From df87fade0e807d709628d5c31d8d4cc512c61eef Mon Sep 17 00:00:00 2001
From: Sutou Kouhei <kou@clear-code.com>
Date: Wed, 1 Oct 2025 16:35:20 +0900
Subject: [PATCH] Add CI (#4)

---
 .github/workflows/test.yaml | 77 +++++++++++++++++++++++++++++++++++++
 CMakeLists.txt              | 28 +++++++-------
 2 files changed, 91 insertions(+), 14 deletions(-)
 create mode 100644 .github/workflows/test.yaml

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
new file mode 100644
index 0000000..e9d5e82
--- /dev/null
+++ b/.github/workflows/test.yaml
@@ -0,0 +1,77 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: Test
+on:
+  push:
+    branches:
+      - '**'
+      - '!dependabot/**'
+    tags:
+      - '**'
+  pull_request:
+concurrency:
+  group: ${{ github.head_ref || github.sha }}-${{ github.workflow }}
+  cancel-in-progress: true
+jobs:
+  build:
+    name: Build
+    runs-on: ${{ matrix.runs-on }}
+    timeout-minutes: 5
+    strategy:
+      fail-fast: false
+      matrix:
+        runs-on:
+          - ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v5
+      - name: Install dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y -V \
+            cmake \
+            libkdl-parser-dev \
+            liborocos-kdl-dev \
+            liburdfdom-headers-dev \
+            libyaml-cpp-dev \
+            ninja-build
+      - uses: actions/checkout@v5
+        with:
+          path: openarm_can
+          repository: enactic/openarm_can
+      - name: "OpenArm CAN: CMake"
+        run: |
+          cmake \
+            -B openarm_can.build \
+            -S openarm_can \
+            -GNinja \
+            -DCMAKE_INSTALL_PREFIX=$PWD/install \
+            -DCMAKE_BUILD_TYPE=Debug
+      - name: "OpenArm CAN: Build"
+        run: |
+          ninja -C openarm_can.build
+      - name: "OpenArm CAN: Install"
+        run: |
+          ninja -C openarm_can.build install
+      - name: CMake
+        run: |
+          cmake \
+            -B build \
+            -S . \
+            -GNinja \
+            -DCMAKE_INSTALL_PREFIX=$PWD/install \
+            -DCMAKE_BUILD_TYPE=Debug
+      - name: Build
+        run: |
+          ninja -C build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 16fa235..03c241f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,6 +33,9 @@ find_package(Eigen3 REQUIRED)
 find_package(urdfdom REQUIRED)
 find_package(urdfdom_headers REQUIRED)
 find_package(yaml-cpp REQUIRED)
+if(NOT TARGET yaml-cpp::yaml-cpp AND TARGET yaml-cpp)
+  add_library(yaml-cpp::yaml-cpp ALIAS yaml-cpp)
+endif()
 
 # -----------------------------
 # Create static library
@@ -45,18 +48,19 @@ add_library(openarm_teleop_lib STATIC
 )
 
 target_include_directories(
-    openarm_teleop_lib PUBLIC
-    ${EIGEN3_INCLUDE_DIRS}
+    openarm_teleop_lib
+    PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/src
 )
 
 target_link_libraries(openarm_teleop_lib
+    PUBLIC
     OpenArmCAN::openarm_can
-    ${EIGEN3_LIBRARIES}
+    Eigen3::Eigen
     ${orocos_kdl_LIBRARIES}
-    kdl_parser
-    urdfdom_model
-    yaml-cpp
+    ${kdl_parser_LIBRARIES}
+    urdfdom::urdfdom_model
+    yaml-cpp::yaml-cpp
 )
 
 # -----------------------------
@@ -67,11 +71,7 @@ add_executable(comm_test control/openarm_communication_test.cpp)
 add_executable(unilateral_control control/openarm_unilateral_control.cpp)
 add_executable(bilateral_control control/openarm_bilateral_control.cpp)
 
-target_link_libraries(gravity_comp openarm_teleop_lib)
-target_link_libraries(comm_test openarm_teleop_lib)
-target_link_libraries(unilateral_control openarm_teleop_lib)
-target_link_libraries(bilateral_control openarm_teleop_lib)
-
-target_include_directories(gravity_comp PRIVATE ${EIGEN3_INCLUDE_DIRS})
-target_include_directories(unilateral_control PRIVATE ${EIGEN3_INCLUDE_DIRS})
-target_include_directories(bilateral_control PRIVATE ${EIGEN3_INCLUDE_DIRS})
\ No newline at end of file
+target_link_libraries(gravity_comp PRIVATE openarm_teleop_lib)
+target_link_libraries(comm_test PRIVATE openarm_teleop_lib)
+target_link_libraries(unilateral_control PRIVATE openarm_teleop_lib)
+target_link_libraries(bilateral_control PRIVATE openarm_teleop_lib)