Add build files 2024-02-03-0458

RoboStack · Feb 3, 2024 · 47890e7 · 47890e7
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diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -0,0 +1,188 @@
+jobs:
+  stage_0_job_0:
+    name: moveit-resources-prbt-support moveit-resources-prbt-ikfast-manipulator-plugin
+      moveit-setup-framework pilz-industrial-motion-planner-testutils moveit-ros-benchmarks
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-resources-prbt-support ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin
+        ros-humble-moveit-setup-framework ros-humble-pilz-industrial-motion-planner-testutils
+        ros-humble-moveit-ros-benchmarks
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-resources-prbt-support ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin
+          ros-humble-moveit-setup-framework ros-humble-pilz-industrial-motion-planner-testutils
+          ros-humble-moveit-ros-benchmarks
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_0_job_1:
+    name: moveit-plugins webots-ros2-control rviz-visual-tools moveit-ros-perception
+      rqt-moveit
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-plugins ros-humble-webots-ros2-control ros-humble-rviz-visual-tools
+        ros-humble-moveit-ros-perception ros-humble-rqt-moveit
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-plugins ros-humble-webots-ros2-control
+          ros-humble-rviz-visual-tools ros-humble-moveit-ros-perception ros-humble-rqt-moveit
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_1_job_2:
+    name: moveit-resources-prbt-moveit-config moveit-setup-core-plugins moveit-setup-controllers
+      moveit-setup-app-plugins moveit-setup-srdf-plugins
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-resources-prbt-moveit-config ros-humble-moveit-setup-core-plugins
+        ros-humble-moveit-setup-controllers ros-humble-moveit-setup-app-plugins ros-humble-moveit-setup-srdf-plugins
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-resources-prbt-moveit-config ros-humble-moveit-setup-core-plugins
+          ros-humble-moveit-setup-controllers ros-humble-moveit-setup-app-plugins
+          ros-humble-moveit-setup-srdf-plugins
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_1_job_3:
+    name: moveit-ros webots-ros2-universal-robot webots-ros2-turtlebot webots-ros2-tiago
+      webots-ros2-epuck
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros ros-humble-webots-ros2-universal-robot ros-humble-webots-ros2-turtlebot
+        ros-humble-webots-ros2-tiago ros-humble-webots-ros2-epuck
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros ros-humble-webots-ros2-universal-robot
+          ros-humble-webots-ros2-turtlebot ros-humble-webots-ros2-tiago ros-humble-webots-ros2-epuck
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_1_job_4:
+    name: moveit-visual-tools
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-visual-tools
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-visual-tools
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_2_job_5:
+    name: moveit-resources-prbt-pg70-support moveit-setup-assistant webots-ros2-tests
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_1_job_2
+    - stage_1_job_3
+    - stage_1_job_4
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-resources-prbt-pg70-support ros-humble-moveit-setup-assistant
+        ros-humble-webots-ros2-tests
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-resources-prbt-pg70-support ros-humble-moveit-setup-assistant
+          ros-humble-webots-ros2-tests
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_3_job_6:
+    name: pilz-industrial-motion-planner webots-ros2 moveit-planners
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_2_job_5
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-pilz-industrial-motion-planner ros-humble-webots-ros2
+        ros-humble-moveit-planners
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-pilz-industrial-motion-planner ros-humble-webots-ros2
+          ros-humble-moveit-planners
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_4_job_7:
+    name: moveit moveit-runtime
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_3_job_6
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit ros-humble-moveit-runtime
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit ros-humble-moveit-runtime
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+name: build_linux
+on:
+  push:
+    branches:
+    - buildbranch_linux
diff --git a/activate.bat b/activate.bat
@@ -0,0 +1,15 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@REM Don't do anything when we are in conda build.
+@if defined SYS_PREFIX exit /b 0
+
+@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins"
+
+@call "%CONDA_PREFIX%\Library\local_setup.bat"
+@set PYTHONHOME=
+@set "ROS_OS_OVERRIDE=conda:win64"
+@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"
+@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe"
diff --git a/activate.ps1 b/activate.ps1
@@ -0,0 +1,16 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($null -eq ${env:CONDA_PREFIX}) { Exit }
+
+# Don't do anything when we are in conda build.
+if ($null -ne ${env:SYS_PREFIX}) { Exit 0 }
+
+$Env:QT_PLUGIN_PATH="${env:CONDA_PREFIX}\Library\plugins"
+
+& "${env:CONDA_PREFIX}\Library\local_setup.ps1"
+
+$Env:PYTHONHOME=''
+$Env:ROS_OS_OVERRIDE='conda:win64'
+$Env:ROS_ETC_DIR="${env:CONDA_PREFIX}\Library\etc\ros"
+$Env:AMENT_PREFIX_PATH="${env:CONDA_PREFIX}\Library"
+$Env:AMENT_PYTHON_EXECUTABLE="${env:CONDA_PREFIX}\python.exe"
diff --git a/activate.sh b/activate.sh
@@ -0,0 +1,26 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+# if [ -z "${CONDA_PREFIX}" ]; then
+#     exit 0;
+# fi
+
+# Not sure if this is necessary on UNIX?
+# export QT_PLUGIN_PATH=$CONDA_PREFIX\plugins
+
+if [ "$CONDA_BUILD" = "1" -a "$target_platform" != "$build_platform" ]; then
+    # ignore sourcing
+    echo "Not activating ROS when cross-compiling";
+else
+    source $CONDA_PREFIX/setup.sh
+fi
+
+case "$OSTYPE" in
+  darwin*)  export ROS_OS_OVERRIDE="conda:osx"; export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp";;
+  linux*)   export ROS_OS_OVERRIDE="conda:linux";;
+esac
+
+export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros
+export AMENT_PREFIX_PATH=$CONDA_PREFIX
+
+# Looks unnecessary for UNIX
+# unset PYTHONHOME=
diff --git a/bld_ament_cmake.bat b/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+
+:: try to fix long paths issues by using default generator
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
diff --git a/bld_ament_python.bat b/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+pushd %SRC_DIR%\%PKG_NAME%\src\work
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/bld_catkin.bat b/bld_catkin.bat
@@ -0,0 +1,80 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin
+:: if ROS (1) is build as shared library . However, some packages are not
+:: passing compilation flags from CMake to other build systems (such as qmake),
+:: so we enable it explicitly via the CL environment variable, see
+:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
+set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
+
+set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1"
+if "%PKG_NAME%" == "ros-humble-catkin" (
+    :: create catkin cookie to make it is a catkin workspace
+    type NUL > %LIBRARY_PREFIX%\.catkin
+    :: keep the workspace activation scripts (e.g., local_setup.bat)
+    set CATKIN_BUILD_BINARY_PACKAGE_ARGS=
+)
+
+rd /s /q build
+mkdir build
+pushd build
+
+set SKIP_TESTING=ON
+
+cmake ^
+    -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBoost_USE_STATIC_LIBS=OFF ^
+    %CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^
+    -DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-humble-eigenpy" (
+    cmake --build . --config Release --target all --parallel 1
+    if errorlevel 1 exit 1
+) else (
+    cmake --build . --config Release --target all
+    if errorlevel 1 exit 1
+)
+
+if "%SKIP_TESTING%" == "OFF" (
+    cmake --build . --config Release --target run_tests
+    if errorlevel 1 exit 1
+)
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-humble-catkin" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+    )
+)
+
+if "%PKG_NAME%" == "ros-humble-ros-workspace" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+        copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
+    )
+)