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Add dependency on onnruntime-cpp also on conda if ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS is enabled #1575

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Jan 25, 2024
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Add dependency on onnruntime-cpp also on conda if ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS is enabled #1575

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2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ jobs:
shell: bash -l {0}
run: |
# Dependencies
mamba install ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz==8.* gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg
mamba install ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz==8.* gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
# Python
mamba install python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad

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7 changes: 3 additions & 4 deletions cmake/Buildbipedal-locomotion-framework.cmake
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Expand Up @@ -63,13 +63,12 @@ if(APPLE OR WIN32)
list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DENABLE_YarpRobotLoggerDevice:BOOL=OFF")
endif()

# onnxruntime

# Just on Linux without conda, we download onnxruntime
set(FRAMEWORK_USE_onnxruntime OFF)
# On conda instead, we install onnxruntime-cpp package
if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND NOT ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
include(Fetchonnxruntimebinaries)
set(FRAMEWORK_USE_onnxruntime ON)
endif()
endif()

Expand All @@ -89,7 +88,7 @@ ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
-DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-DFRAMEWORK_USE_LieGroupControllers:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-DFRAMEWORK_USE_tomlplusplus:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-DFRAMEWORK_USE_onnxruntime:BOOL=${FRAMEWORK_USE_onnxruntime}
-DFRAMEWORK_USE_onnxruntime:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}
${bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS}
DEPENDS ${bipedal-locomotion-framework_DEPENDS})
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4 changes: 2 additions & 2 deletions doc/conda-forge.md
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Expand Up @@ -134,12 +134,12 @@ Once you activated it, you can install packages in it. In particular the depende

If you are on **Linux**, **Windows**, or **macOS** with an Intel-based processor:
~~~
mamba install -c conda-forge ace asio assimp boost eigen freetype gazebo glew glfw glm "graphviz==8.*" gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg
mamba install -c conda-forge ace asio assimp boost eigen freetype gazebo glew glfw glm "graphviz==8.*" gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
~~~

If you are on **macOS** with ARM-based processor:
~~~
mamba install -c conda-forge asio assimp boost eigen freetype gazebo glew glfw glm "graphviz==8.*" gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg
mamba install -c conda-forge asio assimp boost eigen freetype gazebo glew glfw glm "graphviz==8.*" gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
~~~

If you are on **Linux x86-64**, you also need to install also the following packages:
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