[CI] Use webots_2021a_amd64.deb

robotique-ecam · Dec 21, 2020 · 552a19f · 552a19f
1 parent 34e5437
commit 552a19f
Showing 1 changed file with 10 additions and 11 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -17,17 +17,18 @@ jobs:
           sudo apt-get update
           sudo DEBIAN_FRONTEND=noninteractive apt-get install -y curl gnupg2 lsb-release software-properties-common && \
           curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-          curl -s https://cyberbotics.com/Cyberbotics.asc | sudo apt-key add -
           sudo mkdir -p /etc/apt-get/sources.list.d/ && \
-          sudo apt-add-repository 'deb https://cyberbotics.com/debian/ binary-amd64/' && \
           sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' && \
+          curl -Ls https://github.com/cyberbotics/webots/releases/download/R2021a/webots_2021a_amd64.deb -o webots_2021a_amd64.deb
           sudo DEBIAN_FRONTEND=noninteractive apt-get update && sudo apt-get install -yf ros-foxy-ros-base python3-colcon-common-extensions ros-foxy-xacro ros-foxy-libg2o \
           libopencv-dev libboost-dev libboost-python-dev ros-foxy-yaml-cpp-vendor ros-foxy-cv-bridge ros-foxy-image-transport ros-foxy-rviz2 ros-foxy-webots-ros2 \
           ros-foxy-behaviortree-cpp-v3 ros-foxy-laser-geometry ros-foxy-map-msgs ros-foxy-angles ros-foxy-tf2-geometry-msgs ros-foxy-test-msgs \
           graphicsmagick-libmagick-dev-compat ros-foxy-nav2-bringup ros-foxy-py-trees-ros ros-foxy-py-trees-ros-interfaces \
           libi2c-dev i2c-tools libgraphicsmagick++1-dev lcov libsdl1.2-dev libsdl-image1.2-dev libboost-program-options-dev \
-          libsuitesparse-dev python3-psutil python3-pykdl python3-vcstool python3-pydot python3-git xvfb webots python3-pip
+          libsuitesparse-dev python3-psutil python3-pykdl python3-vcstool python3-pydot python3-git xvfb python3-pip
           sudo -H pip3 install transforms3d emrichen hiyapyco
+          sudo apt-get install ./webots_2021a_amd64.deb
+
       - name: Cache ros_ws
         id: cache-ws
         uses: actions/cache@v1
@@ -48,18 +49,16 @@ jobs:
 
       - name: Run simulation
         run: |
-          export DEBIAN_FRONTEND=noninteractive
           export AUDIODEV=null
-          export DISPLAY=:99
           export LIBGL_ALWAYS_SOFTWARE=true
-          Xvfb :99 -screen 0 1024x768x16 &
+          export DEBIAN_FRONTEND=noninteractive
           source install/setup.bash
-          export LD_LIBRARY_PATH=/usr/local/webots/lib/controller:$LD_LIBRARY_PATH
+          export QTWEBENGINE_DISABLE_SANDBOX=1
           export WEBOTS_HOME=/usr/local/webots
-          export RCUTILS_LOGGING_USE_STDOUT=1
-          export RCUTILS_LOGGING_BUFFERED_STREAM=1
-          export PYTHONPATH=$PYTHONPATH:~/ros_ws/build/python_orocos_kdl
-          /usr/local/bin/webots --mode=fast --stdout --stderr --batch --no-sandbox --minimize tools/simulation/worlds/cdr2020.wbt &
+          export PATH=$PATH:PATH:$WEBOTS_HOME
+          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$WEBOTS_HOME/lib/controller
+          export PYTHONPATH=$PYTHONPATH:$WEBOTS_HOME/lib/controller/python38:~/ros_ws/build/python_orocos_kdl
+          xvfb-run --auto-servernum webots --mode=fast --no-rendering --stdout --stderr --minimize --batch tools/simulation/worlds/cdr2020.wbt &
           echo "Webots is starting..."
           sleep 45
           ros2 launch titan cloud-interfaces.py &