mujoco_ros2_control/.gitlab-ci.yml at main · dfki-ric/mujoco_ros2_control · GitHub

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stages:
  - prepare
  - build

image: ros:humble

variables:
  ROS_DISTRO: humble
  DEBIAN_FRONTEND: noninteractive


# Job to set up dependencies
prepare:
  stage: prepare
  script:
    - apt-get update
    - apt-get install -y
      git
      build-essential
      libglfw3-dev
      libx11-dev
      xorg-dev
      ros-humble-urdf
      ros-humble-xacro
      ros-humble-rviz2
      ros-humble-ros2-control
      ros-humble-ros2-controllers
      ros-humble-controller-manager
      libopencv-dev
      ros-humble-pcl-conversions
      ros-humble-cv-bridge
      libpcl-dev
    - rosdep update

# Job to clone and build MuJoCo
build:
  stage: build
  script:
    - mkdir -p /ros2_ws/src
    - cp -r $CI_PROJECT_DIR/mujoco_ros2_control /ros2_ws/src/
    - cd /ros2_ws
    - . /opt/ros/$ROS_DISTRO/setup.sh
    - rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
    - colcon build
  artifacts:
    paths:
      - /ros2_ws/install
    expire_in: 1 week