Moved the Python interface with the gravity compensation node from aloha_utils to xs_modules #117

	name: build-xs-humble

	on:
	push:
	branches:
	- humble
	pull_request:
	branches:
	- humble
	workflow_dispatch:

	defaults:
	run:
	shell: bash

	jobs:
	xs-humble:
	strategy:
	matrix:
	env:
	- {ROS_DISTRO: humble, ROS_REPO: main}
	runs-on: ubuntu-22.04
	env:
	CCACHE_DIR: "${{ github.workspace }}/.ccache"
	steps:
	- name: Checkout ROS Toolboxes
	uses: actions/checkout@v3
	with:
	submodules: recursive
	path: src/interbotix_ros_toolboxes
	- name: Checkout ROS Core
	uses: actions/checkout@v3
	with:
	repository: interbotix/interbotix_ros_core
	ref: humble
	submodules: recursive
	path: src/interbotix_ros_core
	- name: Install non-rosdep Python dependencies
	run: python3 -m pip install modern-robotics transforms3d
	- name: Prepare Workspace
	run: \|
	rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE \|\| echo "File not found"
	rm src/interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE
	rm src/interbotix_ros_toolboxes/interbotix_io_toolbox/COLCON_IGNORE
	rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE
	rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface_msgs/COLCON_IGNORE
	- name: ROS-I CI
	uses: ros-industrial/industrial_ci@master
	with:
	config: ${{toJSON(matrix.env)}}

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