-20.04 | |
| catkin-build: catkin | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| mpc-method: IntrinsicallyStableMpc # PreviewControlZmp | |
| mpc-framework: ClosedLoopMpc # OpenLoopMpc | |
| motion-type: WalkingOnPlane | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| RESULTS_POSTFIX: ${{ matrix.mpc-method }}-${{ matrix.mpc-framework }}-${{ matrix.motion-type }}-${{ matrix.catkin-build }} | |
| steps: | |
| - name: Setup environment variables | |
| run: | | |
| set -e | |
| set -x | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mc-rtc-version }}" == "head" ] && \ | |
| [ "${{ matrix.compiler }}" == "gcc" ] | |
| then | |
| echo "RUN_SIMULATION_STEPS=true" >> $GITHUB_ENV | |
| else | |
| echo "RUN_SIMULATION_STEPS=false" >> $GITHUB_ENV | |
| fi | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.catkin-build }}" == "catkin" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mc-rtc-version }}" == "head" ] && \ | |
| [ "${{ matrix.compiler }}" == "gcc" ] && \ | |
| [ "${{ matrix.mpc-method }}" == "PreviewControlZmp" ] && \ | |
| [ "${{ matrix.mpc-framework }}" == "OpenLoopMpc" ] && \ | |
| [ "${{ matrix.motion-type }}" == "WalkingOnPlane" ] && \ | |
| [ "${{ github.repository_owner }}" == "isri-aist" ] && \ | |
| [ "${{ github.ref }}" == "refs/heads/master" ] | |
| then | |
| echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV | |
| else | |
| echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV | |
| fi | |
| if [ "${{ matrix.catkin-build }}" == "catkin" ] | |
| then | |
| echo "CI_DIR=${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/.github/workflows" >> $GITHUB_ENV | |
| else | |
| echo "CI_DIR=${GITHUB_WORKSPACE}/.github/workflows" >> $GITHUB_ENV | |
| fi | |
| if [ "${{ matrix.motion-type }}" == "WalkingWithFootstepPlanner" ] | |
| then | |
| echo "BASELINE_FOOTSTEP_PLANNER=baseline_footstep_planner" >> $GITHUB_ENV | |
| else | |
| echo "BASELINE_FOOTSTEP_PLANNER=" >> $GITHUB_ENV | |
| fi | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| ubuntu: | | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/${{ matrix.mc-rtc-version }} | |
| apt: libmc-rtc-dev mc-rtc-utils mc-state-observation doxygen graphviz jvrc-choreonoid choreonoid libcnoid-dev | |
| ros: | | |
| apt: ros-base mc-rtc-plugin eigen-conversions | |
| - name: Install standalone dependencies | |
| if: matrix.catkin-build == 'standalone' | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt: libforcecontrolcollection-dev libtrajectorycollection-dev libcentroidalcontrolcollection-dev | |
| - name: Install BaselineFootstepPlanner for standalone build | |
| if: matrix.catkin-build == 'standalone' && matrix.motion-type == 'WalkingWithFootstepPlanner' | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| ros: | | |
| apt: sbpl | |
| github: | | |
| - path: isri-aist/BaselineFootstepPlanner | |
| ref: master | |
| - name: Checkout repository code for standalone build | |
| if: matrix.catkin-build == 'standalone' | |
| uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Standalone build | |
| if: matrix.catkin-build == 'standalone' | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| - name: Catkin build | |
| if: matrix.catkin-build == 'catkin' | |
| uses: jrl-umi3218/github-actions/build-catkin-project@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| cmake-args: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} -DENABLE_QLD=ON | |
| catkin-test-args: --no-deps | |
| build-packages: "baseline_walking_controller ${{ env.BASELINE_FOOTSTEP_PLANNER }}" | |
| test-packages: baseline_walking_controller | |
| - name: Catkin build again to ensure footstep planner found | |
| if: matrix.catkin-build == 'catkin' && matrix.motion-type == 'WalkingWithFootstepPlanner' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . devel/setup.bash | |
| set -x | |
| catkin build baseline_walking_controller --no-deps --force-cmake --limit-status-rate 0.1 --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} --catkin-make-args all run_tests | |
| catkin_test_results --verbose --all build | |
| - name: Run simulation | |
| if: env.RUN_SIMULATION_STEPS == 'true' | |
| # https://github.com/jrl-umi3218/lipm_walking_controller/blob/b564d655388ae6a6725c504e5c74a62192e58c7c/.github/workflows/build.yml#L64-L92 | |
| run: | | |
| set -e | |
| set -x | |
