name: Build base controller

on:

push:

branches:

- "**"

pull_request:

types: [opened, synchronize, reopened]

jobs:

build_teensy_40:

runs-on: ubuntu-latest

strategy:

fail-fast: true

steps:

- uses: actions/checkout@v3

- uses: actions/cache@v3

with:

path: |

key: ${{ runner.os }}-pio

- uses: actions/setup-python@v4

with:

python-version: '3.9'

- name: Install PlatformIO Core

run: pip install --upgrade platformio

- name: Build PlatformIO Project

run: |

// Measured left and right joint states (angular position (rad) and angular velocity (rad/s))

diffbot::JointState joint_state_left_, joint_state_right_;

unsignedlong encoder_resolution_;

int encoder_resolution_;

ros::Subscriber<std_msgs::Empty, BaseController<TMotorController, TMotorDriver>> sub_reset_encoders_;

default_envs = teensy31

default_envs = teensy40

platform = teensy

board = teensy31

framework = arduino

lib_deps =

frankjoshua/Rosserial Arduino Library@^0.9.1

./lib

adafruit/Adafruit Motor Shield V2 Library@^1.0.11

Wire

platform = teensy

board = teensy40

framework = arduino

lib_deps =

frankjoshua/Rosserial Arduino Library@^0.9.1

./lib

sudo apt update

sudo apt upgrade

sudo apt -y install i2c-tools curl

sudo sed -i '/dtparam=i2c0=on/s/^#//g' /boot/firmware/config.txt

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt -y update

sudo apt -y install ros-noetic-ros-base

sudo apt -y install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-vcstool \

python3-rosdep python3-catkin-tools build-essential

sudo rosdep init

rosdep update

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

cd ~/catkin_ws

rosdep install --from-paths src --ignore-src -r -y

catkin build