From 2864f78f0874a13394c8a1ffde9a701d39279479 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Thu, 12 Mar 2026 11:46:40 +0100 Subject: [PATCH 01/12] fixes on fresh ubuntu 24 install --- .../ocs2_pinocchio_interface/CMakeLists.txt | 3 ++- ocs2_pinocchio/ocs2_self_collision/CMakeLists.txt | 15 ++++++++++----- 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/ocs2_pinocchio/ocs2_pinocchio_interface/CMakeLists.txt b/ocs2_pinocchio/ocs2_pinocchio_interface/CMakeLists.txt index 75a1a063c..03624d90f 100644 --- a/ocs2_pinocchio/ocs2_pinocchio_interface/CMakeLists.txt +++ b/ocs2_pinocchio/ocs2_pinocchio_interface/CMakeLists.txt @@ -13,10 +13,10 @@ find_package(catkin REQUIRED COMPONENTS ${CATKIN_PACKAGE_DEPENDENCIES} ) +find_package(urdfdom REQUIRED) find_package(PkgConfig REQUIRED) find_package(pinocchio REQUIRED) find_package(Eigen3 3.3 REQUIRED NO_MODULE) - # Add pinocchio configurations include(cmake/pinocchio_config.cmake) @@ -47,6 +47,7 @@ include_directories( ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${pinocchio_INCLUDE_DIRS} + ${urdfdom_INCLUDE_DIRS} ) # ocs2 pinocchio interface library diff --git a/ocs2_pinocchio/ocs2_self_collision/CMakeLists.txt b/ocs2_pinocchio/ocs2_self_collision/CMakeLists.txt index e664e4aa9..eb854aed1 100644 --- a/ocs2_pinocchio/ocs2_self_collision/CMakeLists.txt +++ b/ocs2_pinocchio/ocs2_self_collision/CMakeLists.txt @@ -16,9 +16,11 @@ find_package(catkin REQUIRED COMPONENTS find_package(PkgConfig REQUIRED) pkg_check_modules(coal REQUIRED coal) + +#find_package(coal REQUIRED) find_package(pinocchio REQUIRED) # requires liboctomap-dev and libassimp-dev - +find_package(urdfdom REQUIRED) find_package(Eigen3 3.3 REQUIRED NO_MODULE) ################################### @@ -56,11 +58,13 @@ include_directories( ${EIGEN3_INCLUDE_DIRS} ${pinocchio_INCLUDE_DIRS} ${coal_INCLUDE_DIRS} + ${urdfdom_INCLUDE_DIRS} ) -#link_directories( -# ${pinocchio_LIBRARY_DIRS} -#) +link_directories( + ${pinocchio_LIBRARY_DIRS} + ${coal_LIBRARY_DIRS} +) # ocs2 pinocchio interface library add_library(${PROJECT_NAME} @@ -75,7 +79,8 @@ add_dependencies(${PROJECT_NAME} ) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} - pinocchio::pinocchio + ${coal_LIBRARIES} + ${pinocchio_LIBRARIES} ) target_compile_options(${PROJECT_NAME} PUBLIC ${FLAGS}) From 181238981b21ec7b3b77510d45a539d6c6c41df2 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:07:00 +0100 Subject: [PATCH 02/12] first attempt for ROS One CI --- .github/workflows/ros-build-test.yml | 83 +++++++++++++++++----------- 1 file changed, 50 insertions(+), 33 deletions(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 0f3ac9433..a6de84214 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -2,23 +2,21 @@ name: Build and Test OCS2 on: push: - branches: [ main ] + branches: [ ros-one-devel ] pull_request: - branches: [ main ] + branches: [ ros-one-devel ] + workflow_dispatch: jobs: build: - # build both Debug and Release mode strategy: fail-fast: false matrix: - build_type: [ Debug, Release ] + build_type: [ Release ] # environment: regular Ubuntu with a vanilla ROS container - runs-on: ubuntu-latest - container: - image: ros:noetic + runs-on: ubuntu-24.04 steps: - name: Environment Info @@ -30,10 +28,31 @@ jobs: - name: System deps run: | apt-get update - apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev checkinstall wget rsync + apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev checkinstall wget rsync curl - - uses: actions/checkout@v2 + - name: ROS One installation + run: | + curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg + echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros1.list + apt update + apt install python3-rosdep + rosdep init + echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-one.list + rosdep update + apt install ros-one-desktop + + - name: Pinocchio from robotpkg + run: | + curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc + echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list + apt update + apt install robotpkg-312-coal robotpkg-312-pinocchio + export CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH} + export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH} + + - uses: actions/checkout@v4 with: + ref: ros-one-devel path: src/ocs2 - name: Rosdep @@ -43,36 +62,34 @@ jobs: - name: Checkout dependencies run: | - git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git src/pinocchio - git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git src/hpp-fcl git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets - - name: Install RaiSim - run: | - git clone --depth 1 https://github.com/raisimTech/raisimLib.git -b v1.1.01 src/raisim_tech - cd src/raisim_tech - mkdir build - cd build - cmake .. -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") - make -j4 && checkinstall + # - name: Install RaiSim + # run: | + # git clone --depth 1 https://github.com/raisimTech/raisimLib.git -b v1.1.01 src/raisim_tech + # cd src/raisim_tech + # mkdir build + # cd build + # cmake .. -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") + # make -j4 && checkinstall - - name: Install ONNX Runtime - run: | - wget https://github.com/microsoft/onnxruntime/releases/download/v1.7.0/onnxruntime-linux-x64-1.7.0.tgz -P tmp/microsoft - tar xf tmp/microsoft/onnxruntime-linux-x64-1.7.0.tgz -C tmp/microsoft - rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/include/ /usr/local/include/onnxruntime - rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/lib/ /usr/local/lib - rsync -a src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ /usr/local/share/onnxruntime + # - name: Install ONNX Runtime + # run: | + # wget https://github.com/microsoft/onnxruntime/releases/download/v1.7.0/onnxruntime-linux-x64-1.7.0.tgz -P tmp/microsoft + # tar xf tmp/microsoft/onnxruntime-linux-x64-1.7.0.tgz -C tmp/microsoft + # rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/include/ /usr/local/include/onnxruntime + # rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/lib/ /usr/local/lib + # rsync -a src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ /usr/local/share/onnxruntime - name: Build (${{ matrix.build_type }}) shell: bash run: | - source /opt/ros/noetic/setup.bash + source /opt/ros/one/setup.bash catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} - - name: Test - shell: bash - run: | - source devel_isolated/setup.bash - catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --catkin-make-args run_tests - catkin_test_results + # - name: Test + # shell: bash + # run: | + # source devel_isolated/setup.bash + # catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --catkin-make-args run_tests + # catkin_test_results From 937674bc76e9c61f9b40c7d13ef2093b814d3e4f Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:16:55 +0100 Subject: [PATCH 03/12] test on current branch --- .github/workflows/ros-build-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index a6de84214..5a92de61f 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -2,7 +2,7 @@ name: Build and Test OCS2 on: push: - branches: [ ros-one-devel ] + branches: [ ubuntu24-ci ] pull_request: branches: [ ros-one-devel ] workflow_dispatch: From e80517eee90f9e1e96eceba2f3b6d32b5c7a7917 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:20:51 +0100 Subject: [PATCH 04/12] perform the ci in a container --- .github/workflows/ros-build-test.yml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 5a92de61f..6dda49121 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -15,8 +15,10 @@ jobs: matrix: build_type: [ Release ] - # environment: regular Ubuntu with a vanilla ROS container + # environment: regular Ubuntu with container runs-on: ubuntu-24.04 + container: + image: ubuntu:24.04 steps: - name: Environment Info @@ -35,11 +37,11 @@ jobs: curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros1.list apt update - apt install python3-rosdep + apt install -y python3-rosdep rosdep init echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-one.list rosdep update - apt install ros-one-desktop + apt install -y ros-one-desktop - name: Pinocchio from robotpkg run: | From 2428358009766bc4a411828183b449da4cbd55b0 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:25:58 +0100 Subject: [PATCH 05/12] remove lsb check (container already defines the version) --- .github/workflows/ros-build-test.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 6dda49121..6ec31caf0 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -25,7 +25,6 @@ jobs: run: | pwd uname -r - lsb_release -a - name: System deps run: | From 0e315801db708a2b70f1db4942bc5284a59f9311 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:32:40 +0100 Subject: [PATCH 06/12] reintroduce lsb release and remove sudo --- .github/workflows/ros-build-test.yml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 6ec31caf0..bc0836f8a 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -23,8 +23,11 @@ jobs: steps: - name: Environment Info run: | + apt update + apt install lsb-release pwd uname -r + lsb_release -a - name: System deps run: | @@ -34,18 +37,18 @@ jobs: - name: ROS One installation run: | curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg - echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros1.list + echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros1.list apt update apt install -y python3-rosdep rosdep init - echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-one.list + echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | tee /etc/ros/rosdep/sources.list.d/1-ros-one.list rosdep update apt install -y ros-one-desktop - name: Pinocchio from robotpkg run: | - curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc - echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list + curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | tee /etc/apt/keyrings/robotpkg.asc + echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | tee /etc/apt/sources.list.d/robotpkg.list apt update apt install robotpkg-312-coal robotpkg-312-pinocchio export CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH} From d30b27a467f667159a942b58b24d9f67379e38c2 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:40:51 +0100 Subject: [PATCH 07/12] fix robotpkg dependencies, add "-get" to avoid apt warnings --- .github/workflows/ros-build-test.yml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index bc0836f8a..7efe1c479 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -23,8 +23,8 @@ jobs: steps: - name: Environment Info run: | - apt update - apt install lsb-release + apt-get update + apt-get install lsb-release pwd uname -r lsb_release -a @@ -38,19 +38,19 @@ jobs: run: | curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros1.list - apt update - apt install -y python3-rosdep + apt-get update + apt-get install -y python3-rosdep rosdep init echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | tee /etc/ros/rosdep/sources.list.d/1-ros-one.list rosdep update - apt install -y ros-one-desktop + apt-get install -y ros-one-desktop - name: Pinocchio from robotpkg run: | curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | tee /etc/apt/keyrings/robotpkg.asc echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | tee /etc/apt/sources.list.d/robotpkg.list - apt update - apt install robotpkg-312-coal robotpkg-312-pinocchio + apt-get update + apt-get install robotpkg-coal robotpkg-pinocchio export CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH} export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH} From bcd544156277e57a77fa46da104818f19f51da4f Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:48:41 +0100 Subject: [PATCH 08/12] fix on apt installation --- .github/workflows/ros-build-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 7efe1c479..1fcb86e04 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -24,7 +24,7 @@ jobs: - name: Environment Info run: | apt-get update - apt-get install lsb-release + apt-get install -y lsb-release pwd uname -r lsb_release -a @@ -50,7 +50,7 @@ jobs: curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | tee /etc/apt/keyrings/robotpkg.asc echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | tee /etc/apt/sources.list.d/robotpkg.list apt-get update - apt-get install robotpkg-coal robotpkg-pinocchio + apt-get install -y robotpkg-coal robotpkg-pinocchio export CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH} export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH} From bd51ba9015c5cd6ec55c7caa771338145da9f968 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 16:58:41 +0100 Subject: [PATCH 09/12] compile only the needed pkgs from ocs2 --- .github/workflows/ros-build-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 1fcb86e04..7d3bfb442 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -89,7 +89,7 @@ jobs: shell: bash run: | source /opt/ros/one/setup.bash - catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} + catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2_legged_robot_ros ocs2_self_collision_visualization --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} # - name: Test # shell: bash From a0b84c289c6408f854311ac357adb6fc8161188b Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 17:11:20 +0100 Subject: [PATCH 10/12] make the env variables available in all steps --- .github/workflows/ros-build-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 7d3bfb442..6f821e484 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -51,8 +51,8 @@ jobs: echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | tee /etc/apt/sources.list.d/robotpkg.list apt-get update apt-get install -y robotpkg-coal robotpkg-pinocchio - export CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH} - export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH} + echo "CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV + echo "LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}" >> $GITHUB_ENV - uses: actions/checkout@v4 with: From e79bb0cb5a0def8fa260e15636987bcbf8539e46 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 17:32:22 +0100 Subject: [PATCH 11/12] move from catkin_make to catkin tools --- .github/workflows/ros-build-test.yml | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 6f821e484..19abdbd06 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -5,17 +5,13 @@ on: branches: [ ubuntu24-ci ] pull_request: branches: [ ros-one-devel ] - workflow_dispatch: jobs: build: strategy: fail-fast: false - matrix: - build_type: [ Release ] - # environment: regular Ubuntu with container runs-on: ubuntu-24.04 container: image: ubuntu:24.04 @@ -39,7 +35,7 @@ jobs: curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros1.list apt-get update - apt-get install -y python3-rosdep + apt-get install -y python3-rosdep python3-catkin-tools rosdep init echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | tee /etc/ros/rosdep/sources.list.d/1-ros-one.list rosdep update @@ -85,11 +81,13 @@ jobs: # rsync -a tmp/microsoft/onnxruntime-linux-x64-1.7.0/lib/ /usr/local/lib # rsync -a src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ /usr/local/share/onnxruntime - - name: Build (${{ matrix.build_type }}) + - name: Build Release shell: bash run: | source /opt/ros/one/setup.bash - catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2_legged_robot_ros ocs2_self_collision_visualization --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} + catkin init + ctking config --cmake-args -DCMAKE_BUILD_TYPE=Release + catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization # - name: Test # shell: bash From 18304bb16f31ae2c89ef0fc4e9b76df497cadc22 Mon Sep 17 00:00:00 2001 From: Gianni Lunardi Date: Sun, 15 Mar 2026 17:39:28 +0100 Subject: [PATCH 12/12] fix typo --- .github/workflows/ros-build-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml index 19abdbd06..2549f6f82 100644 --- a/.github/workflows/ros-build-test.yml +++ b/.github/workflows/ros-build-test.yml @@ -86,7 +86,7 @@ jobs: run: | source /opt/ros/one/setup.bash catkin init - ctking config --cmake-args -DCMAKE_BUILD_TYPE=Release + catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization # - name: Test