Merge pull request #42 from traversaro/addpcl2

Enable PCL dependency
conda-forge · Nov 10, 2023 · 56ef2b8 · 56ef2b8
2 parents 5e326cc + 59004b3
commit 56ef2b8
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Showing 16 changed files with 91 additions and 24 deletions.
diff --git a/.azure-pipelines/azure-pipelines-linux.yml b/.azure-pipelines/azure-pipelines-linux.yml
diff --git a/.azure-pipelines/azure-pipelines-osx.yml b/.azure-pipelines/azure-pipelines-osx.yml
diff --git a/.azure-pipelines/azure-pipelines-win.yml b/.azure-pipelines/azure-pipelines-win.yml
diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml
@@ -24,6 +24,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:

diff --git a/.ci_support/migrations/libopencv481.yaml b/.ci_support/migrations/libopencv481.yaml
diff --git a/.ci_support/osx_64_.yaml b/.ci_support/osx_64_.yaml
@@ -3,15 +3,15 @@ MACOSX_DEPLOYMENT_TARGET:
 c_compiler:
 - clang
 c_compiler_version:
-- '15'
+- '16'
 channel_sources:
 - conda-forge
 channel_targets:
 - conda-forge main
 cxx_compiler:
 - clangxx
 cxx_compiler_version:
-- '15'
+- '16'
 fmt:
 - '10'
 libopencv:
@@ -24,6 +24,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:

diff --git a/.ci_support/osx_arm64_.yaml b/.ci_support/osx_arm64_.yaml
@@ -3,15 +3,15 @@ MACOSX_DEPLOYMENT_TARGET:
 c_compiler:
 - clang
 c_compiler_version:
-- '15'
+- '16'
 channel_sources:
 - conda-forge
 channel_targets:
 - conda-forge main
 cxx_compiler:
 - clangxx
 cxx_compiler_version:
-- '15'
+- '16'
 fmt:
 - '10'
 libopencv:
@@ -24,6 +24,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:

diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_.yaml
@@ -16,6 +16,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:

diff --git a/.scripts/build_steps.sh b/.scripts/build_steps.sh
diff --git a/.scripts/run_docker_build.sh b/.scripts/run_docker_build.sh
diff --git a/.scripts/run_osx_build.sh b/.scripts/run_osx_build.sh
diff --git a/.scripts/run_win_build.bat b/.scripts/run_win_build.bat
diff --git a/recipe/757.patch b/recipe/757.patch
@@ -0,0 +1,22 @@
+From 485099e7374939eeed52e819550460b5cde3002c Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio.traversaro@iit.it>
+Date: Fri, 10 Nov 2023 09:25:10 +0100
+Subject: [PATCH] Add missing include(FetchContent) in
+ bindings/python/RobotInterface/CMakeLists.txt
+
+---
+ bindings/python/RobotInterface/CMakeLists.txt | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/bindings/python/RobotInterface/CMakeLists.txt b/bindings/python/RobotInterface/CMakeLists.txt
+index aa33fc9e27..31512841b7 100644
+--- a/bindings/python/RobotInterface/CMakeLists.txt
++++ b/bindings/python/RobotInterface/CMakeLists.txt
+@@ -27,6 +27,7 @@ if(TARGET BipedalLocomotion::RobotInterface
+   # https://github.com/pybind/pybind11/commit/74a767d42921001fc4569ecee3b8726383c42ad4
+   # https://github.com/pybind/pybind11/pull/2864
+   if (${pybind11_VERSION} VERSION_GREATER_EQUAL "2.7.0")
++    include(FetchContent)
+     FetchContent_Declare(
+       cvnp
+       GIT_REPOSITORY https://github.com/pthom/cvnp
diff --git a/recipe/bld_cxx.bat b/recipe/bld_cxx.bat
@@ -16,6 +16,7 @@ cmake -G "Ninja" ^
     -DFRAMEWORK_USE_LieGroupControllers:BOOL=ON ^
     -DFRAMEWORK_USE_UnicyclePlanner:BOOL=ON ^
     -DFRAMEWORK_USE_tomlplusplus:BOOL=ON ^
+    -DFRAMEWORK_USE_PCL:BOOL=ON ^
     -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF ^
     %SRC_DIR%
 if errorlevel 1 exit 1

diff --git a/recipe/build_cxx.sh b/recipe/build_cxx.sh
@@ -28,6 +28,7 @@ cmake ${CMAKE_ARGS} -GNinja .. \
     -DFRAMEWORK_USE_LieGroupControllers:BOOL=ON \
     -DFRAMEWORK_USE_UnicyclePlanner:BOOL=ON \
     -DFRAMEWORK_USE_tomlplusplus:BOOL=ON \
+    -DFRAMEWORK_USE_PCL:BOOL=ON \
     -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF
 
 cat CMakeCache.txt

diff --git a/recipe/meta.yaml b/recipe/meta.yaml
@@ -10,9 +10,11 @@ package:
 source:
   url: https://github.com/ami-iit/bipedal-locomotion-framework/archive/refs/tags/v{{ version }}.tar.gz
   sha256: 129cc8f7f2d9baf144cb39d1b0927c46808387d38a4f5848a20f29507b98c9cf
+  patches:
+    - 757.patch
 
 build:
-  number: 1
+  number: 2
 
 outputs:
   - name: {{ namecxx }}
@@ -55,8 +57,7 @@ outputs:
         - casadi
         - qhull
         - libopencv
-        # Workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/21#issuecomment-1460345952
-        # - pcl >1.12
+        - pcl >1.12
         - liblie-group-controllers
         - libunicycle-footstep-planner
         - librealsense  # [not win]
@@ -118,6 +119,11 @@ outputs:
         - spdlog
         # Workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/issues/37
         - libmatio-cpp
+        # Workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/42#issuecomment-1804057782
+        - casadi
+        - libboost
+        - pugixml
+        - pcl >1.12
         - xorg-libxfixes  # [linux]
         - icub-models # Requested just for tests
         - scipy # Requested just for tests