From 4b03d316a8b237b5492acaa216c3bdb38176b756 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Fri, 2 Feb 2024 07:55:35 +1000 Subject: [PATCH] Sync with noetic --- .cirun.yml | 1 + .github/testpr_environment.yml | 1 + .github/workflows/main.yml | 4 +- .scripts/build_linux.sh | 2 +- .scripts/build_osx.sh | 2 +- .scripts/build_osx_arm64.sh | 4 +- .scripts/build_win.bat | 5 +-- check_patches_clean_apply.py | 2 +- conda_build_config.yaml | 1 + env/robostackenv.yaml | 1 - ...os-humble-nav2-mppi-controller.linux.patch | 13 +++++++ robostack.yaml | 37 +++++++++++++++---- vinca_linux_64.yaml | 19 +++++----- vinca_linux_aarch64.yaml | 6 ++- vinca_osx.yaml | 5 ++- vinca_osx_arm64.yaml | 11 +++--- vinca_win.yaml | 3 +- 17 files changed, 78 insertions(+), 39 deletions(-) create mode 100644 patch/ros-humble-nav2-mppi-controller.linux.patch diff --git a/.cirun.yml b/.cirun.yml index 7c078bd1..f5cf1fac 100644 --- a/.cirun.yml +++ b/.cirun.yml @@ -7,3 +7,4 @@ runners: preemptible: false labels: - cirun-linux-aarch64 + diff --git a/.github/testpr_environment.yml b/.github/testpr_environment.yml index 86ce7caa..9e2cf9b8 100644 --- a/.github/testpr_environment.yml +++ b/.github/testpr_environment.yml @@ -12,3 +12,4 @@ dependencies: - ruamel.yaml >=0.16.6,<0.18 - rosdistro >=0.8.0 - empy >=3.3.4 + - networkx diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 1b62bf69..e2e21ca7 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -9,11 +9,11 @@ jobs: build: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token fetch-depth: 0 # otherwise, you will failed to push refs to dest repo - - uses: actions/setup-python@v4 + - uses: actions/setup-python@v5 with: python-version: '3.11' # Version range or exact version of a Python version to use, using SemVer's version range syntax - name: Install vinca diff --git a/.scripts/build_linux.sh b/.scripts/build_linux.sh index e4355408..1bd22be8 100755 --- a/.scripts/build_linux.sh +++ b/.scripts/build_linux.sh @@ -35,7 +35,7 @@ conda config --remove channels defaults # conda config --set channel_priority strict mamba update conda --yes --quiet -c conda-forge -mamba install --yes --quiet pip conda-build anaconda-client mamba boa +mamba install --yes --quiet pip conda-build=3.27 anaconda-client mamba boa # setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}" # export PATH="$HOME/miniconda/bin:$PATH" diff --git a/.scripts/build_osx.sh b/.scripts/build_osx.sh index 20010e33..7546da7d 100755 --- a/.scripts/build_osx.sh +++ b/.scripts/build_osx.sh @@ -18,7 +18,7 @@ conda activate base conda config --set remote_max_retries 5 echo -e "\n\nInstalling conda-forge-ci-setup=3 and conda-build." -mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build pip boa quetz-client -c conda-forge +mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build=3.27 pip boa quetz-client -c conda-forge set -e diff --git a/.scripts/build_osx_arm64.sh b/.scripts/build_osx_arm64.sh index 192810d5..c4f78c69 100755 --- a/.scripts/build_osx_arm64.sh +++ b/.scripts/build_osx_arm64.sh @@ -6,7 +6,7 @@ export FEEDSTOCK_ROOT=`pwd` echo -e "\n\nInstalling a fresh version of Miniforge." MINIFORGE_URL="https://github.com/conda-forge/miniforge/releases/latest/download" -MINIFORGE_FILE="Mambaforge-MacOSX-x86_64.sh" +MINIFORGE_FILE="Mambaforge-MacOSX-arm64.sh" curl -L -O --silent "${MINIFORGE_URL}/${MINIFORGE_FILE}" /bin/bash $MINIFORGE_FILE -b @@ -18,7 +18,7 @@ conda activate base conda config --set remote_max_retries 5 echo -e "\n\nInstalling conda-forge-ci-setup=3 and conda-build." -mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build pip boa quetz-client -c conda-forge +mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build=3.27 pip boa quetz-client -c conda-forge set -e diff --git a/.scripts/build_win.bat b/.scripts/build_win.bat index 6a76443f..a264ee62 100644 --- a/.scripts/build_win.bat +++ b/.scripts/build_win.bat @@ -29,7 +29,7 @@ set "FEEDSTOCK_ROOT=%cd%" mkdir %CONDA_BLD_PATH% call conda index %CONDA_BLD_PATH% -call conda config --remove channels defaults +rem call conda config --remove channels defaults call conda config --add channels conda-forge call conda config --add channels robostack-staging call conda config --add channels %CONDA_BLD_PATH% @@ -40,9 +40,6 @@ reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t :: conda remove --force m2-git -call mamba install boa -if errorlevel 1 exit 1 - for %%X in (%CURRENT_RECIPES%) do ( echo "BUILDING RECIPE %%X" cd %FEEDSTOCK_ROOT%\recipes\%%X\ diff --git a/check_patches_clean_apply.py b/check_patches_clean_apply.py index 42ab2893..ff609d9d 100644 --- a/check_patches_clean_apply.py +++ b/check_patches_clean_apply.py @@ -7,7 +7,7 @@ import shutil import os -SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__)) +SCRIPT_DIR = './' shutil.move(SCRIPT_DIR + '/recipe.yaml', SCRIPT_DIR + '/recipe.yaml.bak') diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 5fface79..c30cf97f 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -17,6 +17,7 @@ python: python_impl: - cpython +# Project overrides macos_min_version: # [osx and x86_64] - 10.14 # [osx and x86_64] macos_machine: # [osx] diff --git a/env/robostackenv.yaml b/env/robostackenv.yaml index f2cfc424..95af1c9d 100644 --- a/env/robostackenv.yaml +++ b/env/robostackenv.yaml @@ -1,6 +1,5 @@ name: robostackenv channels: -- robostack-humble - robostack-staging - conda-forge dependencies: diff --git a/patch/ros-humble-nav2-mppi-controller.linux.patch b/patch/ros-humble-nav2-mppi-controller.linux.patch new file mode 100644 index 00000000..8dc8eef3 --- /dev/null +++ b/patch/ros-humble-nav2-mppi-controller.linux.patch @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 5f0c5359d..ea9ae4374 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -87,7 +87,7 @@ set(libraries mppi_controller mppi_critics) + foreach(lib IN LISTS libraries) + target_compile_options(${lib} PUBLIC -fconcepts) + target_include_directories(${lib} PUBLIC include ${xsimd_INCLUDE_DIRS} ${OpenMP_INCLUDE_DIRS}) +- target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd) ++ target_link_libraries(${lib} xtensor xtensor::use_xsimd) + ament_target_dependencies(${lib} ${dependencies_pkgs}) + endforeach() + diff --git a/robostack.yaml b/robostack.yaml index 63d42564..232695ee 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -75,11 +75,18 @@ curl: cython: robostack: [cython] doxygen: - robostack: [doxygen] + robostack: [doxygen, graphviz] +draco: + robostack: [draco] eigen: robostack: [eigen] emacs: robostack: [emacs] +festival: + robostack: + linux: [festival, festvox-kallpc16k] + osx: [] + win64: [] ffmpeg: robostack: [ffmpeg] flac: @@ -234,6 +241,10 @@ libconsole-bridge-dev: robostack: [console_bridge] libcunit-dev: robostack: [cunit] +libcurl: + robostack: [libcurl] +libcurl-dev: + robostack: [libcurl] libdc1394-dev: robostack: [libdc1394] libfcl-dev: @@ -363,7 +374,7 @@ libqglviewer-dev-qt5: libqhull: robostack: [qhull] libqt5-core: - robostack: [qt-main] + robostack: [qt-main, REQUIRE_OPENGL] libqt5-gui: robostack: [qt-main, REQUIRE_OPENGL] libqt5-opengl: @@ -606,7 +617,7 @@ python-pygraphviz: python-pyusb-pip: robostack: [pyusb] python-qt5-bindings: - robostack: [pyqt] + robostack: [pyqt, pyqt-builder] python-rosdep: robostack: [rosdep] python-rosdep-modules: @@ -685,6 +696,10 @@ python3-fiona: robostack: [fiona] python3-future: robostack: [future] +python3-gi: + robostack: [pygobject] +python3-git: + robostack: [gitpython] python3-github: robostack: [pygithub] python3-github3: @@ -765,6 +780,8 @@ python3-pymongo: robostack: [pymongo] python3-pyproj: robostack: [pyproj] +python3-pysnmp: + robostack: [pysnmp] python3-pytest: robostack: [pytest] python3-pytest-cov: @@ -774,9 +791,9 @@ python3-pytest-mock: python3-pytest-timeout: robostack: [pytest-timeout] python3-qt5-bindings: - robostack: [pyqt] + robostack: [pyqt, pyqt-builder] python3-qt5-bindings-gl: - robostack: [pyqt] + robostack: [pyqt, pyqt-builder] python3-qt5-bindings-webkit: robostack: [pyqtwebengine] python3-requests: @@ -797,6 +814,8 @@ python3-rospkg-modules: robostack: [rospkg] python3-ruamel.yaml: robostack: [ruamel.yaml] +python3-ruff: + robostack: [ruff] python3-scipy: robostack: [scipy] python3-serial: @@ -827,6 +846,8 @@ python3-twisted: robostack: [twisted] python3-typeguard: robostack: [typeguard] +python3-unidiff: + robostack: [unidiff] python3-usb: robostack: [pyusb] python3-venv: @@ -838,11 +859,11 @@ python3-yaml: python3-zmq: robostack: [pyzmq] qt5-image-formats-plugins: - robostack: [qt-main] + robostack: [qt-main, REQUIRE_OPENGL] qt5-qmake: - robostack: [qt-main] + robostack: [qt-main, REQUIRE_OPENGL] qtbase5-dev: - robostack: [qt-main] + robostack: [qt-main, REQUIRE_OPENGL] roboticstoolbox-python: robostack: [roboticstoolbox-python] rsync: diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml index 86bf3210..170afea3 100644 --- a/vinca_linux_64.yaml +++ b/vinca_linux_64.yaml @@ -43,7 +43,6 @@ packages_select_by_deps: - ros_base - desktop - navigation2 - - moveit - graph_msgs - nav2_bringup - webots_ros2 @@ -98,7 +97,6 @@ packages_select_by_deps: - rqt - rqt_image_overlay - - rqt-moveit - rqt-robot-dashboard - rqt-robot-monitor - rqt-robot-steering @@ -109,13 +107,6 @@ packages_select_by_deps: - image-pipeline - image-view - - moveit - - moveit-resources - - moveit-ros-perception - - moveit-runtime - - moveit-servo - - moveit_visual_tools - - moveit_servo - bond-core - camera-calibration @@ -134,6 +125,16 @@ packages_select_by_deps: - apriltag - apriltag_ros + # - moveit + # - moveit-resources + # - moveit-ros-perception + # - moveit-runtime + # - moveit-servo + # - moveit_visual_tools + # - moveit_servo + # - rqt-moveit + + # ----- end of package support ----- diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml index d5dd6125..060bec1e 100644 --- a/vinca_linux_aarch64.yaml +++ b/vinca_linux_aarch64.yaml @@ -33,6 +33,7 @@ packages_remove_from_deps: skip_existing: - https://conda.anaconda.org/robostack-staging/ + # - /home/ubuntu/micromamba/envs/devenv/conda-bld/ packages_select_by_deps: # only subset of packages to reduce maintainer load @@ -45,8 +46,6 @@ packages_select_by_deps: - ros_base - desktop - desktop_full - - moveit - - moveit_servo - rosbag2_storage_mcap - cartographer-ros - foxglove_bridge @@ -80,6 +79,9 @@ packages_select_by_deps: - apriltag - apriltag_ros + # - moveit + # - moveit_servo + # - control_toolbox # - ros1_bridge diff --git a/vinca_osx.yaml b/vinca_osx.yaml index 3c4725b3..a0357d18 100644 --- a/vinca_osx.yaml +++ b/vinca_osx.yaml @@ -42,8 +42,6 @@ packages_select_by_deps: - ros_environment - ros_base - desktop - - moveit - - moveit_servo - desktop_full - navigation2 - rosbridge_suite @@ -93,4 +91,7 @@ packages_select_by_deps: - apriltag - apriltag_ros + # - moveit + # - moveit_servo + patch_dir: patch diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml index 28dcfe34..f49f5e1d 100644 --- a/vinca_osx_arm64.yaml +++ b/vinca_osx_arm64.yaml @@ -44,7 +44,6 @@ packages_select_by_deps: - demo_nodes_py - demo_nodes_cpp - desktop - - moveit - graph_msgs - desktop_full - navigation2 @@ -67,7 +66,6 @@ packages_select_by_deps: - gazebo_plugins - gazebo_ros2_control - gazebo_ros_pkgs - - turtlebot3_gazebo - plotjuggler-ros @@ -80,8 +78,11 @@ packages_select_by_deps: - apriltag - apriltag_ros - # - velodyne - # - sbg_driver - # - ackermann-msgs + - velodyne + - sbg_driver + - ackermann-msgs + + # - moveit + patch_dir: patch diff --git a/vinca_win.yaml b/vinca_win.yaml index 143f7245..b4a0e03e 100644 --- a/vinca_win.yaml +++ b/vinca_win.yaml @@ -47,7 +47,6 @@ packages_select_by_deps: - ros_environment - ros_base - navigation2 - - moveit - desktop_full - desktop - cv_bridge @@ -62,4 +61,6 @@ packages_select_by_deps: - rosbridge_suite - ament_cmake_catch2 + # - moveit + patch_dir: patch