[navigation] disable takeoff if initial xy pos error is larger than threshold #44
Workflow file for this run
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| name: Build Spinal Firmware | |
| on : [push, pull_request, workflow_dispatch] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ghcr.io/ut-dragon-lab/stm32cubeide_1.8.0_build_env:latest | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| # submodules too | |
| submodules: recursive | |
| - name: Install ROS packages with rosdep # Setup Github ws as a catkin ws | |
| shell: bash | |
| run: | | |
| source /opt/ros/noetic/setup.bash | |
| rm /etc/ros/rosdep/sources.list.d/20-default.list | |
| sudo rosdep init | |
| rosdep update | |
| mkdir -p ~/catkin_ws/src | |
| ln -s $GITHUB_WORKSPACE ~/catkin_ws/src/jsk_aerial_robot | |
| cd ~/catkin_ws | |
| rosdep install -y -r --from-paths src --ignore-src --rosdistro noetic | |
| # - name: Build Spinal as ROS Package # Build Spinal to generate ROS libraries | |
| # run: | | |
| # source /opt/ros/noetic/setup.bash | |
| # cd ~/catkin_ws | |
| # catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake | |
| # catkin build -p 1 -j 1 spinal | |
| # source devel/setup.bash | |
| # shell: bash | |
| - name: Build Spinal H7 as STM32CubeIDE project # Build Spinal H7 firmware with STM32CubeIDE | |
| shell: bash | |
| run: | | |
| # set default result to avoid build interruption | |
| set +e | |
| for i in {1..5}; do | |
| echo "=== Attempt #$i for H7 Build ===" | |
| #build ros packages related to spinla firmware | |
| source /opt/ros/noetic/setup.bash | |
| cd ~/catkin_ws | |
| catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake | |
| catkin build -p 1 -j 1 spinal | |
| source devel/setup.bash | |
| # back to default workspace | |
| cd $GITHUB_WORKSPACE | |
| /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \ | |
| -application org.eclipse.cdt.managedbuilder.core.headlessbuild \ | |
| -data ~/STM32CubeIDE/workspace_1.8.0/ \ | |
| -import aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/ \ | |
| -cleanBuild spinal/Debug \ | |
| -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \ | |
| -Dorg.eclipse.cdt.core.build.parallel.threads=12 | |
| # check build result | |
| if [ $? -eq 0 ]; then | |
| echo "Build Spinal H7 succeeded on attempt #$i." | |
| exit 0 # success | |
| else | |
| echo "Build Spinal H7 failed on attempt #$i." | |
| fi | |
| done | |
| echo "All 5 attempts for Spinal H7 have failed." | |
| exit 1 | |
| - name: Clean up STM32CubeIDE # Clean up STM32CubeIDE WS to build same name project | |
| shell: bash | |
| run: | | |
| rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata | |
| - name: Build Spinal F7 as STM32CubeIDE project # Build Spinal F7 firmware with STM32CubeIDE | |
| shell: bash | |
| run: | | |
| set +e | |
| for i in {1..5}; do | |
| echo "=== Attempt #$i for F7 Build ===" | |
| #build ros packages related to spinla firmware | |
| source /opt/ros/noetic/setup.bash | |
| cd ~/catkin_ws | |
| catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake | |
| catkin build -p 1 -j 1 spinal | |
| source devel/setup.bash | |
| # back to default workspace | |
| cd $GITHUB_WORKSPACE | |
| /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \ | |
| -application org.eclipse.cdt.managedbuilder.core.headlessbuild \ | |
| -data ~/STM32CubeIDE/workspace_1.8.0/ \ | |
| -import aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/ \ | |
| -cleanBuild spinal/Debug \ | |
| -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \ | |
| -Dorg.eclipse.cdt.core.build.parallel.threads=12 | |
| if [ $? -eq 0 ]; then | |
| echo "Build Spinal F7 succeeded on attempt #$i." | |
| exit 0 #success | |
| else | |
| echo "Build Spinal F7 failed on attempt #$i." | |
| fi | |
| done | |
| echo "All 5 attempts for Spinal F7 have failed." | |
| exit 1 | |
| - name: Build Neuron F4 as STM32CubeIDE project # Build Neuron F4 firmware with STM32CubeIDE | |
| run: | | |
| /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \ | |
| -application org.eclipse.cdt.managedbuilder.core.headlessbuild \ | |
| -data ~/STM32CubeIDE/workspace_1.8.0/ \ | |
| -import aerial_robot_nerve/neuron/neuron_f4//STM32CubeIDE/ \ | |
| -cleanBuild neuron/Debug \ | |
| -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \ | |
| -Dorg.eclipse.cdt.core.build.parallel.threads=12 | |
| - name: Upload Spinal H7 artifacts # Upload required Spinal H7 files for flash. | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: SpinalH7.artifacts | |
| path: aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/Debug/spinal.* | |
| - name: Upload Spinal F7 artifacts # Upload required Spinal F7 files for flash. | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: SpinalF7.artifacts | |
| path: aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/Debug/spinal.* | |
| - name: Upload Neuron F4 artifacts # Upload required Neuron F4 files for flash. | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: NeuronF4.artifacts | |
| path: aerial_robot_nerve/neuron/neuron_f4/STM32CubeIDE/Debug/neuron.* |