Update windows CI to leverage colcon

.github/workflows/clang_format.yml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - feature/CommandLanguage
   pull_request:
   schedule:
     - cron: '0 5 * * *'

.github/workflows/focal_build.yml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - feature/CommandLanguage
   pull_request:
   schedule:
     - cron: '0 5 * * *'

.github/workflows/windows_2019.yml

@@ -0,0 +1,82 @@
+name: Windows-2019
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * *'
+
+env:
+  VCPKG_PKGS: >-
+    fcl bullet3 octomap console-bridge eigen3 yaml-cpp benchmark tinyxml2 assimp orocos-kdl pcl lapack-reference jsoncpp boost-dll boost-filesystem boost-filesystem boost-serialization boost-program-options boost-graph
+
+jobs:
+  windows_ci:
+    name: Windows-2019
+    runs-on: windows-2019
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        path: workspace/src/trajopt
+
+    - name: checkout-vcpkg
+      uses: actions/checkout@v3
+      with:
+        path: vcpkg
+        repository: microsoft/vcpkg
+
+    - name: bootstrap-vcpkg
+      working-directory: vcpkg
+      run: bootstrap-vcpkg.bat
+
+    - name: vcpkg-dry-run
+      working-directory: vcpkg
+      shell: cmd
+      run: |
+        vcpkg install --dry-run --triplet x64-windows-release ${{ env.VCPKG_PKGS }} > vcpkg_dry_run.txt
+
+    - name: cache-vcpkg-archives
+      if: startsWith(github.ref, 'refs/tags/v') != true
+      id: cache-vcpkg-archives
+      uses: pat-s/always-upload-cache@v3
+      with:
+        path: C:\Users\runneradmin\AppData\Local\vcpkg\archives
+        key: ${{ runner.os }}-x64-windows-release-vcpkg-${{ hashFiles('vcpkg/vcpkg_dry_run.txt') }}-main
+        restore-keys: |
+          ${{ runner.os }}-x64-windows-release-vcpkg-
+
+    - name: install-depends
+      shell: cmd
+      run: |
+        vcpkg integrate install
+        python -m pip install vcstool -q
+        python -m pip install colcon-common-extensions -q
+        python -m pip install ninja -q
+        vcpkg install --triplet x64-windows-release ${{ env.VCPKG_PKGS }}
+
+    - name: configure-msvc
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64
+
+    - name: build-workspace
+      working-directory: workspace
+      shell: cmd
+      run: |
+        vcs import --input "${{ github.workspace }}/workspace/src/trajopt/dependencies.rosinstall" src/
+        colcon build --packages-ignore trajopt_sqp trajopt_ifopt --event-handlers console_direct+ --cmake-args -G "Ninja" -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
+        if %ERRORLEVEL% GEQ 1 exit 1
+
+    - name: run-test
+      working-directory: workspace
+      shell: cmd
+      run: |
+        call ./install/setup.bat
+        set PATH=%PATH%;C:/vcpkg/installed/x64-windows-release/bin
+        colcon test --packages-skip trajopt_sqp trajopt_ifopt --event-handlers console_direct+ --return-code-on-test-failure
+        if %ERRORLEVEL% GEQ 1 exit 1
+        colcon test-result --verbose
+        if %ERRORLEVEL% GEQ 1 exit 1
+

dependencies.rosinstall

@@ -1,16 +1,16 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: master
+    version: 0.2.16
 - git:
     local-name: tesseract
     uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: master
+    version: 0.9.11
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: master
+    version: 0.4.6
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
-    version: master
+    version: 2.1.3

trajopt_ext/osqp/CMakeLists.txt

@@ -15,8 +15,12 @@ if(NOT ${osqp_FOUND})
     SOURCE_DIR ${CMAKE_BINARY_DIR}/../trajopt_ext/osqp-src
     BINARY_DIR ${CMAKE_BINARY_DIR}/../trajopt_ext/osqp-build
     PATCH_COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_SOURCE_DIR}/patch_osqp.cmake
-    CMAKE_CACHE_ARGS -DCMAKE_INSTALL_PREFIX:STRING=${CMAKE_INSTALL_PREFIX} -DCMAKE_BUILD_TYPE:STRING=Release
-                     -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS:BOOL=ON)
+    CMAKE_CACHE_ARGS
+      -DCMAKE_INSTALL_PREFIX:STRING=${CMAKE_INSTALL_PREFIX}
+      -DCMAKE_BUILD_TYPE:STRING=Release
+      -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS:BOOL=ON
+      -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
+      -DVCPKG_TARGET_TRIPLET:STRING=${VCPKG_TARGET_TRIPLET})
 endif()
 
 install(FILES package.xml DESTINATION share/osqp)

trajopt_ext/osqp_eigen/CMakeLists.txt

@@ -14,7 +14,11 @@ if(NOT ${OsqpEigen_FOUND})
     GIT_TAG v0.6.3
     SOURCE_DIR ${CMAKE_BINARY_DIR}/../trajopt_ext/osqp_eigen-src
     BINARY_DIR ${CMAKE_BINARY_DIR}/../trajopt_ext/osqp_eigen-build
-    CMAKE_CACHE_ARGS -DCMAKE_INSTALL_PREFIX:STRING=${CMAKE_INSTALL_PREFIX} -DCMAKE_BUILD_TYPE:STRING=Release)
+    CMAKE_CACHE_ARGS
+      -DCMAKE_INSTALL_PREFIX:STRING=${CMAKE_INSTALL_PREFIX}
+      -DCMAKE_BUILD_TYPE:STRING=Release
+      -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
+      -DVCPKG_TARGET_TRIPLET:STRING=${VCPKG_TARGET_TRIPLET})
 
 endif()