(actions) Run multiple python versions (#354)

* (actions) run on ubuntu-20.04

Only one python2 job

* (actions) run also python 3.9 and 3.10

* (actions) convert python version to string

* (actions) update LD_LIBRARY_PATH

* (actions) just use python exec

* (actions) which python

* (actions) change order of LD_LIBRARY_PATH

* (actions) empty LD_LIBRARY_PATH

* (actions) env

* (actions) empty LD_LIBRARY_PATH env

* (actions) sudo ldconfig -v

* (actions) print sys.path

* (actions) print get_python_lib path

* (actions) add library path to PYTHONPATH

Needed to use setup-python

* (actions) typo

* (actions) print sys.path

* (actions) export pythonpath

* (actions) export normal sys.path to PYTHONPATH

* (actions) pythonpath

* (actions) pythonpath

* Update main.yml

* (actions) install python packages by pip

* (actions) cleanup

* (actions) remove unused python variable

* (actions) no need to extend LD_LIBRARY_PATH

.github/workflows/main.yml

@@ -8,22 +8,38 @@ env:
 jobs:
   build:
     name: Build
-    runs-on: ubuntu-18.04
+    runs-on:  ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
+        os: [ubuntu-20.04]
         orocos_build_type: [Debug, Release]
         compiler: [gcc, clang]
+        python_version: ['3.8']
+        include:
+          - os: ubuntu-18.04
+            orocos_build_type: Release
+            compiler: gcc
+            python_version: '2'
+          - os: ubuntu-20.04
+            orocos_build_type: Release
+            compiler: gcc
+            python_version: '3.9'
     env:
       CC: ${{ matrix.compiler }}
       OROCOS_BUILD_TYPE: ${{ matrix.orocos_build_type }}
+      ROS_PYTHON_VERSION: ${{ matrix.python_version }}
     steps:
       - uses: actions/checkout@v2
         with:
           submodules: recursive
+      - uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python_version }}
       - name: Install
         run: |
-          sudo apt-get install libeigen3-dev libcppunit-dev python-psutil python3-psutil python-future python3-future
+          sudo apt-get install libeigen3-dev libcppunit-dev
+          pip install psutil future
       - name: Build orocos_kdl
         run: |
           cd orocos_kdl
@@ -32,40 +48,26 @@ jobs:
           cmake -DENABLE_TESTS:BOOL=ON -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./..
           make
           sudo make install
-      - name: Build PyKDL Python 2
-        run: |
-          cd python_orocos_kdl
-          mkdir build2
-          cd build2
-          export ROS_PYTHON_VERSION=2
-          cmake -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./..
-          make
-          sudo make install
-      - name: Build PyKDL Python 3
+      - name: Build PyKDL
         run: |
           cd python_orocos_kdl
-          mkdir build3
-          cd build3
-          export ROS_PYTHON_VERSION=3
+          mkdir build
+          cd build
           cmake -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./..
           make
           sudo make install
-      - name: Update LD_LIBRARY_PATH
-        run: |
-          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
-          sudo ldconfig
+      - name: ldconfig
+        run: sudo ldconfig
       - name: Test orocos_kdl
         run: |
           cd orocos_kdl/build
           make check
-      - name: Test PyKDL Python 2
-        run: |
-          cd python_orocos_kdl
-          python2 tests/PyKDLtest.py
-      - name: Test PyKDL Python 3
+      - name: Test PyKDL
         run: |
           cd python_orocos_kdl
-          python3 tests/PyKDLtest.py
+          python_version_short=$(python -c "import sys; print('{}.{}'.format(sys.version_info[0], sys.version_info[1]))")
+          export PYTHONPATH=/usr/local/lib/python${python_version_short}/dist-packages${PYTHONPATH:+:${PYTHONPATH}}
+          python tests/PyKDLtest.py
 
   industrial_ci:
     name: Industrial CI - ${{ matrix.env.ROS_DISTRO }}