From afae6d60a4083dd72f250367d7906a7a5aff0c0b Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sat, 14 Sep 2024 20:49:10 -0700 Subject: [PATCH 01/28] Remove ros-humble packages. --- .../ros-humble-octomap/recipe.yaml | 21 ------------------- .../ros-humble-urdfdom-py/recipe.yaml | 19 ----------------- 2 files changed, 40 deletions(-) delete mode 100644 additional_recipes/ros-humble-octomap/recipe.yaml delete mode 100644 additional_recipes/ros-humble-urdfdom-py/recipe.yaml diff --git a/additional_recipes/ros-humble-octomap/recipe.yaml b/additional_recipes/ros-humble-octomap/recipe.yaml deleted file mode 100644 index 66905928..00000000 --- a/additional_recipes/ros-humble-octomap/recipe.yaml +++ /dev/null @@ -1,21 +0,0 @@ -package: - name: ros-humble-octomap - version: "1.9.8" - -build: - number: 2 - -requirements: - run: - - octomap 1.9.* - - -about: - homepage: https://github.com/conda-forge/octomap-feedstock - license: BSD-3-Clause - summary: | - An Efficient Probabilistic 3D Mapping Framework Based on Octrees - -extra: - recipe-maintainers: - - ros-forge diff --git a/additional_recipes/ros-humble-urdfdom-py/recipe.yaml b/additional_recipes/ros-humble-urdfdom-py/recipe.yaml deleted file mode 100644 index 5c88b1f8..00000000 --- a/additional_recipes/ros-humble-urdfdom-py/recipe.yaml +++ /dev/null @@ -1,19 +0,0 @@ -package: - name: ros-humble-urdfdom-py - version: "1.2.0" - -build: - number: 2 - -requirements: - run: - - urdfdom-py 1.2.0 - -about: - homepage: https://github.com/ros/urdf_parser_py - license: BSD-3-Clause - summary: | - Standalone URDF parser for Python. -extra: - recipe-maintainers: - - ros-forge From d83ebcc2bd48e43327d65ffc41e0897def92be9b Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sat, 14 Sep 2024 18:41:39 -0700 Subject: [PATCH 02/28] Remove homebrew from $PATH. --- .scripts/build_osx.sh | 5 ++++- .scripts/build_osx_arm64.sh | 8 +++++--- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/.scripts/build_osx.sh b/.scripts/build_osx.sh index 7840fc42..72f509c0 100755 --- a/.scripts/build_osx.sh +++ b/.scripts/build_osx.sh @@ -9,6 +9,9 @@ export "CONDA_BLD_PATH=$HOME/conda-bld/" curl -fsSL https://pixi.sh/install.sh | bash export PATH="$HOME/.pixi/bin:$PATH" +# Remove homebrew from $PATH +export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':') + for recipe in ${CURRENT_RECIPES[@]}; do pixi run rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ @@ -19,4 +22,4 @@ for recipe in ${CURRENT_RECIPES[@]}; do # -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \ done -pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force \ No newline at end of file +pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force diff --git a/.scripts/build_osx_arm64.sh b/.scripts/build_osx_arm64.sh index ae23ee41..72f509c0 100755 --- a/.scripts/build_osx_arm64.sh +++ b/.scripts/build_osx_arm64.sh @@ -9,15 +9,17 @@ export "CONDA_BLD_PATH=$HOME/conda-bld/" curl -fsSL https://pixi.sh/install.sh | bash export PATH="$HOME/.pixi/bin:$PATH" +# Remove homebrew from $PATH +export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':') + for recipe in ${CURRENT_RECIPES[@]}; do pixi run rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \ -c robostack-jazzy -c conda-forge \ - --output-dir $CONDA_BLD_PATH \ - --target-platform=osx-arm64 + --output-dir $CONDA_BLD_PATH # -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \ done -pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force \ No newline at end of file +pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force From ce05747e755be64a66c964eb5100f3d5d5819666 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sat, 14 Sep 2024 20:48:36 -0700 Subject: [PATCH 03/28] Run pixi with verbosity. --- .scripts/build_linux.sh | 2 +- .scripts/build_osx.sh | 2 +- .scripts/build_osx_arm64.sh | 2 +- .scripts/build_win.bat | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.scripts/build_linux.sh b/.scripts/build_linux.sh index d5ce6e34..2d8ef6e7 100755 --- a/.scripts/build_linux.sh +++ b/.scripts/build_linux.sh @@ -20,7 +20,7 @@ pwd cd ${FEEDSTOCK_ROOT} for recipe in ${CURRENT_RECIPES[@]}; do - pixi run rattler-build build \ + pixi run -v rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \ -c robostack-jazzy -c conda-forge \ diff --git a/.scripts/build_osx.sh b/.scripts/build_osx.sh index 72f509c0..b852d9e2 100755 --- a/.scripts/build_osx.sh +++ b/.scripts/build_osx.sh @@ -13,7 +13,7 @@ export PATH="$HOME/.pixi/bin:$PATH" export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':') for recipe in ${CURRENT_RECIPES[@]}; do - pixi run rattler-build build \ + pixi run -v rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \ -c robostack-jazzy -c conda-forge \ diff --git a/.scripts/build_osx_arm64.sh b/.scripts/build_osx_arm64.sh index 72f509c0..b852d9e2 100755 --- a/.scripts/build_osx_arm64.sh +++ b/.scripts/build_osx_arm64.sh @@ -13,7 +13,7 @@ export PATH="$HOME/.pixi/bin:$PATH" export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':') for recipe in ${CURRENT_RECIPES[@]}; do - pixi run rattler-build build \ + pixi run -v rattler-build build \ --recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \ -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \ -c robostack-jazzy -c conda-forge \ diff --git a/.scripts/build_win.bat b/.scripts/build_win.bat index 9d3ac248..29b00af5 100644 --- a/.scripts/build_win.bat +++ b/.scripts/build_win.bat @@ -16,7 +16,7 @@ reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t for %%X in (%CURRENT_RECIPES%) do ( echo "BUILDING RECIPE %%X" cd %FEEDSTOCK_ROOT%\recipes\%%X\ - pixi run rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^ + pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^ -m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^ -c robostack-jazzy -c conda-forge ^ --output-dir %CONDA_BLD_PATH% From 2a4135c66a4a4e2a10016699dde65ce57def8338 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sat, 14 Sep 2024 18:37:37 -0700 Subject: [PATCH 04/28] Use the rattler-build branch of vinca. --- pixi.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.toml b/pixi.toml index edf4b481..4e7cfcd8 100644 --- a/pixi.toml +++ b/pixi.toml @@ -19,7 +19,7 @@ rattler-build = ">=0.18.0,<0.19" anaconda-client = ">=1.12" [feature.beta.pypi-dependencies] -vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "4414b0ec607a92b4f95b85affc0d3352232ff9ca" } +vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "rattler-build" } [feature.beta.tasks] rename-file = { cmd ="cp vinca_osx_arm64.yaml vinca.yaml" } From 056800d8cb04d1e1b8001c5adfda4041d9442118 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 21:33:41 -0700 Subject: [PATCH 05/28] Set protobuf version to match conda-forge dependencies. --- conda_build_config.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 73174494..bb0fc1a2 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -6,6 +6,10 @@ numpy: - 1.26 ogre: - 14.2.* +libprotobuf: + - 4.25.3 +protobuf: + - 4.25.3 cdt_name: - ${{ "cos7" if linux }} From 76010fc764d7b14e2f4d31a0670f3876f087aa57 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 21:34:10 -0700 Subject: [PATCH 06/28] Add build and run dependencies. --- patch/dependencies.yaml | 8 +++++++- robostack.yaml | 40 +++++++++++++++++++++++++++++++++++++++- 2 files changed, 46 insertions(+), 2 deletions(-) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 49a8bd14..8d86582e 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -103,7 +103,7 @@ python_qt_binding: add_run: ["pyqt-builder"] qt_gui_cpp: add_build: ["${{ 'pyqt' if (build_platform != target_platform) }}", "${{ 'qt-main' if (build_platform != target_platform) }}"] - add_host: ["REQUIRE_OPENGL", "pyqt-builder", "pep517"] + add_host: ["REQUIRE_OPENGL", "pyqt-builder", "pep517", "pyside2"] add_run: ["pyqt-builder", "pep517"] rqt_gui_cpp: add_host: ["REQUIRE_OPENGL"] @@ -172,3 +172,9 @@ gz_math_vendor: add_build: ["vcstool"] gz_utils_vendor: add_build: ["vcstool"] +gz_common_vendor: + add_host: ["glib"] +gz_sim_vendor: + add_host: ["ffmpeg"] +gz_dartsim_vendor: + add_host: ["ipopt", "nlopt", "pagmo"] diff --git a/robostack.yaml b/robostack.yaml index 05343ec1..c7d7a250 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -87,8 +87,12 @@ festival: linux: [festival, festvox-kallpc16k] osx: [] win64: [] +file: + robostack: [file] ffmpeg: robostack: [ffmpeg] +ffmpeg-dev: + robostack: [ffmpeg] flac: robostack: [libflac] flex: @@ -111,6 +115,8 @@ geographiclib-tools: robostack: [geographiclib-cpp] git: robostack: [git] +glslang-dev: + robostack: [glslang] glut: robostack: linux: [freeglut] @@ -255,8 +261,12 @@ libflann-dev: robostack: [flann] libfltk-dev: robostack: [fltk] +libfreeimage-dev: + robostack: [freeimage] libfreenect-dev: robostack: [] +libfreetype-dev: + robostack: [freetype] libfreetype6: robostack: [freetype] libfreetype6-dev: @@ -313,6 +323,10 @@ libjsoncpp-dev: robostack: [jsoncpp] liblapack-dev: robostack: [liblapack] +liblz4: + robostack: [lz4] +liblz4-dev: + robostack: [lz4] libmicrohttpd: robostack: [libmicrohttpd] libncurses-dev: @@ -395,6 +409,8 @@ libreadline: robostack: [readline] libreadline-dev: robostack: [readline] +libshaderc-dev: + robostack: [shaderc] libsndfile1-dev: robostack: [libsndfile] libspnav-dev: @@ -446,6 +462,11 @@ libvtk: robostack: [vtk] libvtk-qt: robostack: [vtk] +libvulkan-dev: + robostack: + linux: [libvulkan-headers, libvulkan-loader] + osx: [] + win64: [libvulkan-headers, libvulkan-loader] libx11: robostack: [xorg-libx11, REQUIRE_OPENGL] libx11-dev: @@ -476,6 +497,12 @@ libxt-dev: robostack: [xorg-libxt] libxxf86vm: robostack: [REQUIRE_OPENGL] +libyaml: + robostack: [yaml] +libyaml-dev: + robostack: [yaml] +libzip-dev: + robostack: [libzip] libzmq3-dev: robostack: [zeromq, cppzmq] libzstd-dev: @@ -678,6 +705,8 @@ python3-cryptography: robostack: [cryptography] python3-defusedxml: robostack: [defusedxml] +python3-deprecated: + robostack: [deprecated] python3-dev: robostack: [python] python3-docopt: @@ -688,6 +717,8 @@ python3-empy: robostack: [empy] python3-flake8: robostack: [flake8] +python3-flake8-comprehensions: + robostack: [flake8-comprehensions] python3-flask: robostack: [flask] python3-flask-cors: @@ -762,6 +793,8 @@ python3-pip: robostack: [pip] python3-pkg-resources: robostack: [] +python3-protobuf: + robostack: [protobuf] python3-psutil: robostack: [psutil] python3-pyassimp: @@ -874,12 +907,16 @@ qt5-qmake: robostack: [qt-main, REQUIRE_OPENGL] qtbase5-dev: robostack: [qt-main, REQUIRE_OPENGL] +rapidjson-dev: + robostack: [rapidjson] roboticstoolbox-python: robostack: [roboticstoolbox-python] rsync: robostack: [rsync] rti-connext-dds-5.3.1: robostack: [] +ruby: + robostack: [ruby] sbcl: robostack: linux: [sbcl] @@ -965,4 +1002,5 @@ zbar: robostack: [zbar] zlib: robostack: [zlib] - +zziplib: + robostack: [zziplib] From 057c804d9c7e58c7d0ec0ed38bbef5771529cb78 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Tue, 8 Oct 2024 09:01:47 -0700 Subject: [PATCH 07/28] Build with Python 3.11.