| sudo apt-get install -y -qq xvfb ffmpeg mesa-utils fluxbox xserver-xorg xserver-xorg-core xserver-xorg-video-all libwayland-egl1-mesa | |
| set +x | |
| if [ "${{ matrix.catkin-build }}" == "catkin" ] | |
| then | |
| . ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash | |
| fi | |
| set -x | |
| export DISPLAY=":1" | |
| Xvfb ${DISPLAY} -screen 0 1920x1080x24 & | |
| sleep 10s | |
| fluxbox 2> /dev/null & | |
| mkdir -p ${HOME}/.config/mc_rtc/controllers | |
| if [ "${{ matrix.catkin-build }}" == "catkin" ] | |
| then | |
| cp ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/etc/mc_rtc.yaml ${HOME}/.config/mc_rtc | |
| else | |
| echo "Enabled: BaselineWalkingController" > ${HOME}/.config/mc_rtc/mc_rtc.yaml | |
| fi | |
| python3 ${{ env.CI_DIR }}/scripts/mergeConfigs.py ${{ env.CI_DIR }}/config/${{ matrix.mpc-method }}.yaml ${{ env.CI_DIR }}/config/${{ matrix.mpc-framework }}.yaml ${{ env.CI_DIR }}/config/${{ matrix.motion-type }}.yaml > ${HOME}/.config/mc_rtc/controllers/BaselineWalkingController.yaml | |
| ffmpeg -y -f x11grab -s 1920x1080 -r 30 -i ${DISPLAY} -qscale 0 -vcodec huffyuv /tmp/video.avi > /dev/null 2>&1 < /dev/null & | |
| FFMPEG_PID=$! | |
| cd /usr/share/hrpsys/samples/JVRC1 | |
| ./clear-omninames.sh | |
| roscore > /dev/null 2>&1 < /dev/null & | |
| ROSCORE_PID=$! | |
| sleep 1s | |
| if [ "${{ matrix.motion-type }}" == "WalkingOnPlane" -o "${{ matrix.motion-type }}" == "WalkingOnPlaneWaypoint" -o "${{ matrix.motion-type }}" == "WalkingOnPlaneVel" ]; then | |
| CNOID_FILE=sim_mc.cnoid | |
| else | |
| CNOID_FILE=sim_mc_comanoid_staircase.cnoid | |
| fi | |
| choreonoid ${CNOID_FILE} --test-mode --start-simulation & | |
| CNOID_PID=$! | |
| if [ "${{ matrix.motion-type }}" == "WalkingWithFootstepPlanner" ]; then | |
| SLEEP_DURATION="70s" | |
| else | |
| SLEEP_DURATION="50s" | |
| fi | |
| sleep ${SLEEP_DURATION} | |
| kill -2 ${ROSCORE_PID} | |
| kill -2 ${CNOID_PID} | |
| kill -2 ${FFMPEG_PID} | |
| sleep 1s | |
| kill -9 ${CNOID_PID} || true | |
| sleep 10s | |
| mkdir -p /tmp/results | |
| ffmpeg -nostats -i /tmp/video.avi /tmp/results/BWC-video-${RESULTS_POSTFIX}.mp4 | |
| LOG_FILENAME=BWC-log-${RESULTS_POSTFIX} | |
| mv `readlink -f /tmp/mc-control-BaselineWalkingController-latest.bin` /tmp/${LOG_FILENAME}.bin | |
| tar czf /tmp/results/${LOG_FILENAME}.tar.gz -C /tmp ${LOG_FILENAME}.bin | |
| - name: Upload simulation data | |
| if: env.RUN_SIMULATION_STEPS == 'true' | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: BWC-ci-results-${{ matrix.catkin-build }} | |
| path: /tmp/results | |
| - name: Check simulation results | |
| if: env.RUN_SIMULATION_STEPS == 'true' | |
| run: | | |
| set -e | |
| set -x | |
| if [ "${{ matrix.motion-type }}" == "WalkingOnPlane" ]; then | |
| EXPECTED_BASE_POS="1.34 -0.41 0.8" | |
| elif [ "${{ matrix.motion-type }}" == "WalkingOnStairs" ]; then | |
| EXPECTED_BASE_POS="1.75 0.0 1.68" | |
| elif [ "${{ matrix.motion-type }}" == "WalkingOnPlaneWaypoint" ]; then | |
| EXPECTED_BASE_POS="0.82 0.57 0.8" | |
| elif [ "${{ matrix.motion-type }}" == "WalkingOnPlaneVel" ]; then | |
| EXPECTED_BASE_POS="0.74 -0.53 0.8" | |
| else # if [ "${{ matrix.motion-type }}" == "WalkingWithFootstepPlanner" ]; then | |
| EXPECTED_BASE_POS="2.5 -0.25 0.8" | |
| fi | |
| LOG_FILENAME=BWC-log-${RESULTS_POSTFIX} | |
| python3 ${{ env.CI_DIR }}/scripts/checkSimulationResults.py /tmp/${LOG_FILENAME}.bin --expected-base-pos ${EXPECTED_BASE_POS} | |
| - name: Upload documentation | |
| if: env.UPLOAD_DOCUMENTATION == 'true' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }} | |
| git config --global user.name "Masaki Murooka" | |
| git config --global user.email "[email protected]" | |
| git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/BaselineWalkingController" | |
| git fetch --depth=1 origin gh-pages:gh-pages | |
| git clean -dfx | |
| rm -rf cmake/ | |
| git checkout --quiet gh-pages | |
| rm -rf doxygen/ | |
| cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/baseline_walking_controller/doc/html/ doxygen | |
| git add doxygen | |
| git_status=`git status -s` | |
| if test -n "$git_status"; then | |
| git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" | |
| git push origin gh-pages | |
| else | |
| echo "Github pages documentation is already up-to-date." | |
| fi |