ci: install GLFW 3.4 Wayland build deps for mujoco 3.9.0 #14
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: default | |
| on: | |
| push: | |
| branches: | |
| - "**" | |
| - "!experiment-*" | |
| pull_request: | |
| branches: | |
| - "main" | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:jazzy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| path: colcon_ws/src | |
| - name: Clone additional repositories | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/colcon_ws | |
| git clone -b 3.9.0 https://github.com/google-deepmind/mujoco.git | |
| git clone https://github.com/rxdu/mujoco_ros2_control.git | |
| git clone https://github.com/rxdu/mujoco_demo_robot.git | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get update | |
| # X11 backend libs (GLFW) | |
| sudo apt-get install -y libglfw3-dev libxinerama-dev libxcursor-dev libxi-dev | |
| # Wayland backend libs: MuJoCo 3.9.0 bundles GLFW 3.4, which builds the | |
| # Wayland backend by default on Linux (needs wayland + xkbcommon dev libs | |
| # and wayland-scanner/protocols at build time). | |
| sudo apt-get install -y libwayland-dev libwayland-bin wayland-protocols libxkbcommon-dev | |
| sudo apt-get install -y ros-jazzy-ros2-control ros-jazzy-ros2-controllers | |
| - name: Additional ROS dependencies | |
| run: | | |
| apt update | |
| apt install -y python3-rosdep | |
| if [ ! -e /etc/ros/rosdep/sources.list.d/20-default.list ]; then rosdep init; fi | |
| cd ${GITHUB_WORKSPACE}/colcon_ws | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| rosdep update | |
| rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} | |
| - name: Colcon build | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/colcon_ws | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| colcon build --symlink-install --cmake-args " -DCMAKE_BUILD_TYPE=Release" |