* --- conda_build_config.yaml | 2 +- pixi.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index bb0fc1a2..885efcb6 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -15,7 +15,7 @@ cdt_name: - ${{ "cos7" if linux }} python: - - 3.12.* *_cpython + - 3.11.* *_cpython python_impl: - cpython diff --git a/pixi.toml b/pixi.toml index 4e7cfcd8..f154a5f4 100644 --- a/pixi.toml +++ b/pixi.toml @@ -14,7 +14,7 @@ libc = { family="glibc", version="2.17" } upload = "anaconda -t $ANACONDA_API_TOKEN upload" [dependencies] -python = ">=3.12.4,<3.13" +python = ">=3.11.0,<3.12" rattler-build = ">=0.18.0,<0.19" anaconda-client = ">=1.12" From 047acb51699faedae2810d02b9ef2c911554889f Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Wed, 11 Sep 2024 21:48:34 -0700 Subject: [PATCH 08/28] Add ros-jazzy-rviz-ogre-vendor.patch. --- patch/ros-jazzy-rviz-ogre-vendor.patch | 48 ++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 patch/ros-jazzy-rviz-ogre-vendor.patch diff --git a/patch/ros-jazzy-rviz-ogre-vendor.patch b/patch/ros-jazzy-rviz-ogre-vendor.patch new file mode 100644 index 00000000..507d530b --- /dev/null +++ b/patch/ros-jazzy-rviz-ogre-vendor.patch @@ -0,0 +1,48 @@ +diff --git a/patches/0005-fix-macos-arm64.patch b/patches/0005-fix-macos-arm64.patch +new file mode 100644 +index 000000000..9494cc9ae +--- /dev/null ++++ b/patches/0005-fix-macos-arm64.patch +@@ -0,0 +1,19 @@ ++diff --git a/CMakeLists.txt b/CMakeLists.txt ++index f4d8fd4..ffae9c8 100644 ++--- a/CMakeLists.txt +++++ b/CMakeLists.txt ++@@ -270,14 +270,6 @@ elseif(EMSCRIPTEN) ++ set(OGRE_CONFIG_THREADS "0" CACHE STRING "Threading is unstable on Emscripten" FORCE) ++ elseif (APPLE AND NOT APPLE_IOS) ++ ++- set(XCODE_ATTRIBUTE_SDKROOT macosx) ++- if(CMAKE_GENERATOR STREQUAL "Unix Makefiles") ++- execute_process(COMMAND xcodebuild -version -sdk "${XCODE_ATTRIBUTE_SDKROOT}" Path | head -n 1 OUTPUT_VARIABLE CMAKE_OSX_SYSROOT) ++- string(REGEX REPLACE "(\r?\n)+$" "" CMAKE_OSX_SYSROOT "${CMAKE_OSX_SYSROOT}") ++- else() ++- set(CMAKE_OSX_SYSROOT macosx) ++- endif() ++- ++ # Make sure that the OpenGL render system is selected for non-iOS Apple builds ++ set(OGRE_BUILD_RENDERSYSTEM_GLES2 FALSE) ++ endif () +diff --git a/patches/0006-fix-char16.patch b/patches/0006-fix-char16.patch +new file mode 100644 +index 000000000..dfc080bb9 +--- /dev/null ++++ b/patches/0006-fix-char16.patch +@@ -0,0 +1,17 @@ ++diff --git a/Components/Overlay/include/OgreUTFString.h b/Components/Overlay/include/OgreUTFString.h ++index 4b29f9d..bb55630 100644 ++--- a/Components/Overlay/include/OgreUTFString.h +++++ b/Components/Overlay/include/OgreUTFString.h ++@@ -183,10 +183,10 @@ namespace Ogre { ++ static const size_type npos = static_cast(~0); ++ ++ //! a single 32-bit Unicode character ++- typedef uint32 unicode_char; +++ typedef char32_t unicode_char; ++ ++ //! a single UTF-16 code point ++- typedef uint16 code_point; +++ typedef char16_t code_point; ++ ++ //! value type typedef for use in iterators ++ typedef code_point value_type; From 11889f077d2ec4c2332a93eebf41aa841694694c Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Tue, 8 Oct 2024 09:00:42 -0700 Subject: [PATCH 09/28] Add ros-jazzy-python-qt-binding.patch --- patch/ros-jazzy-python-qt-binding.patch | 251 ++++++++++++++++++++++++ 1 file changed, 251 insertions(+) create mode 100644 patch/ros-jazzy-python-qt-binding.patch diff --git a/patch/ros-jazzy-python-qt-binding.patch b/patch/ros-jazzy-python-qt-binding.patch new file mode 100644 index 00000000..902ec37d --- /dev/null +++ b/patch/ros-jazzy-python-qt-binding.patch @@ -0,0 +1,251 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 919969e..2bf015a 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -11,6 +11,7 @@ install(FILES + cmake/shiboken_helper.cmake + cmake/sip_configure.py + cmake/sip_helper.cmake ++ cmake/pyproject.toml.in + DESTINATION share/${PROJECT_NAME}/cmake) + + if(BUILD_TESTING) +diff --git a/cmake/pyproject.toml.in b/cmake/pyproject.toml.in +new file mode 100644 +index 0000000..cf4f57f +--- /dev/null ++++ b/cmake/pyproject.toml.in +@@ -0,0 +1,28 @@ ++[project] ++name = "lib@PROJECT_NAME@" ++ ++# Specify sip v5 as the build system for the package. ++[build-system] ++requires = ["PyQt-builder >=1, <2"] ++build-backend = "sipbuild.api" ++ ++[tool.sip] ++project-factory = "pyqtbuild:PyQtProject" ++ ++[tool.sip.builder] ++qmake = "@QMAKE_EXECUTABLE@" ++qmake-settings = [ "QMAKE_MACOSX_DEPLOYMENT_TARGET=@MACOS_MINIMUM_VERSION@", "CONFIG+=c++17" ] ++ ++[tool.sip.project] ++sip-files-dir = "@SIP_FILES_DIR@" ++build-dir = "@SIP_BUILD_DIR@" ++verbose = true ++minimum-macos-version = "@MACOS_MINIMUM_VERSION@" ++ ++[tool.sip.bindings.libqt_gui_cpp_sip] ++sip-file = "@SIP_FILE@" ++include-dirs = [@SIP_INCLUDE_DIRS@] ++libraries = [@SIP_LIBARIES@] ++library-dirs = [@SIP_LIBRARY_DIRS@] ++qmake-QT = ["widgets"] ++exceptions = true +diff --git a/cmake/sip_configure.py b/cmake/sip_configure.py +index 5210ee5..7bafe73 100644 +--- a/cmake/sip_configure.py ++++ b/cmake/sip_configure.py +@@ -215,6 +215,7 @@ if sys.platform == 'win32': + # The __cplusplus flag is not properly set on Windows for backwards + # compatibilty. This flag sets it correctly + makefile.CXXFLAGS.append('/Zc:__cplusplus') ++ makefile.extra_cxxflags.append('/DROS_BUILD_SHARED_LIBS=1') + else: + makefile.extra_cxxflags.append('-std=c++17') + +diff --git a/cmake/sip_helper.cmake b/cmake/sip_helper.cmake +index a5ac3c2..fdc9c18 100644 +--- a/cmake/sip_helper.cmake ++++ b/cmake/sip_helper.cmake +@@ -31,7 +31,7 @@ execute_process( + if(PYTHON_SIP_EXECUTABLE) + string(STRIP ${PYTHON_SIP_EXECUTABLE} SIP_EXECUTABLE) + else() +- find_program(SIP_EXECUTABLE sip) ++ find_program(SIP_EXECUTABLE NAMES sip sip-build) + endif() + + if(SIP_EXECUTABLE) +@@ -42,6 +42,15 @@ else() + set(sip_helper_NOTFOUND TRUE) + endif() + ++if(sip_helper_FOUND) ++ execute_process( ++ COMMAND ${SIP_EXECUTABLE} -V ++ OUTPUT_VARIABLE SIP_VERSION ++ ERROR_QUIET) ++ string(STRIP ${SIP_VERSION} SIP_VERSION) ++ message(STATUS "SIP binding generator version: ${SIP_VERSION}") ++endif() ++ + # + # Run the SIP generator and compile the generated code into a library. + # +@@ -93,34 +102,107 @@ function(build_sip_binding PROJECT_NAME SIP_FILE) + set(LIBRARY_DIRS ${${PROJECT_NAME}_LIBRARY_DIRS}) + set(LDFLAGS_OTHER ${${PROJECT_NAME}_LDFLAGS_OTHER}) + +- add_custom_command( +- OUTPUT ${SIP_BUILD_DIR}/Makefile +- COMMAND ${Python3_EXECUTABLE} ${sip_SIP_CONFIGURE} ${SIP_BUILD_DIR} ${SIP_FILE} ${sip_LIBRARY_DIR} +- \"${INCLUDE_DIRS}\" \"${LIBRARIES}\" \"${LIBRARY_DIRS}\" \"${LDFLAGS_OTHER}\" +- DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS} +- WORKING_DIRECTORY ${sip_SOURCE_DIR} +- COMMENT "Running SIP generator for ${PROJECT_NAME} Python bindings..." +- ) ++ if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0") ++ # Since v5, SIP implements the backend per PEP 517, PEP 518 ++ # Here we synthesize `pyproject.toml` and run `pip install` + +- if(NOT EXISTS "${sip_LIBRARY_DIR}") ++ find_program(QMAKE_EXECUTABLE NAMES qmake REQUIRED) ++ ++ file(REMOVE_RECURSE ${SIP_BUILD_DIR}) + file(MAKE_DIRECTORY ${sip_LIBRARY_DIR}) +- endif() + +- if(WIN32) +- set(MAKE_EXECUTABLE NMake.exe) ++ set(SIP_FILES_DIR ${sip_SOURCE_DIR}) ++ ++ set(SIP_INCLUDE_DIRS "") ++ foreach(_x ${INCLUDE_DIRS}) ++ set(SIP_INCLUDE_DIRS "${SIP_INCLUDE_DIRS},\"${_x}\"") ++ endforeach() ++ string(REGEX REPLACE "^," "" SIP_INCLUDE_DIRS ${SIP_INCLUDE_DIRS}) ++ ++ # SIP expects the libraries WITHOUT the file extension. ++ set(SIP_LIBARIES "") ++ set(SIP_LIBRARY_DIRS "") ++ ++ if(APPLE) ++ set(LIBRARIES_TO_LOOP ${LIBRARIES}) ++ else() ++ set(LIBRARIES_TO_LOOP ${LIBRARIES} ${PYTHON_LIBRARIES}) ++ endif() ++ ++ foreach(_x ${LIBRARIES_TO_LOOP}) ++ get_filename_component(_x_NAME "${_x}" NAME_WLE) ++ get_filename_component(_x_DIR "${_x}" DIRECTORY) ++ get_filename_component(_x "${_x_DIR}/${_x_NAME}" ABSOLUTE) ++ STRING(REGEX REPLACE "^lib" "" _x_NAME_NOPREFIX ${_x_NAME}) ++ ++ string(FIND "${_x_NAME_NOPREFIX}" "$" "" _x_NAME_NOPREFIX ${_x_NAME_NOPREFIX}) ++ if(NOT "${out2}" EQUAL -1) ++ message(STATUS "IGNORE: ${_x_NAME_NOPREFIX}") ++ else() ++ set(SIP_LIBARIES "${SIP_LIBARIES},\"${_x_NAME_NOPREFIX}\"") ++ endif() ++ else() ++ set(SIP_LIBARIES "${SIP_LIBARIES},\"${_x_NAME_NOPREFIX}\"") ++ set(SIP_LIBRARY_DIRS "${SIP_LIBRARY_DIRS},\"${_x_DIR}\"") ++ endif() ++ endforeach() ++ string(REGEX REPLACE "^," "" SIP_LIBARIES ${SIP_LIBARIES}) ++ ++ foreach(_x ${LIBRARY_DIRS}) ++ set(SIP_LIBRARY_DIRS "${SIP_LIBRARY_DIRS},\"${_x}\"") ++ endforeach() ++ string(REGEX REPLACE "^," "" SIP_LIBRARY_DIRS ${SIP_LIBRARY_DIRS}) ++ message(WARNING "test lib dir: ${SIP_LIBRARY_DIRS}") ++ ++ set(MACOS_MINIMUM_VERSION ${CMAKE_OSX_DEPLOYMENT_TARGET}) ++ ++ # TODO: ++ # I don't know what to do about LDFLAGS_OTHER ++ # what's the equivalent construct in sip5? ++ ++ configure_file( ++ ${__PYTHON_QT_BINDING_SIP_HELPER_DIR}/pyproject.toml.in ++ ${sip_BINARY_DIR}/sip/pyproject.toml ++ ) ++ add_custom_command( ++ OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} ++ COMMAND ${Python3_EXECUTABLE} -m pip install . --target ${sip_LIBRARY_DIR} --no-deps --verbose --upgrade ++ DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS} ++ WORKING_DIRECTORY ${sip_BINARY_DIR}/sip ++ COMMENT "Running SIP-build generator for ${PROJECT_NAME} Python bindings..." ++ ) + else() +- find_program(MAKE_PROGRAM NAMES make) +- message(STATUS "Found required make: ${MAKE_PROGRAM}") +- set(MAKE_EXECUTABLE ${MAKE_PROGRAM}) +- endif() ++ add_custom_command( ++ OUTPUT ${SIP_BUILD_DIR}/Makefile ++ COMMAND ${Python3_EXECUTABLE} ${sip_SIP_CONFIGURE} ${SIP_BUILD_DIR} ${SIP_FILE} ${sip_LIBRARY_DIR} ++ \"${INCLUDE_DIRS}\" \"${LIBRARIES}\" \"${LIBRARY_DIRS}\" \"${LDFLAGS_OTHER}\" ++ DEPENDS ${sip_SIP_CONFIGURE} ${SIP_FILE} ${sip_DEPENDS} ++ WORKING_DIRECTORY ${sip_SOURCE_DIR} ++ COMMENT "Running SIP generator for ${PROJECT_NAME} Python bindings..." ++ ) + +- add_custom_command( +- OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} +- COMMAND ${MAKE_EXECUTABLE} +- DEPENDS ${SIP_BUILD_DIR}/Makefile +- WORKING_DIRECTORY ${SIP_BUILD_DIR} +- COMMENT "Compiling generated code for ${PROJECT_NAME} Python bindings..." +- ) ++ if(NOT EXISTS "${sip_LIBRARY_DIR}") ++ file(MAKE_DIRECTORY ${sip_LIBRARY_DIR}) ++ endif() ++ ++ if(WIN32) ++ set(MAKE_EXECUTABLE NMake.exe) ++ else() ++ set(MAKE_EXECUTABLE make) ++ endif() ++ ++ add_custom_command( ++ OUTPUT ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} ++ COMMAND ${MAKE_EXECUTABLE} ++ DEPENDS ${SIP_BUILD_DIR}/Makefile ++ WORKING_DIRECTORY ${SIP_BUILD_DIR} ++ COMMENT "Compiling generated code for ${PROJECT_NAME} Python bindings..." ++ ) ++ endif() + + add_custom_target(lib${PROJECT_NAME} ALL + DEPENDS ${sip_LIBRARY_DIR}/lib${PROJECT_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX} +diff --git a/src/python_qt_binding/__init__.py b/src/python_qt_binding/__init__.py +index 1e209de..6b55f35 100644 +--- a/src/python_qt_binding/__init__.py ++++ b/src/python_qt_binding/__init__.py +@@ -66,3 +66,11 @@ for module_name, module in QT_BINDING_MODULES.items(): + del module + + del sys ++ ++import os ++from PyQt5.QtGui import QIcon ++current_theme_path = QIcon.themeSearchPaths() ++conda_path = os.environ['CONDA_PREFIX'] ++QIcon.setThemeSearchPaths(current_theme_path + [os.path.join(conda_path, 'share/icons/')]) ++QIcon.setThemeName('Adwaita') ++del os +diff --git a/src/python_qt_binding/binding_helper.py b/src/python_qt_binding/binding_helper.py +index 27c3237..781fe62 100644 +--- a/src/python_qt_binding/binding_helper.py ++++ b/src/python_qt_binding/binding_helper.py +@@ -50,11 +50,7 @@ QT_BINDING_VERSION = None + def _select_qt_binding(binding_name=None, binding_order=None): + global QT_BINDING, QT_BINDING_VERSION + +- # order of default bindings can be changed here +- if platform.system() == 'Darwin': +- DEFAULT_BINDING_ORDER = ['pyside'] +- else: +- DEFAULT_BINDING_ORDER = ['pyqt', 'pyside'] ++ DEFAULT_BINDING_ORDER = ['pyqt', 'pyside'] + + binding_order = binding_order or DEFAULT_BINDING_ORDER + From 7acc4738b659bb8b50a8d69c694a06874e2b3f02 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Tue, 8 Oct 2024 09:00:56 -0700 Subject: [PATCH 10/28] Add ros-jazzy-qt-gui-cpp.patch --- patch/ros-jazzy-qt-gui-cpp.patch | 62 ++++++++++++++++++++++++++++++++ 1 file changed, 62 insertions(+) create mode 100644 patch/ros-jazzy-qt-gui-cpp.patch diff --git a/patch/ros-jazzy-qt-gui-cpp.patch b/patch/ros-jazzy-qt-gui-cpp.patch new file mode 100644 index 00000000..53a70f74 --- /dev/null +++ b/patch/ros-jazzy-qt-gui-cpp.patch @@ -0,0 +1,62 @@ +diff --git a/src/qt_gui_cpp_sip/CMakeLists.txt b/src/qt_gui_cpp_sip/CMakeLists.txt +index 47c24958..11378b3e 100644 +--- a/src/qt_gui_cpp_sip/CMakeLists.txt ++++ b/src/qt_gui_cpp_sip/CMakeLists.txt +@@ -28,7 +28,7 @@ set(qt_gui_cpp_sip_DEPENDENT_FILES + + # maintain context for different named target + set(qt_gui_cpp_sip_INCLUDE_DIRS ${qt_gui_cpp_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}/../../include") +-set(qt_gui_cpp_sip_LIBRARY_DIRS ${qt_gui_cpp_LIBRARY_DIRS} lib) ++set(qt_gui_cpp_sip_LIBRARY_DIRS ${CMAKE_BINARY_DIR} lib) + set(qt_gui_cpp_sip_LDFLAGS_OTHER ${qt_gui_cpp_LDFLAGS_OTHER}) + + ament_get_recursive_properties(deps_include_dirs deps_libraries ${pluginlib_TARGETS}) +@@ -51,16 +51,22 @@ cmake_minimum_required(VERSION 3.20) + cmake_policy(SET CMP0094 NEW) + set(Python3_FIND_UNVERSIONED_NAMES FIRST) + +-find_package(Python3 REQUIRED COMPONENTS Development) ++find_package(Python REQUIRED COMPONENTS Interpreter Development) ++find_package(OpenGL REQUIRED) + + set(_qt_gui_cpp_sip_LIBRARIES + ${deps_libraries} +- Python3::Python + qt_gui_cpp ++ OpenGL::GL + ) + ++if(NOT APPLE) ++ set(_qt_gui_cpp_sip_LIBRARIES ${_qt_gui_cpp_sip_LIBRARIES} Python::Python) ++endif() ++ + # sip needs libraries to have resolved paths and cannot link to cmake targets +-foreach(_lib_name ${_qt_gui_cpp_sip_LIBRARIES}) ++foreach(_lib_name_raw ${_qt_gui_cpp_sip_LIBRARIES}) ++ string(REGEX REPLACE "\\.so\\.[0-9,\\.]*" ".so" _lib_name ${_lib_name_raw}) + if(TARGET ${_lib_name}) + # Use a nifty cmake generator expression to resolve the target location + list(APPEND qt_gui_cpp_sip_LIBRARIES $) +@@ -91,11 +97,20 @@ if(sip_helper_FOUND) + ) + + if(APPLE) +- set(LIBQT_GUI_CPP_SIP_SUFFIX .so) ++ # Okay-ish hack for now ++ if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0") ++ set(LIBQT_GUI_CPP_SIP_SUFFIX ".cpython-${Python_VERSION_MAJOR}${Python_VERSION_MINOR}-darwin.so") ++ else() ++ set(LIBQT_GUI_CPP_SIP_SUFFIX .so) ++ endif() + elseif(WIN32) + set(LIBQT_GUI_CPP_SIP_SUFFIX .pyd) + else() +- set(LIBQT_GUI_CPP_SIP_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX}) ++ if(${SIP_VERSION} VERSION_GREATER_EQUAL "5.0.0") ++ set(LIBQT_GUI_CPP_SIP_SUFFIX ".cpython-${Python_VERSION_MAJOR}${Python_VERSION_MINOR}-${CMAKE_HOST_SYSTEM_PROCESSOR}-linux-gnu${CMAKE_SHARED_LIBRARY_SUFFIX}") ++ else() ++ set(LIBQT_GUI_CPP_SIP_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX}) ++ endif() + endif() + + install(FILES ${CMAKE_CURRENT_BINARY_DIR}/libqt_gui_cpp_sip${LIBQT_GUI_CPP_SIP_SUFFIX} From b171664d2b5e2ace60c6fb6eec8d5eb16f9fc0f8 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Tue, 8 Oct 2024 09:01:06 -0700 Subject: [PATCH 11/28] Add ros-jazzy-rosidl-generator-py.patch --- patch/ros-jazzy-rosidl-generator-py.patch | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 patch/ros-jazzy-rosidl-generator-py.patch diff --git a/patch/ros-jazzy-rosidl-generator-py.patch b/patch/ros-jazzy-rosidl-generator-py.patch new file mode 100644 index 00000000..44fc87f9 --- /dev/null +++ b/patch/ros-jazzy-rosidl-generator-py.patch @@ -0,0 +1,15 @@ +diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake +index cfc424a..6f1e3c2 100644 +--- a/cmake/rosidl_generator_py_generate_interfaces.cmake ++++ b/cmake/rosidl_generator_py_generate_interfaces.cmake +@@ -162,6 +162,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + set(_extension_compile_flags -Wall -Wextra) + endif() + ++if(APPLE) ++ set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++endif() ++ + rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c") + target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target}) + From b82cb10c5cf9452ccb23de7719392e9fe88d0e5e Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 21:34:22 -0700 Subject: [PATCH 12/28] Add ros-jazzy-ament-cmake-vendor-package.patch --- ...ros-jazzy-ament-cmake-vendor-package.patch | 30 +++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 patch/ros-jazzy-ament-cmake-vendor-package.patch diff --git a/patch/ros-jazzy-ament-cmake-vendor-package.patch b/patch/ros-jazzy-ament-cmake-vendor-package.patch new file mode 100644 index 00000000..2b4cb138 --- /dev/null +++ b/patch/ros-jazzy-ament-cmake-vendor-package.patch @@ -0,0 +1,30 @@ +diff --git a/cmake/ament_vendor.cmake b/cmake/ament_vendor.cmake +index c9b963cd0..d23ff2aa2 100644 +--- a/cmake/ament_vendor.cmake ++++ b/cmake/ament_vendor.cmake +@@ -245,6 +245,10 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR + set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_MODULE_PATH [=[${CMAKE_MODULE_PATH}]=] CACHE INTERNAL \"\")") + endif() + ++ if(DEFINED CMAKE_IGNORE_PREFIX_PATH) ++ set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_IGNORE_PREFIX_PATH [=[${CMAKE_IGNORE_PREFIX_PATH}]=] CACHE INTERNAL \"\")") ++ endif() ++ + list(PREPEND CMAKE_PREFIX_PATH ${_AMENT_CMAKE_VENDOR_PACKAGE_PREFIX_PATH}) + set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_PREFIX_PATH [=[${CMAKE_PREFIX_PATH}]=] CACHE INTERNAL \"\")") + +@@ -256,6 +260,14 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR + set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(BUILD_SHARED_LIBS ON CACHE BOOL \"\")") + endif() + ++ if(DEFINED Python_EXECUTABLE) ++ set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(Python_EXECUTABLE [=[${Python_EXECUTABLE}]=] CACHE INTERNAL \"\")") ++ endif() ++ ++ if(DEFINED Python3_EXECUTABLE) ++ set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(Python3_EXECUTABLE [=[${Python3_EXECUTABLE}]=] CACHE INTERNAL \"\")") ++ endif() ++ + file(GENERATE OUTPUT "${CMAKE_ARGS_FILE}" CONTENT "${CMAKE_ARGS_CONTENT}") + list(PREPEND CMAKE_ARGS "-C${CMAKE_ARGS_FILE}") + From cfc968a106d4b02eccb7b59900cb308a8973b0dd Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 21:34:36 -0700 Subject: [PATCH 13/28] Add ros-jazzy-gz-ogre-next-vendor.patch --- patch/ros-jazzy-gz-ogre-next-vendor.patch | 203 ++++++++++++++++++++++ 1 file changed, 203 insertions(+) create mode 100644 patch/ros-jazzy-gz-ogre-next-vendor.patch diff --git a/patch/ros-jazzy-gz-ogre-next-vendor.patch b/patch/ros-jazzy-gz-ogre-next-vendor.patch new file mode 100644 index 00000000..68f4c819 --- /dev/null +++ b/patch/ros-jazzy-gz-ogre-next-vendor.patch @@ -0,0 +1,203 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a904707..d3567a7 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -33,8 +33,7 @@ ament_vendor(${PROJECT_NAME} + -DOGRE_VULKAN_WINDOW_XCB:BOOL=ON + ${EXTRA_CMAKE_FLAGS} + GLOBAL_HOOK +- PATCHES +- patches/0001-Fix-incomplete-vulkan-linkage.patch ++ PATCHES patches + ) + + if(BUILD_TESTING) +diff --git a/patches/0002-correct-cmake-vars.patch b/patches/0002-correct-cmake-vars.patch +new file mode 100644 +index 0000000..357ee82 +--- /dev/null ++++ b/patches/0002-correct-cmake-vars.patch +@@ -0,0 +1,160 @@ ++diff --git a/CMake/Utils/AndroidMacros.cmake b/CMake/Utils/AndroidMacros.cmake ++index d1a3880..e3616fc 100644 ++--- a/CMake/Utils/AndroidMacros.cmake +++++ b/CMake/Utils/AndroidMacros.cmake ++@@ -10,7 +10,7 @@ ++ ++ macro(add_static_libs LIB_DIR) ++ foreach(LIB_NAME ${ARGN}) ++- SET(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude $(CLEAR_VARS)\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB_DIR}/lib${LIB_NAME}.a\n\tinclude $(PREBUILT_STATIC_LIBRARY)\n\n") +++ SET(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude ${CLEAR_VARS}\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB_DIR}/lib${LIB_NAME}.a\n\tinclude ${PREBUILT_STATIC_LIBRARY}\n\n") ++ SET(SAMPLE_LDLIBS "${SAMPLE_LDLIBS} ${LIB_NAME}") ++ endforeach(LIB_NAME ${ARGN}) ++ SET(SAMPLE_LDLIBS "${SAMPLE_LDLIBS}\n LOCAL_STATIC_LIBRARIES\t+= ") ++@@ -21,7 +21,7 @@ macro(add_static_libs_from_paths) ++ get_filename_component(LIB_NAME ${LIB} NAME_WE) ++ string(SUBSTRING ${LIB_NAME} 3 -1 LIB_NAME) # strip lib prefix ++ ++- set(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude $(CLEAR_VARS)\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB}\n\tinclude $(PREBUILT_STATIC_LIBRARY)\n\n") +++ set(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude ${CLEAR_VARS}\n\tLOCAL_MODULE := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB}\n\tinclude ${PREBUILT_STATIC_LIBRARY}\n\n") ++ set(SAMPLE_LDLIBS "${SAMPLE_LDLIBS} ${LIB_NAME}") ++ endforeach() ++ set(SAMPLE_LDLIBS "${SAMPLE_LDLIBS}\n LOCAL_STATIC_LIBRARIES\t+= ") ++@@ -135,4 +135,3 @@ macro(create_android_proj ANDROID_PROJECT_TARGET) ++ WORKING_DIRECTORY ${NDKOUT} ++ ) ++ endmacro(create_android_proj) ++- ++diff --git a/CMake/Utils/OgreConfigTargets.cmake b/CMake/Utils/OgreConfigTargets.cmake ++index d8e0208..28acb8c 100644 ++--- a/CMake/Utils/OgreConfigTargets.cmake +++++ b/CMake/Utils/OgreConfigTargets.cmake ++@@ -18,7 +18,7 @@ if(APPLE) ++ if(NOT OGRE_BUILD_PLATFORM_ANDROID AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS) ++ set(PLATFORM_NAME "macosx") ++ elseif(OGRE_BUILD_PLATFORM_APPLE_IOS) ++- set(PLATFORM_NAME "$(PLATFORM_NAME)") +++ set(PLATFORM_NAME "${PLATFORM_NAME}") ++ endif() ++ endif() ++ ++diff --git a/CMakeLists.txt b/CMakeLists.txt ++index 2786e35..9c6de22 100755 ++--- a/CMakeLists.txt +++++ b/CMakeLists.txt ++@@ -316,7 +316,7 @@ if (OGRE_BUILD_PLATFORM_APPLE_IOS) ++ set(MACOSX_BUNDLE_GUI_IDENTIFIER "com.yourcompany.\${PRODUCT_NAME:rfc1034identifier}") ++ set( CMAKE_XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2" ) ++ ++- set(CMAKE_OSX_ARCHITECTURES "$(ARCHS_STANDARD_INCLUDING_64_BIT)") +++ set(CMAKE_OSX_ARCHITECTURES "${ARCHS_STANDARD_INCLUDING_64_BIT}") ++ string (REPLACE "-msse2" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") ++ string (REPLACE "-msse" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") ++ elseif (ANDROID) ++@@ -363,8 +363,6 @@ elseif (APPLE AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS) ++ if(CMAKE_GENERATOR STREQUAL "Unix Makefiles") ++ execute_process(COMMAND xcodebuild -version -sdk "${XCODE_ATTRIBUTE_SDKROOT}" Path | head -n 1 OUTPUT_VARIABLE CMAKE_OSX_SYSROOT) ++ string(REGEX REPLACE "(\r?\n)+$" "" CMAKE_OSX_SYSROOT "${CMAKE_OSX_SYSROOT}") ++- else() ++- set(CMAKE_OSX_SYSROOT macosx) ++ endif() ++ ++ set( CMAKE_XCODE_ATTRIBUTE_CLANG_ENABLE_OBJC_ARC YES ) ++@@ -697,4 +695,3 @@ include(Packaging) ++ ++ # Show feature summary ++ include(FeatureSummary) ++- ++diff --git a/OgreMain/CMakeLists.txt b/OgreMain/CMakeLists.txt ++index b698b84..bd3b21e 100644 ++--- a/OgreMain/CMakeLists.txt +++++ b/OgreMain/CMakeLists.txt ++@@ -439,7 +439,7 @@ if (APPLE) ++ LINK_FLAGS "-framework IOKit -framework Cocoa -framework Carbon -framework OpenGL -framework CoreVideo" ++ ) ++ ++- set(OGRE_OSX_BUILD_CONFIGURATION "$(PLATFORM_NAME)/$(CONFIGURATION)") +++ set(OGRE_OSX_BUILD_CONFIGURATION "${PLATFORM_NAME}/${CONFIGURATION}") ++ ++ add_custom_command(TARGET ${OGRE_NEXT}Main POST_BUILD ++ COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/${OGRE_OSX_BUILD_CONFIGURATION}/Ogre.framework/Headers/Threading ++diff --git a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake ++index 23596b5..b57c2a9 100644 ++--- a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake +++++ b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake ++@@ -222,10 +222,10 @@ set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/Dependencies/Ogre/CMake/Pack ++ set( OGRE_SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/Dependencies/Ogre" CACHE STRING "Path to OGRE source code (see http://www.ogre3d.org/tikiwiki/tiki-index.php?page=CMake+Quick+Start+Guide)" ) ++ if( WIN32 ) ++ set( OGRE_BINARIES "${OGRE_SOURCE}/build" CACHE STRING "Path to OGRE's build folder generated by CMake" ) ++- link_directories( "${OGRE_BINARIES}/lib/$(ConfigurationName)" ) +++ link_directories( "${OGRE_BINARIES}/lib/${ConfigurationName}" ) ++ elseif( APPLE ) ++ set( OGRE_BINARIES "${OGRE_SOURCE}/build" CACHE STRING "Path to OGRE's build folder generated by CMake" ) ++- link_directories( "${OGRE_BINARIES}/lib/$(PLATFORM_NAME)/$(CONFIGURATION)" ) +++ link_directories( "${OGRE_BINARIES}/lib/${PLATFORM_NAME}/${CONFIGURATION}" ) ++ elseif( ANDROID ) ++ set( OGRE_BINARIES "${OGRE_SOURCE}/build/Android/${CMAKE_BUILD_TYPE}" CACHE STRING "Path to OGRE's build folder generated by CMake" ) ++ link_directories( "${OGRE_BINARIES}/lib" ) ++@@ -406,10 +406,10 @@ macro( addStaticDependencies OGRE_SOURCE, OGRE_BINARIES, OGRE_BUILD_SETTINGS_STR ++ endif() ++ ++ if( WIN32 ) ++- set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/Dependencies/lib/$(ConfigurationName)" CACHE STRING +++ set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/Dependencies/lib/${ConfigurationName}" CACHE STRING ++ "Path to OGRE's dependencies folder. Only used in Static Builds" ) ++ elseif( IOS ) ++- set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/iOSDependencies/lib/$(CONFIGURATION)" CACHE STRING +++ set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/iOSDependencies/lib/${CONFIGURATION}" CACHE STRING ++ "Path to OGRE's dependencies folder. Only used in Static Builds" ) ++ elseif( ANDROID ) ++ set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/DependenciesAndroid/lib" CACHE STRING ++diff --git a/Tests/CMakeLists.txt b/Tests/CMakeLists.txt ++index 5167104..bf8fe80 100644 ++--- a/Tests/CMakeLists.txt +++++ b/Tests/CMakeLists.txt ++@@ -151,8 +151,8 @@ if (OGRE_BUILD_TESTS) ++ ogre_config_sample_exe(Test_Ogre) ++ target_link_libraries(Test_Ogre ${OGRE_LIBRARIES} ${CppUnit_LIBRARIES}) ++ if(APPLE AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS) ++- set(OGRE_BUILT_FRAMEWORK "$(PLATFORM_NAME)/$(CONFIGURATION)") ++- set(OGRE_TEST_CONTENTS_PATH ${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/Test_Ogre.app/Contents) +++ set(OGRE_BUILT_FRAMEWORK "${PLATFORM_NAME}/${CONFIGURATION}") +++ set(OGRE_TEST_CONTENTS_PATH ${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/Test_Ogre.app/Contents) ++ set_target_properties(Test_Ogre PROPERTIES ++ LINK_FLAGS "-framework Carbon -framework Cocoa") ++ add_custom_command(TARGET Test_Ogre POST_BUILD ++diff --git a/Tests/VisualTests/Context/CMakeLists.txt b/Tests/VisualTests/Context/CMakeLists.txt ++index 551a8e7..6e0e49b 100644 ++--- a/Tests/VisualTests/Context/CMakeLists.txt +++++ b/Tests/VisualTests/Context/CMakeLists.txt ++@@ -86,18 +86,18 @@ if (APPLE) ++ set_target_properties(TestContext PROPERTIES XCODE_ATTRIBUTE_ONLY_ACTIVE_ARCH "NO") ++ set_target_properties(TestContext PROPERTIES XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2") ++ set (OGRE_TESTCONTEXT_CONTENTS_PATH ++- ${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/TestContext.app) +++ ${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/TestContext.app) ++ add_custom_command(TARGET TestContext POST_BUILD ++ COMMAND ditto ${OGRE_SOURCE_DIR}/Samples/Common/misc/*.png ${OGRE_TESTCONTEXT_CONTENTS_PATH}/ ++ COMMAND ditto ${OGRE_BINARY_DIR}/bin/*.cfg ${OGRE_TESTCONTEXT_CONTENTS_PATH}/ ++ ) ++ add_custom_command(TARGET TestContext POST_BUILD ++- COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/$(CONFIGURATION)/ +++ COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/${CONFIGURATION}/ ++ COMMAND ditto ${OGRE_SOURCE_DIR}/Samples/Media ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Media ++ COMMAND ditto ${OGRE_SOURCE_DIR}/Tests/Media ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Media ++ ) ++ else() ++- set(OGRE_OSX_BUILD_CONFIGURATION "$(PLATFORM_NAME)/$(CONFIGURATION)") +++ set(OGRE_OSX_BUILD_CONFIGURATION "${PLATFORM_NAME}/${CONFIGURATION}") ++ set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE TRUE) ++ set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE_ICON_FILE SampleBrowser_OSX.icns) ++ set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE_INFO_PLIST ${OGRE_SOURCE_DIR}/Tests/VisualTests/Context/misc/Info.plist) ++@@ -106,7 +106,7 @@ if (APPLE) ++ set_target_properties(TestContext PROPERTIES ++ LINK_FLAGS "-framework IOKit -framework Cocoa -framework Carbon -framework OpenGL -framework CoreVideo") ++ set (OGRE_TESTCONTEXT_CONTENTS_PATH ++- ${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/TestContext.app/Contents) +++ ${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/TestContext.app/Contents) ++ add_custom_command(TARGET TestContext POST_BUILD ++ COMMAND mkdir ARGS -p ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Frameworks ++ COMMAND ln ARGS -s -f ${OGRE_BINARY_DIR}/lib/${OGRE_OSX_BUILD_CONFIGURATION}/Ogre.framework +diff --git a/patches/0003-fix-string.patch b/patches/0003-fix-string.patch +new file mode 100644 +index 0000000..82f5dbf +--- /dev/null ++++ b/patches/0003-fix-string.patch +@@ -0,0 +1,17 @@ ++diff --git a/OgreMain/include/OgreUTFString.h b/OgreMain/include/OgreUTFString.h ++index 0aeab6a..a3be244 100644 ++--- a/OgreMain/include/OgreUTFString.h +++++ b/OgreMain/include/OgreUTFString.h ++@@ -189,10 +189,10 @@ namespace Ogre { ++ static const size_type npos = static_cast(~0); ++ ++ //! a single 32-bit Unicode character ++- typedef uint32 unicode_char; +++ typedef char32_t unicode_char; ++ ++ //! a single UTF-16 code point ++- typedef uint16 code_point; +++ typedef char16_t code_point; ++ ++ //! value type typedef for use in iterators ++ typedef code_point value_type; From efb2e9a999f992bfc790425c375309bef3784124 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 21:34:45 -0700 Subject: [PATCH 14/28] Add ros-jazzy-ros-gz-image.patch --- patch/ros-jazzy-ros-gz-image.patch | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 patch/ros-jazzy-ros-gz-image.patch diff --git a/patch/ros-jazzy-ros-gz-image.patch b/patch/ros-jazzy-ros-gz-image.patch new file mode 100644 index 00000000..27945782 --- /dev/null +++ b/patch/ros-jazzy-ros-gz-image.patch @@ -0,0 +1,14 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index e6e8de26..8e9ea2d3 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -10,6 +10,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra) + endif() + ++find_package(gz-cmake3 REQUIRED 3.5.2) ++gz_find_package(TINYXML2 REQUIRED PRIVATE PRETTY tinyxml2) ++ + find_package(ament_cmake REQUIRED) + find_package(image_transport REQUIRED) + find_package(ros_gz_bridge REQUIRED) From 9acb6b5d11d9cf1322374de2806d0077bf6be862 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 21:34:57 -0700 Subject: [PATCH 15/28] Add ros-jazzy-rosbag2-py.osx.patch --- patch/ros-jazzy-rosbag2-py.osx.patch | 74 ++++++++++++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100644 patch/ros-jazzy-rosbag2-py.osx.patch diff --git a/patch/ros-jazzy-rosbag2-py.osx.patch b/patch/ros-jazzy-rosbag2-py.osx.patch new file mode 100644 index 00000000..d7564996 --- /dev/null +++ b/patch/ros-jazzy-rosbag2-py.osx.patch @@ -0,0 +1,74 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index feb07925f..6000ec43e 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -41,21 +41,21 @@ find_package(pybind11 REQUIRED) + + ament_python_install_package(${PROJECT_NAME}) + +-pybind11_add_module(_compression_options SHARED ++pybind11_add_module(_compression_options MODULE + src/rosbag2_py/_compression_options.cpp + ) + target_link_libraries(_compression_options PUBLIC + rosbag2_compression::rosbag2_compression + ) + +-pybind11_add_module(_message_definitions SHARED ++pybind11_add_module(_message_definitions MODULE + src/rosbag2_py/_message_definitions.cpp + ) + target_link_libraries(_message_definitions PUBLIC + rosbag2_cpp::rosbag2_cpp + ) + +-pybind11_add_module(_reader SHARED ++pybind11_add_module(_reader MODULE + src/rosbag2_py/_reader.cpp + ) + target_link_libraries(_reader PUBLIC +@@ -64,7 +64,7 @@ target_link_libraries(_reader PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_storage SHARED ++pybind11_add_module(_storage MODULE + src/rosbag2_py/_storage.cpp + src/rosbag2_py/format_bag_metadata.cpp + ) +@@ -73,7 +73,7 @@ target_link_libraries(_storage PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_writer SHARED ++pybind11_add_module(_writer MODULE + src/rosbag2_py/_writer.cpp + ) + target_link_libraries(_writer PUBLIC +@@ -82,7 +82,7 @@ target_link_libraries(_writer PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_info SHARED ++pybind11_add_module(_info MODULE + src/rosbag2_py/_info.cpp + src/rosbag2_py/format_bag_metadata.cpp + src/rosbag2_py/format_service_info.cpp +@@ -92,7 +92,7 @@ target_link_libraries(_info PUBLIC + rosbag2_storage::rosbag2_storage + ) + +-pybind11_add_module(_transport SHARED ++pybind11_add_module(_transport MODULE + src/rosbag2_py/_transport.cpp + ) + target_link_libraries(_transport PUBLIC +@@ -102,7 +102,7 @@ target_link_libraries(_transport PUBLIC + rosbag2_transport::rosbag2_transport + ) + +-pybind11_add_module(_reindexer SHARED ++pybind11_add_module(_reindexer MODULE + src/rosbag2_py/_reindexer.cpp + ) + target_link_libraries(_reindexer PUBLIC From a22c98960f2def0083910c9634565e20df464ba7 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 23:13:15 -0700 Subject: [PATCH 16/28] Add ros-jazzy-rosidl-generator-py.osx.patch. --- patch/ros-jazzy-rosidl-generator-py.osx.patch | 69 +++++++++++++++++++ patch/ros-jazzy-rosidl-generator-py.patch | 15 ---- 2 files changed, 69 insertions(+), 15 deletions(-) create mode 100644 patch/ros-jazzy-rosidl-generator-py.osx.patch delete mode 100644 patch/ros-jazzy-rosidl-generator-py.patch diff --git a/patch/ros-jazzy-rosidl-generator-py.osx.patch b/patch/ros-jazzy-rosidl-generator-py.osx.patch new file mode 100644 index 00000000..cde64b21 --- /dev/null +++ b/patch/ros-jazzy-rosidl-generator-py.osx.patch @@ -0,0 +1,69 @@ +diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake +index cfc424a..cddd23d 100644 +--- a/cmake/rosidl_generator_py_generate_interfaces.cmake ++++ b/cmake/rosidl_generator_py_generate_interfaces.cmake +@@ -138,7 +139,7 @@ set_property( + + set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py") + add_library(${_target_name_lib} SHARED ${_generated_c_files}) +-target_link_libraries(${_target_name_lib} PRIVATE ++target_link_libraries(${_target_name_lib} PUBLIC + ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c) + add_dependencies( + ${_target_name_lib} +@@ -146,11 +147,6 @@ add_dependencies( + ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c + ) + +-target_link_libraries( +- ${_target_name_lib} PRIVATE +- Python3::NumPy +- Python3::Python +-) + target_include_directories(${_target_name_lib} + PRIVATE + ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c +@@ -162,8 +158,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + set(_extension_compile_flags -Wall -Wextra) + endif() + ++if(APPLE) ++ set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++ target_include_directories(${_target_name_lib} PUBLIC ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS}) ++else() ++ target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Python) ++endif() ++ + rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c") +-target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target}) ++target_link_libraries(${_target_name_lib} PUBLIC ${c_typesupport_target}) + + foreach(_typesupport_impl ${_typesupport_impls}) + find_package(${_typesupport_impl} REQUIRED) +@@ -194,7 +197,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + RUNTIME_OUTPUT_DIRECTORY ${_output_path}) + + target_link_libraries( +- ${_target_name} PRIVATE ++ ${_target_name} PUBLIC + ${_target_name_lib} + ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl} + ${c_typesupport_target} +@@ -210,7 +213,7 @@ foreach(_typesupport_impl ${_typesupport_impls}) + ) + + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name} PRIVATE ${${_pkg_name}__TARGETS}) ++ target_link_libraries(${_target_name} PUBLIC ${${_pkg_name}__TARGETS}) + endforeach() + + add_dependencies(${_target_name} +@@ -231,7 +234,7 @@ endforeach() + + # Depend on rosidl_generator_py generated targets from our dependencies + foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) +- target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) ++ target_link_libraries(${_target_name_lib} PUBLIC ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}}) + endforeach() + + set_target_properties(${_target_name_lib} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}") diff --git a/patch/ros-jazzy-rosidl-generator-py.patch b/patch/ros-jazzy-rosidl-generator-py.patch deleted file mode 100644 index 44fc87f9..00000000 --- a/patch/ros-jazzy-rosidl-generator-py.patch +++ /dev/null @@ -1,15 +0,0 @@ -diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake -index cfc424a..6f1e3c2 100644 ---- a/cmake/rosidl_generator_py_generate_interfaces.cmake -+++ b/cmake/rosidl_generator_py_generate_interfaces.cmake -@@ -162,6 +162,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - set(_extension_compile_flags -Wall -Wextra) - endif() - -+if(APPLE) -+ set_target_properties(${_target_name_lib} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") -+endif() -+ - rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c") - target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target}) - From adbe79be4576f517456387c2b196ae48a3dc3c65 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Tue, 8 Oct 2024 09:13:37 -0700 Subject: [PATCH 17/28] Rename ros-jazzy-rclpy.patch to ros-jazzy-rclpy.osx.patch --- patch/{ros-jazzy-rclpy.patch => ros-jazzy-rclpy.osx.patch} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename patch/{ros-jazzy-rclpy.patch => ros-jazzy-rclpy.osx.patch} (100%) diff --git a/patch/ros-jazzy-rclpy.patch b/patch/ros-jazzy-rclpy.osx.patch similarity index 100% rename from patch/ros-jazzy-rclpy.patch rename to patch/ros-jazzy-rclpy.osx.patch From eef3d3ac601ae8199b79a13455ed99043f29db63 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sat, 14 Sep 2024 11:19:37 -0700 Subject: [PATCH 18/28] Build ros-jazzy-desktop, with some exceptions. --- vinca_linux_64.yaml | 18 ++++++++---------- vinca_linux_aarch64.yaml | 18 ++++++++---------- vinca_osx.yaml | 28 ++++++++++++++++++---------- vinca_osx_arm64.yaml | 28 ++++++++++++++++++---------- vinca_win.yaml | 28 ++++++++++++++++++---------- 5 files changed, 70 insertions(+), 50 deletions(-) diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml index eeb00ffb..105147a3 100644 --- a/vinca_linux_64.yaml +++ b/vinca_linux_64.yaml @@ -17,22 +17,20 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo -skip_existing: - - https://conda.anaconda.org/robostack-jazzy/ +# skip_existing: +# # - output +# - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - desktop - ros_base - # - desktop - + - ros_environment + # - ros_gz + - ros_workspace patch_dir: patch - diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml index eeb00ffb..105147a3 100644 --- a/vinca_linux_aarch64.yaml +++ b/vinca_linux_aarch64.yaml @@ -17,22 +17,20 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo -skip_existing: - - https://conda.anaconda.org/robostack-jazzy/ +# skip_existing: +# # - output +# - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - desktop - ros_base - # - desktop - + - ros_environment + # - ros_gz + - ros_workspace patch_dir: patch - diff --git a/vinca_osx.yaml b/vinca_osx.yaml index eeb00ffb..840878a3 100644 --- a/vinca_osx.yaml +++ b/vinca_osx.yaml @@ -17,22 +17,30 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp -skip_existing: - - https://conda.anaconda.org/robostack-jazzy/ +# skip_existing: +# # - output +# - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - desktop - ros_base - # - desktop - + - ros_environment + - ros_gz + - ros_workspace patch_dir: patch - diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml index eeb00ffb..840878a3 100644 --- a/vinca_osx_arm64.yaml +++ b/vinca_osx_arm64.yaml @@ -17,22 +17,30 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp -skip_existing: - - https://conda.anaconda.org/robostack-jazzy/ +# skip_existing: +# # - output +# - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - desktop - ros_base - # - desktop - + - ros_environment + - ros_gz + - ros_workspace patch_dir: patch - diff --git a/vinca_win.yaml b/vinca_win.yaml index eeb00ffb..840878a3 100644 --- a/vinca_win.yaml +++ b/vinca_win.yaml @@ -17,22 +17,30 @@ full_rebuild: true packages_skip_by_deps: - cartographer - - octomap + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp packages_remove_from_deps: - cartographer - - octomap - - warehouse_ros_mongo + - pcl_conversions + - pendulum_control + - rttest + - tlsf + - tlsf_cpp -skip_existing: - - https://conda.anaconda.org/robostack-jazzy/ +# skip_existing: +# # - output +# - https://conda.anaconda.org/robostack-jazzy/ packages_select_by_deps: - - ros_workspace - - ros_environment + - ament_cmake_core + - desktop - ros_base - # - desktop - + - ros_environment + - ros_gz + - ros_workspace patch_dir: patch - From fac10b29d202c5f1af4b0abb0383d901b1143fd6 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Mon, 7 Oct 2024 23:15:43 -0700 Subject: [PATCH 19/28] Update pixi.lock --- pixi.lock | 7875 +++++++++++++++++++++++------------------------------ 1 file changed, 3431 insertions(+), 4444 deletions(-) diff --git a/pixi.lock b/pixi.lock index 5f221db1..582193d0 100644 --- a/pixi.lock +++ b/pixi.lock @@ -9,84 +9,69 @@ environments: linux-64: - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/noarch/anaconda-client-1.12.3-pyhd8ed1ab_0.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/anaconda-project-0.11.1-pyhd8ed1ab_0.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-23.2.0-pyh71513ae_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.1.0-py312h30efb56_1.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hd590300_5.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.6.2-hbcca054_0.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2024.6.2-pyhd8ed1ab_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-1.16.0-py312hf06ca03_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/anaconda-client-1.12.3-pyhd8ed1ab_1.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-24.2.0-pyh71513ae_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.1.0-py311hfdbb021_2.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2024.8.30-pyhd8ed1ab_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-1.17.1-py311hf29c0ef_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.3.2-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_0.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/noarch/conda-pack-0.7.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/conda-package-handling-2.3.0-pyh7900ff3_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/conda-package-streaming-0.10.0-pyhd8ed1ab_0.conda - conda: 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license: BSD-3-Clause license_family: BSD - size: 391502 - timestamp: 1718866625346 + size: 391826 + timestamp: 1725305804278 - kind: conda name: zstandard - version: 0.22.0 - build: py312h9fc3309_1 + version: 0.23.0 + build: py311hd5293d8_1 build_number: 1 subdir: linux-aarch64 - url: https://conda.anaconda.org/conda-forge/linux-aarch64/zstandard-0.22.0-py312h9fc3309_1.conda - sha256: ec0d99dbb85240e8522228278f6e5031aa1ff321c454205b45869c731164fab9 - md5: 1e3233a21fcb4e18e1309cca12c38ac7 + url: https://conda.anaconda.org/conda-forge/linux-aarch64/zstandard-0.23.0-py311hd5293d8_1.conda + sha256: 44c4c8e718f7f50c985d9b3de23760fb01987e6307301eef0bcfc26862094690 + md5: 7a022310d8759b7d251717b09242ee13 depends: - cffi >=1.11 - - libgcc-ng >=12 - - python >=3.12,<3.13.0a0 - - python >=3.12,<3.13.0a0 *_cpython - - python_abi 3.12.* *_cp312 + - libgcc >=13 + - python >=3.11,<3.12.0a0 + - python >=3.11,<3.12.0a0 *_cpython + - python_abi 3.11.* *_cp311 + - zstd >=1.5.6,<1.5.7.0a0 + - zstd >=1.5.6,<1.6.0a0 + license: BSD-3-Clause + license_family: BSD + purls: + - pkg:pypi/zstandard?source=hash-mapping + size: 391826 + timestamp: 1725305804278 +- kind: conda + name: zstandard + version: 0.23.0 + build: py311hdf6fcd6_1 + build_number: 1 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/zstandard-0.23.0-py311hdf6fcd6_1.conda + sha256: d9bf977b620750049eb60fffca299a701342a2df59bcc2586a79b2f7c5783fa1 + md5: 4fc42d6f85a21b09ee6477f456554df3 + depends: + - __osx >=10.13 + - cffi >=1.11 + - python >=3.11,<3.12.0a0 + - python_abi 3.11.* *_cp311 + - zstd >=1.5.6,<1.5.7.0a0 + - zstd >=1.5.6,<1.6.0a0 + license: BSD-3-Clause + license_family: BSD + size: 411350 + timestamp: 1725305723486 +- kind: conda + name: zstandard + version: 0.23.0 + build: py311hdf6fcd6_1 + build_number: 1 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/zstandard-0.23.0-py311hdf6fcd6_1.conda + sha256: d9bf977b620750049eb60fffca299a701342a2df59bcc2586a79b2f7c5783fa1 + md5: 4fc42d6f85a21b09ee6477f456554df3 + depends: + - __osx >=10.13 + - cffi >=1.11 + - python >=3.11,<3.12.0a0 + - python_abi 3.11.* *_cp311 - zstd >=1.5.6,<1.5.7.0a0 - zstd >=1.5.6,<1.6.0a0 license: BSD-3-Clause license_family: BSD purls: - - pkg:pypi/zstandard?source=conda-forge-mapping - size: 391502 - timestamp: 1718866625346 + - pkg:pypi/zstandard?source=hash-mapping + size: 411350 + timestamp: 1725305723486 - kind: conda name: zstd version: 1.5.6 @@ -7692,6 +6631,21 @@ packages: purls: [] size: 349143 timestamp: 1714723445995 +- kind: conda + name: zstd + version: 1.5.6 + build: h915ae27_0 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/zstd-1.5.6-h915ae27_0.conda + sha256: efa04a98cb149643fa54c4dad5a0179e36a5fbc88427ea0eec88ceed87fd0f96 + md5: 4cb2cd56f039b129bb0e491c1164167e + depends: + - __osx >=10.9 + - libzlib >=1.2.13,<2.0.0a0 + license: BSD-3-Clause + license_family: BSD + size: 498900 + timestamp: 1714723303098 - kind: conda name: zstd version: 1.5.6 @@ -7724,6 +6678,23 @@ packages: license_family: BSD size: 554846 timestamp: 1714722996770 +- kind: conda + name: zstd + version: 1.5.6 + build: ha6fb4c9_0 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda + sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b + md5: 4d056880988120e29d75bfff282e0f45 + depends: + - libgcc-ng >=12 + - libstdcxx-ng >=12 + - libzlib >=1.2.13,<2.0.0a0 + license: BSD-3-Clause + license_family: BSD + purls: [] + size: 554846 + timestamp: 1714722996770 - kind: conda name: zstd version: 1.5.6 @@ -7739,3 +6710,19 @@ packages: license_family: BSD size: 405089 timestamp: 1714723101397 +- kind: conda + name: zstd + version: 1.5.6 + build: hb46c0d2_0 + subdir: osx-arm64 + url: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda + sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09 + md5: d96942c06c3e84bfcc5efb038724a7fd + depends: + - __osx >=11.0 + - libzlib >=1.2.13,<2.0.0a0 + license: BSD-3-Clause + license_family: BSD + purls: [] + size: 405089 + timestamp: 1714723101397 From f916d0ed5c17204fa8465e98882ca63630065233 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sun, 15 Sep 2024 01:07:44 -0700 Subject: [PATCH 20/28] testpr: use rattler-build. --- .github/testpr_environment.yml | 15 ------ .github/workflows/testpr.yml | 93 ++++++++++++++-------------------- 2 files changed, 39 insertions(+), 69 deletions(-) delete mode 100644 .github/testpr_environment.yml diff --git a/.github/testpr_environment.yml b/.github/testpr_environment.yml deleted file mode 100644 index 9e2cf9b8..00000000 --- a/.github/testpr_environment.yml +++ /dev/null @@ -1,15 +0,0 @@ -name: testpr_env -channels: - - robostack-staging - - conda-forge -dependencies: - - python 3.11.