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robotology-superbuild-dependencies-vcpkg

This repository contains the scripts to generate the Windows binaries for the dependencies of the robotology-superbuild using vcpkg.

For each release, the scripts in this repo generate two binaries:

  • vcpkg-robotology.zip: contains the pre-compiled vcpkg dependencies of the robotology-superbuild, except the Gazebo dependency required by the ROBOTOLOGY_USES_GAZEBO option
  • vcpkg-robotology-with-gazebo.zip: contains the pre-compiled vcpkg dependencies of the robotology-superbuild, including the Gazebo dependency required by the ROBOTOLOGY_USES_GAZEBO option

The binaries are generated by installing vcpkg and any additional dependency in C:/robotology, and compressing the C:/robotology directory in a .zip archive.

Check in the releases page to download the archive with the dependencies, and to check the exact port included in each release.

Usage

To install , you just need to download either vcpkg-robotology.zip or vcpkg-robotology-with-gazebo.zip and extract it in the C:/ directory. The archive contains a robotology directory, that will be available in your system as C:/robotology .

To use then vcpkg libraries, you need to configure your CMake projects to use the vcpkg's toolchain as CMAKE_TOOLCHAIN_FILE, for example by configuring the projects as:

cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake ..

See vcpkg's documentation for more info on how to use vcpkg-installed libraries.

If you prefer to avoid the use of the CMAKE_TOOLCHAIN_FILE, the archive also contains a few scripts that set in the enviroment the necessary enviroment variables to make sure that vcpkg and Gazebo dependencies can be found and used:

  • C:/robotology/scripts/setup-deps.bat : Batch script to set the enviroment variables in a Command Prompt terminal.
  • C:/robotology/scripts/setup-deps.sh : Bash script to set the enviroment variables in a Git for Windows bash terminal, can be included in the .bash_profile.
  • C:/robotology/scripts/addPathsToUserEnvVariables-deps.ps1 : Powershell scripts to permanently add or remove the enviroment
    variables in the User Enviroment Variables. Use of this scripts permit to avoid executing the setup-* scripts whenever it is necessary to execute cmake or the program that use the binaries contained in the dependencies archive, but can conflict with other programs or libraries installed in your system.

vcpkg-robotology-with-gazebo

This section contains some information specific to the vcpkg-robotology-with-gazebo archive.

As this archive contains also the Gazebo simulator that is not installed via vcpkg, it is not possible to find the Gazebo dependency via the vcpkg's CMAKE_TOOLCHAIN_FILE, and instead you need to use the scripts to setup the enviromental variables described in the previous section.

Differntly from the rest of the libraries installed by vcpkg, the Gazebo binaries available via vcpkg-robotology-with-gazebo only support to be compiled against code compiled in Release build, so if you want to enable the ROBOTOLOGY_USES_GAZEBO of the robotology-superbuild then you must compiled the superbuild in Release.

As Gazebo on Windows does not provide the single gazebo executable available in Linux and macOS, you need to separately launch gzserver (the command line executable that runs the actual physics simulation) and gzclient (the graphical user interface to the simulator).

Install or remove vcpkg ports

You can install or remove ports from the vcpkg installation in C:/robotology/vcpkg as you do for any other vcpkg installation.

However, as this vcpkg installation contains some ports installed from the custom port repo contained in C:/robotology/vcpkg, due to a regression in vcpkg (see microsoft/vcpkg#10119) you need to pass the --overlay-ports=C:/robotology/vcpkg/robotology-vcpkg-binary-ports argument whenever you use vcpkg.

For example, to install a new port called <portname> the correct command is:

./vcpkg.exe install --overlay-ports=C:/robotology/vcpkg/robotology-vcpkg-binary-ports <portname>:x64-windows

GitHub Actions

To use the script in a GitHub Action script, you can use the following snippet:

    - name: Dependencies [Windows]
      if: matrix.os == 'windows-latest'
      run: |
        # To avoid spending a huge time compiling vcpkg dependencies, we download an archive  
        # that comes precompiled with all the ports that we need 
        choco install -y wget unzip
        # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same directory
        # that has been used to create the pre-compiled archive
        cd C:/
        wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/<INSERT_HERE_THE_USED_VERSION>/vcpkg-robotology.zip
        unzip vcpkg-robotology.zip -d C:/
        rm vcpkg-robotology.zip

You can then specify the CMAKE_TOOLCHAIN_FILE for the CMake projects that you want that use the installed dependencies, or execute the enviroment variables setup scripts.