From a17a5e8b67e306eeba137f145a71eb6cd68c4895 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Mon, 26 Aug 2024 15:14:52 +0200
Subject: [PATCH] ROS CI: forget noetic
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libeigen3-dev (3.3.7-2) seems too old for proxqp:
```cpp
In file included from /usr/include/eigen3/unsupported/Eigen/IterativeSolvers:29,
from /root/upstream_ws/install/include/proxsuite/proxqp/sparse/views.hpp:21,
from /root/upstream_ws/install/include/proxsuite/proxqp/sparse/solver.hpp:22,
from /root/upstream_ws/install/include/proxsuite/proxqp/sparse/wrapper.hpp:12,
from /root/upstream_ws/install/include/proxsuite/proxqp/dense/wrapper.hpp:10,
from /root/upstream_ws/install/include/proxsuite/proxqp/dense/dense.hpp:8,
from /root/target_ws/src/tsid/include/tsid/solvers/solver-proxqp.hpp:22,
from /root/target_ws/src/tsid/src/solvers/solver-proxqp.cpp:18:
/usr/include/eigen3/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h: In function ‘void Eigen::internal::constrained_cg(const TMatrix&, const CMatrix&, VectorX&, const VectorB&, const VectorF&, Eigen::IterationController&)’:
/usr/include/eigen3/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h:162:51: error: ‘cerr’ is not a member of ‘std’
162 | if (iter.noiseLevel() > 0 && transition) std::cerr << "CCG: transition\n";
| ^~~~
```
---
.github/workflows/ci-linux-ros.yml | 11 ++++++-----
dependencies.rosinstall | 6 +++++-
2 files changed, 11 insertions(+), 6 deletions(-)
diff --git a/.github/workflows/ci-linux-ros.yml b/.github/workflows/ci-linux-ros.yml
index ed031f3..8b97630 100644
--- a/.github/workflows/ci-linux-ros.yml
+++ b/.github/workflows/ci-linux-ros.yml
@@ -6,10 +6,9 @@ jobs:
strategy:
matrix:
env:
- - {ROS_DISTRO: noetic, BUILDER: catkin_tools, CTEST_OUTPUT_ON_FAILURE: ON}
- #- {ROS_DISTRO: rolling}
- #- {ROS_DISTRO: iron}
- #- {ROS_DISTRO: humble}
+ #- {ROS_DISTRO: rolling} Unable to locate package ros-rolling-pinocchio
+ - {ROS_DISTRO: iron}
+ - {ROS_DISTRO: humble}
env:
CCACHE_DIR: /github/home/.ccache # Enable ccache
UPSTREAM_WORKSPACE: dependencies.rosinstall
@@ -19,11 +18,13 @@ jobs:
- uses: actions/checkout@v4
with:
submodules: recursive
+ # eiquadprog is not yet available in ROS2
+ - run: sed -i "/eiquadprog/d" package.xml
# 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@3ed9846c96ed1e0bb36193e8e250632eaac980d0'
+ - uses: 'ros-industrial/industrial_ci@d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b'
env: ${{ matrix.env }}
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index 49cd1eb..29fca79 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -4,7 +4,7 @@
local-name: qpmad
- git:
uri: https://github.com/Simple-Robotics/proxsuite.git
- version: devel
+ version: main
local-name: proxsuite
- git:
uri: https://github.com/ori-drs/osqp.git # fork for packaging
@@ -14,3 +14,7 @@
uri: https://github.com/robotology/osqp-eigen.git
version: master
local-name: osqp-eigen
+- git:
+ uri: https://github.com/stack-of-tasks/eiquadprog.git
+ version: master
+ local-name: eiquadprog
--
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