* - - pip - - boa - - conda-build <3.28 - - rospkg - - catkin_pkg >=0.4.16 - - ruamel.yaml >=0.16.6,<0.18 - - rosdistro >=0.8.0 - - empy >=3.3.4 - - networkx diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml index 49906636..b55a392f 100644 --- a/.github/workflows/testpr.yml +++ b/.github/workflows/testpr.yml @@ -14,6 +14,7 @@ jobs: matrix: os: [ubuntu-latest, macos-latest, macos-14, windows-2019] platform: [linux-64, linux-aarch64, osx-64, win-64, osx-arm64] + environment: [beta] exclude: - os: ubuntu-latest platform: win-64 @@ -46,25 +47,25 @@ jobs: - os: windows-2019 platform: osx-arm64 steps: + - 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: prefix-dev/setup-pixi@v0.8.1 + with: + environments: ${{ matrix.environment }} + frozen: true + # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816 - name: Clean up PATH if: contains(matrix.os, 'windows') uses: egor-tensin/cleanup-path@v4 with: # cygpath in C:\Program Files\Git\usr\bin is used by install micromamba - # git in C:\Program Files\Git\bin is used by pip install git+ + # git in C:\Program Files\Git\bin is used by pip install git+ dirs: 'C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\mingw64\bin' - - uses: actions/checkout@master - - name: install micromamba - uses: mamba-org/setup-micromamba@main - with: - environment-file: .github/testpr_environment.yml - condarc: | - channels: - - robostack-staging - - conda-forge - - shell: bash -l {0} if: matrix.platform == 'linux-aarch64' run: | @@ -81,17 +82,6 @@ jobs: sudo apt-get update sudo apt-get install -y libgl1-mesa-dev libglu1-mesa-dev libx11-dev libxi-dev libxmu-dev - - shell: bash -l {0} - run: | - conda config --show channels | grep defaults && conda config --remove channels defaults - conda info - conda config --show - micromamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4" boa - - name: install vinca - shell: bash -l {0} - run: | - # use no-deps for now, otherwise problems with ruamel. - pip install git+https://github.com/RoboStack/vinca.git --no-deps # For some reason, the Strawberry perl's pkg-config is found # instead of the conda's one, so let's delete the /c/Strawberry directory - name: Debug pkg-config problem @@ -121,82 +111,77 @@ jobs: shell: bash -l {0} if: steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64' run: | - git clean -fdx cp vinca_linux_64.yaml vinca.yaml - vinca --platform linux-64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-64 -m -n + ls -la recipes - name: Generate recipes for linux-aarch64 shell: bash -l {0} if: steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-aarch64' run: | - git clean -fdx cp vinca_linux_aarch64.yaml vinca.yaml - vinca --platform linux-aarch64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-aarch64 -m -n + ls -la recipes - name: Generate recipes for osx-64 shell: bash -l {0} if: steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.os == 'macos-latest' && matrix.platform == 'osx-64' run: | - git clean -fdx cp vinca_osx.yaml vinca.yaml - vinca --platform osx-64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-64 -m -n + ls -la recipes - name: Generate recipes for osx-arm64 shell: bash -l {0} if: steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.os == 'macos-14' && matrix.platform == 'osx-arm64' run: | - git clean -fdx cp vinca_osx_arm64.yaml vinca.yaml - vinca --platform osx-arm64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-arm64 -m -n + ls -la recipes - name: Generate recipes for win-64 shell: bash -l {0} if: steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.os == 'windows-2019' && matrix.platform == 'win-64' run: | - git clean -fdx cp vinca_win.yaml vinca.yaml - vinca --platform win-64 - ls - cat recipe.yaml + mkdir -p recipes + $HOME/.pixi/bin/pixi run -e beta -v vinca --platform win-64 -m -n + ls -la recipes cp vinca_win.yaml vinca.yaml - name: Check if there are packages to be built id: newrecipecheck shell: bash -l {0} run: | # continue on error set +e - grep -q "outputs: \[\]" recipe.yaml > /dev/null + test ! -d recipes echo "::set-output name=RECIPE_CREATED::${?}" - name: Build recipes for linux-64 shell: bash -l {0} - run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64' + run: | + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros2-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for linux-aarch64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-aarch64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=linux-aarch64 - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=linux-aarch64 + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros2-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for osx-64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.os == 'macos-latest' && matrix.platform == 'osx-64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros2-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for osx-arm64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.os == 'macos-14' && matrix.platform == 'osx-arm64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=osx-arm64 - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros2-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing - name: Build recipes for win-64 shell: bash -l {0} if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.os == 'windows-2019' && matrix.platform == 'win-64' run: | - boa build additional_recipes/ros2-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml - boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros2-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing + env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing From d75384841d32b84e0b63b540a499cc2de35287b2 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Wed, 9 Oct 2024 18:48:36 +0200 Subject: [PATCH 21/28] Add dependencies to de-vendor gz-* packages --- patch/dependencies.yaml | 58 ++++++++++++++++++++++++++++++++++++----- 1 file changed, 51 insertions(+), 7 deletions(-) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 8d86582e..98ddb26e 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -167,14 +167,58 @@ uncrustify_vendor: mimick_vendor: add_build: ["vcstool"] gz_cmake_vendor: - add_build: ["vcstool"] + # https://github.com/gazebo-release/gz_cmake_vendor/blob/jazzy/CMakeLists.txt#L6 for select the right major version + # (this is true for all gz-* vendor packages) or https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml + # See https://gazebosim.org/docs/latest/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations for mapping between ROS2 and Gazebo distros + add_host: ["gz-cmake3"] + add_run: ["gz-cmake3"] +gz_common_vendor: + add_host: ["gz-common5"] + add_run: ["gz-common5"] +gz_fuel_tools_vendor: + add_host: ["gz-fuel-tools9"] + add_run: ["gz-fuel-tools9"] +gz_sim_vendor: + add_host: ["gz-sim8"] + add_run: ["gz-sim8"] +gz_gui_vendor: + add_host: ["gz-gui8"] + add_run: ["gz-gui8"] +gz_launch_vendor: + add_host: ["gz-launch8"] + add_run: ["gz-launch8"] gz_math_vendor: - add_build: ["vcstool"] + add_host: ["gz-math7"] + add_run: ["gz-math7"] +gz_msgs_vendor: + add_host: ["gz-msgs8"] + add_run: ["gz-msgs8"] +gz_physics_vendor: + add_host: ["gz-physics7"] + add_run: ["gz-physics7"] +gz_plugin_vendor: + add_host: ["gz-plugin2"] + add_run: ["gz-plugin2"] +gz_rendering_vendor: + add_host: ["gz-rendering8"] + add_run: ["gz-rendering8"] +gz_sensors_vendor: + add_host: ["gz-sensors8"] + add_run: ["gz-sensors8"] +gz_tools_vendor: + add_host: ["gz-tools2"] + add_run: ["gz-tools2"] +gz_transport_vendor: + add_host: ["gz-transport8"] + add_run: ["gz-transport8"] gz_utils_vendor: add_build: ["vcstool"] -gz_common_vendor: - add_host: ["glib"] -gz_sim_vendor: - add_host: ["ffmpeg"] +sdformat_vendor: + add_host: ["sdformat14"] + add_run: ["sdformat14"] gz_dartsim_vendor: - add_host: ["ipopt", "nlopt", "pagmo"] + add_host: ["dartsim-cpp"] + add_run: ["dartsim-cpp"] +gz_ogre_next_vendor: + add_host: ["ogre-next"] + add_run: ["ogre-next"] From 420a27aed527c63e96a31fa5cd98ff1727256dc0 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Thu, 10 Oct 2024 00:02:53 -0700 Subject: [PATCH 22/28] WIP: build gazebo without vendoring. --- .../ros2-distro-mutex/recipe.yaml | 13 ++++++------- conda_build_config.yaml | 14 +++++++------- patch/dependencies.yaml | 19 ++++++++++--------- patch/ros-jazzy-gz-cmake-vendor.patch | 12 ++++++++++++ robostack.yaml | 2 ++ 5 files changed, 37 insertions(+), 23 deletions(-) create mode 100644 patch/ros-jazzy-gz-cmake-vendor.patch diff --git a/additional_recipes/ros2-distro-mutex/recipe.yaml b/additional_recipes/ros2-distro-mutex/recipe.yaml index e3a86b5e..227f8fe3 100644 --- a/additional_recipes/ros2-distro-mutex/recipe.yaml +++ b/additional_recipes/ros2-distro-mutex/recipe.yaml @@ -25,12 +25,12 @@ requirements: # values here should be applied from run_exports! # if the upstream package does not have run_exports # please change it in the conda_build_config.yaml! - run_constraints: - - libboost 1.84.