Merge branch '454-implementation-of-new-nodes-creation' of...

Merge branch '454-implementation-of-new-nodes-creation' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf into 454-implementation-of-new-nodes-creation

.gitlab-ci.yml

@@ -37,6 +37,12 @@ stages:
   - echo $WOLF_ROS_BODYDYNAMICS_BRANCH
 
 .preliminaries_template: &preliminaries_definition
+  ## OVERRIDE VARIABLES
+  #- export WOLF_IMU_BRANCH="branch_name"
+
+  ## PRINT VARIABLES
+  - *print_variables_definition
+
   ## Install ssh-agent if not already installed, it is required by Docker.
   ## (change apt-get to yum if you use an RPM-based image)
   - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
@@ -131,7 +137,6 @@ license_header:
   stage: license
   image: labrobotica/wolf_deps:20.04
   before_script:  
-    - *print_variables_definition
     - *preliminaries_definition
   script: 
     - *license_header_definition
@@ -140,8 +145,11 @@ license_header:
 build_and_test:bionic:
   stage: build_and_test
   image: labrobotica/wolf_deps:18.04
+  cache:
+    - key: yamlschemacpp-bionic
+      paths:
+      - ci_deps/yaml_schema_cpp/
   script:
-    - *print_variables_definition
     - *preliminaries_definition
     - *install_yamlschemacpp_definition
     - *build_and_test_definition
@@ -150,8 +158,11 @@ build_and_test:bionic:
 build_and_test:focal:
   stage: build_and_test
   image: labrobotica/wolf_deps:20.04
+  cache:
+    - key: yamlschemacpp-focal
+      paths:
+      - ci_deps/yaml_schema_cpp/
   script:
-    - *print_variables_definition
     - *preliminaries_definition
     - *install_yamlschemacpp_definition
     - *build_and_test_definition