Merge branch 'feature/jr_calibration' of github.com:borglab/GTDynamic… #856

	name: Linux CI

	# TODO Uncomment when ready to enable CI
	# on: [pull_request]

	jobs:
	build:
	name: ${{ matrix.name }} ${{ matrix.build_type }}
	runs-on: ${{ matrix.os }}

	env:
	CTEST_OUTPUT_ON_FAILURE: ON
	CTEST_PARALLEL_LEVEL: 2
	CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
	GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
	strategy:
	fail-fast: false
	matrix:
	# Github Actions requires a single row to be added to the build matrix.
	# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
	name: [
	ubuntu-18.04-gcc-9,
	ubuntu-18.04-clang-9,
	]

	build_type: [Debug, Release]
	build_unstable: [ON]
	include:
	- name: ubuntu-18.04-gcc-9
	os: ubuntu-18.04
	compiler: gcc
	version: "9"

	- name: ubuntu-18.04-clang-9
	os: ubuntu-18.04
	compiler: clang
	version: "9"

	steps:
	- name: Checkout
	uses: actions/checkout@master
	- name: Dependencies
	run: \|
	brew tap osrf/simulation
	brew install sdformat8
	if [ "${{ matrix.compiler }}" = "gcc" ]; then
	brew install gcc@${{ matrix.version }}
	echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
	echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
	else
	sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
	echo "CC=clang" >> $GITHUB_ENV
	echo "CXX=clang++" >> $GITHUB_ENV
	fi
	- name: Configure
	run: cmake -DGTDYNAMICS_BUILD_PYTHON=OFF -DGTDYNAMICS_BUILD_CABLE_ROBOT=ON ..
	working-directory: ./build
	- name: Build
	run: make -j4
	working-directory: ./build
	- name: Test
	run: make -j4 check
	working-directory: ./build

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