Add ROS-CI with support for optional dependencies qpmad, OSQP, ProxQP (#195)

* [CI] Add ROS-CI (ROS1 Noetic)

* [CI] proxsuite master -> main

* [CI] Use fork for proxqp to test package.xml fixes

* [CI] Use catkin-tools to build

* [CI] Build with colcon

* [CI] Recursive checkout

* [CI] Add metapackage to make sure upstream workspace builds

* [CI] Fix CMAKE_ARGS

* [CI] Proxsuite without vectorisation (simde not available)

* [CI] Add dependencies rosinstall

* [CI] Debug and Release builds

* Change to ignore Wdeprecated-declarations

* [CI] Try without metapackage

* dependencies.rosinstall: Change ProxQP back to official repo

.github/workflows/ci-linux-ros.yml

+name: CI - Linux - ROS
+on: [push, pull_request]
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Debug}
+          - {ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Release}
+    env:
+      CCACHE_DIR: /github/home/.ccache # Enable ccache
+      UPSTREAM_WORKSPACE: dependencies.rosinstall
+      CMAKE_ARGS: -DBUILD_WITH_OSQP=ON -DBUILD_WITH_PROXQP=ON -DBUILD_WITH_VECTORIZATION_SUPPORT=OFF  # Simde is not available yet
+    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 }}

CMakeLists.txt

@@ -38,7 +38,7 @@ option(BUILD_WITH_OSQP "Support using the osqp solver" OFF)
 # With pos, vel, acc awaiting renaming (e.g. in trajectory-base), we are
 # producing a ton of deprecation warnings. Ignoring them for now; remove this
 # once pos, vel, acc are renamed.
-add_definitions(-Wno-deprecated)
+add_definitions(-Wno-deprecated-declarations)
 
 # We frequently convert between signed and unsigned integers for Eigen::Index.
 # Ignore them for now.
@@ -158,6 +158,18 @@ if(BUILD_WITH_PROXQP)
   find_package(proxsuite REQUIRED)
   list(APPEND ${PROJECT_NAME}_SOLVERS_HEADERS
        include/tsid/solvers/solver-proxqp.hpp)
+
+  # Determine whether ot use the default target or the vectorized target, if
+  # available
+  set(proxsuite_INTERFACE proxsuite::proxsuite)
+  if(NOT TARGET proxsuite::proxsuite-vectorized)
+    message(
+      STATUS
+        "proxsuite::proxsuite-vectorized not available - defaulting to non-vectorized ProxQP"
+    )
+  else()
+    set(proxsuite_INTERFACE proxsuite::proxsuite-vectorized)
+  endif()
 endif()
 
 if(BUILD_WITH_OSQP)
@@ -287,7 +299,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::pinocchio
 
 if(BUILD_WITH_PROXQP)
   target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_WITH_PROXSUITE)
-  target_link_libraries(${PROJECT_NAME} PUBLIC proxsuite::proxsuite-vectorized)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${proxsuite_INTERFACE})
 endif()
 
 if(BUILD_WITH_OSQP)

dependencies.rosinstall

+- git:
+    uri: https://github.com/asherikov/qpmad.git
+    version: master
+    local-name: qpmad
+- git:
+    uri: https://github.com/Simple-Robotics/proxsuite.git
+    version: devel
+    local-name: proxsuite
+- git:
+    uri: https://github.com/ori-drs/osqp.git # fork for packaging
+    version: master
+    local-name: osqp
+- git:
+    uri: https://github.com/robotology/osqp-eigen.git
+    version: master
+    local-name: osqp-eigen