* - - libboost-devel 1.84.* - - pcl 1.14.1.* - - gazebo 11.* - - libpqxx 7.* + # run_constraints: + # - libboost 1.86.* + # - libboost-devel 1.86.* + # - pcl 1.14.1.* + # - gazebo 11.* + # - libpqxx 7.* run_exports: weak: @@ -46,4 +46,3 @@ about: extra: recipe-maintainers: - ros-forge - diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 885efcb6..64d041e9 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -1,11 +1,11 @@ -gazebo: - - '11' -libpqxx: - - 7 +# gazebo: +# - '11' +# libpqxx: +# - 7 numpy: - 1.26 -ogre: - - 14.2.* +# ogre: +# - 14.2.* libprotobuf: - 4.25.3 protobuf: @@ -39,4 +39,4 @@ c_stdlib_version: # - 11.0 # [osx and arm64] # - 10.14 # [osx and x86_64] # CONDA_BUILD_SYSROOT: -# - /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk # [osx and arm64] \ No newline at end of file +# - /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk # [osx and arm64] diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index 98ddb26e..d5e1c39c 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -185,14 +185,14 @@ gz_gui_vendor: add_host: ["gz-gui8"] add_run: ["gz-gui8"] gz_launch_vendor: - add_host: ["gz-launch8"] - add_run: ["gz-launch8"] + add_host: ["gz-launch7"] + add_run: ["gz-launch7"] gz_math_vendor: add_host: ["gz-math7"] add_run: ["gz-math7"] gz_msgs_vendor: - add_host: ["gz-msgs8"] - add_run: ["gz-msgs8"] + add_host: ["gz-msgs10"] + add_run: ["gz-msgs10"] gz_physics_vendor: add_host: ["gz-physics7"] add_run: ["gz-physics7"] @@ -200,8 +200,8 @@ gz_plugin_vendor: add_host: ["gz-plugin2"] add_run: ["gz-plugin2"] gz_rendering_vendor: - add_host: ["gz-rendering8"] - add_run: ["gz-rendering8"] + add_host: ["gz-rendering8", "swig"] + add_run: ["gz-rendering8", "swig"] gz_sensors_vendor: add_host: ["gz-sensors8"] add_run: ["gz-sensors8"] @@ -209,10 +209,11 @@ gz_tools_vendor: add_host: ["gz-tools2"] add_run: ["gz-tools2"] gz_transport_vendor: - add_host: ["gz-transport8"] - add_run: ["gz-transport8"] + add_host: ["gz-transport13"] + add_run: ["gz-transport13"] gz_utils_vendor: - add_build: ["vcstool"] + add_host: ["gz-utils2"] + add_run: ["gz-utils2"] sdformat_vendor: add_host: ["sdformat14"] add_run: ["sdformat14"] diff --git a/patch/ros-jazzy-gz-cmake-vendor.patch b/patch/ros-jazzy-gz-cmake-vendor.patch new file mode 100644 index 00000000..485b25d6 --- /dev/null +++ b/patch/ros-jazzy-gz-cmake-vendor.patch @@ -0,0 +1,12 @@ +diff --git a/gz-cmake-config.cmake.in b/gz-cmake-config.cmake.in +index 56d06dd..c77c0b0 100644 +--- a/gz-cmake-config.cmake.in ++++ b/gz-cmake-config.cmake.in +@@ -1,5 +1,7 @@ + cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) + ++set(ENV{GZ_RELAX_VERSION_MATCH} "True") ++ + find_package(@LIB_NAME@@LIB_VER_MAJOR@ ${@LIB_NAME@_FIND_VERSION} REQUIRED COMPONENTS ${@LIB_NAME@_FIND_COMPONENTS}) + + # Set up the core library and add it to the list of all components diff --git a/robostack.yaml b/robostack.yaml index c7d7a250..dca9230b 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -190,6 +190,8 @@ libabsl-dev: robostack: [libabseil] libblas-dev: robostack: [libblas, libcblas] +libboost: + robostack: [libboost] libboost-chrono-dev: robostack: [libboost-devel] libboost-date-time: From 9f08062c5a98a3892a877823101ec39888a90876 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Thu, 10 Oct 2024 12:31:01 -0700 Subject: [PATCH 23/28] Fix setting GZ_RELAX_VERSION_MATCH. --- patch/ros-jazzy-gz-cmake-vendor.patch | 17 ++++++----------- 1 file changed, 6 insertions(+), 11 deletions(-) diff --git a/patch/ros-jazzy-gz-cmake-vendor.patch b/patch/ros-jazzy-gz-cmake-vendor.patch index 485b25d6..5d32b09d 100644 --- a/patch/ros-jazzy-gz-cmake-vendor.patch +++ b/patch/ros-jazzy-gz-cmake-vendor.patch @@ -1,12 +1,7 @@ -diff --git a/gz-cmake-config.cmake.in b/gz-cmake-config.cmake.in -index 56d06dd..c77c0b0 100644 ---- a/gz-cmake-config.cmake.in -+++ b/gz-cmake-config.cmake.in -@@ -1,5 +1,7 @@ - cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) - +diff --git a/gz_cmake_vendor-extras.cmake.in b/gz_cmake_vendor-extras.cmake.in +index d490202..7dc00ea 100644 +--- a/gz_cmake_vendor-extras.cmake.in ++++ b/gz_cmake_vendor-extras.cmake.in +@@ -1 +1,2 @@ +set(ENV{GZ_RELAX_VERSION_MATCH} "True") -+ - find_package(@LIB_NAME@@LIB_VER_MAJOR@ ${@LIB_NAME@_FIND_VERSION} REQUIRED COMPONENTS ${@LIB_NAME@_FIND_COMPONENTS}) - - # Set up the core library and add it to the list of all components + list(PREPEND CMAKE_PREFIX_PATH "@CMAKE_INSTALL_PREFIX@/opt/@PROJECT_NAME@/extra_cmake") From b9e6b4cd752bb87880c8c5c7dbfe9daa27d26323 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Thu, 10 Oct 2024 22:52:40 -0700 Subject: [PATCH 24/28] WIP: more de-vendoring effort. --- ...ros-jazzy-ament-cmake-vendor-package.patch | 34 +++++++++++++++++++ patch/ros-jazzy-gz-cmake-vendor.patch | 3 +- 2 files changed, 36 insertions(+), 1 deletion(-) diff --git a/patch/ros-jazzy-ament-cmake-vendor-package.patch b/patch/ros-jazzy-ament-cmake-vendor-package.patch index 2b4cb138..4a02afd0 100644 --- a/patch/ros-jazzy-ament-cmake-vendor-package.patch +++ b/patch/ros-jazzy-ament-cmake-vendor-package.patch @@ -2,6 +2,40 @@ diff --git a/cmake/ament_vendor.cmake b/cmake/ament_vendor.cmake index c9b963cd0..d23ff2aa2 100644 --- a/cmake/ament_vendor.cmake +++ b/cmake/ament_vendor.cmake +@@ -49,6 +49,14 @@ + # projects. + # :type GLOBAL_HOOK: option + # ++# Beside CMake macro options, the macro is also influenced by the following two ++# CMake options, that can be set at the CMake invocation for the project that ++# uses ament_vendor() macro: ++# * `FORCE_BUILD_VENDOR_PKG`: If ON build vendor packages from source, even if ++# system-installed packages are available ++# * `AMENT_VENDOR_NEVER_VENDOR`: If ON, raise an error if SATISFIED argument is ++# not true instead of building the vendored package ++# + # @public + # + macro(ament_vendor TARGET_NAME) +@@ -97,6 +105,18 @@ macro(ament_vendor TARGET_NAME) + "Build vendor packages from source, even if system-installed packages are available" + OFF) + ++ option(AMENT_VENDOR_NEVER_VENDOR ++ "If ON, raise an error if SATISFIED argument is not true instead of building the vendored package" ++ OFF) ++ ++ if(FORCE_BUILD_VENDOR_PKG AND AMENT_VENDOR_NEVER_VENDOR) ++ message(FATAL_ERROR "ament_vendor() cannot have both FORCE_BUILD_VENDOR_PKG and AMENT_VENDOR_NEVER_VENDOR options enabled") ++ endif() ++ ++ if(NOT _ARG_SATISFIED AND AMENT_VENDOR_NEVER_VENDOR) ++ message(FATAL_ERROR "ament_vendor() SATISFIED option is OFF and AMENT_VENDOR_NEVER_VENDOR is ON") ++ endif() ++ + if(NOT _ARG_SATISFIED OR FORCE_BUILD_VENDOR_PKG) + if(_ARG_SATISFIED) + message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied") @@ -245,6 +245,10 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_MODULE_PATH [=[${CMAKE_MODULE_PATH}]=] CACHE INTERNAL \"\")") endif() diff --git a/patch/ros-jazzy-gz-cmake-vendor.patch b/patch/ros-jazzy-gz-cmake-vendor.patch index 5d32b09d..30b3d86b 100644 --- a/patch/ros-jazzy-gz-cmake-vendor.patch +++ b/patch/ros-jazzy-gz-cmake-vendor.patch @@ -2,6 +2,7 @@ diff --git a/gz_cmake_vendor-extras.cmake.in b/gz_cmake_vendor-extras.cmake.in index d490202..7dc00ea 100644 --- a/gz_cmake_vendor-extras.cmake.in +++ b/gz_cmake_vendor-extras.cmake.in -@@ -1 +1,2 @@ +@@ -1 +1,3 @@ +set(ENV{GZ_RELAX_VERSION_MATCH} "True") ++set(AMENT_VENDOR_NEVER_VENDOR ON) list(PREPEND CMAKE_PREFIX_PATH "@CMAKE_INSTALL_PREFIX@/opt/@PROJECT_NAME@/extra_cmake") From 5fc634400b918e1789d86bf997c7fb07f49543d8 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Thu, 10 Oct 2024 22:53:02 -0700 Subject: [PATCH 25/28] WIP: use protobuf 5.27.5 --- conda_build_config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/conda_build_config.yaml b/conda_build_config.yaml index 64d041e9..eb808113 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -7,9 +7,9 @@ numpy: # ogre: # - 14.2.* libprotobuf: - - 4.25.3 + - 5.27.5 protobuf: - - 4.25.3 + - 5.27.5 cdt_name: - ${{ "cos7" if linux }} From e3a7dc57e87c1b9bf0ca418d00ef48d463482dfe Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Fri, 11 Oct 2024 12:00:33 -0700 Subject: [PATCH 26/28] Update .ci_support/conda_forge_pinnings.yaml to match authoritative upstream. The file .ci_support/conda_forge_pinnings.yaml does not dictate the which packages are used by RoboStack. vinca uses the file conda_build_config.yaml. The .ci_support/conda_forge_pinnings.yaml serves as a reference for compatible packages. --- .ci_support/conda_forge_pinnings.yaml | 464 +++++++++++++++----------- 1 file changed, 275 insertions(+), 189 deletions(-) diff --git a/.ci_support/conda_forge_pinnings.yaml b/.ci_support/conda_forge_pinnings.yaml index 927289f1..70ae8438 100644 --- a/.ci_support/conda_forge_pinnings.yaml +++ b/.ci_support/conda_forge_pinnings.yaml @@ -4,32 +4,44 @@ c_compiler: - vs2019 # [win and x86_64] - vs2022 # [win and arm64] c_compiler_version: # [unix] - - 12 # [linux] - - 16 # [osx] - - 10 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 13 # [linux] + - 17 # [osx] - 11 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 12 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] +c_stdlib: + - sysroot # [linux] + - macosx_deployment_target # [osx] + - vs # [win] +m2w64_c_stdlib: # [win] + - m2w64-toolchain # [win] +c_stdlib_version: # [unix] + - 2.17 # [linux] + - 2.17 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - 2.17 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - 10.13 # [osx and x86_64] + - 11.0 # [osx and arm64] cxx_compiler: - gxx # [linux] - clangxx # [osx] - vs2019 # [win and x86_64] - vs2022 # [win and arm64] cxx_compiler_version: # [unix] - - 12 # [linux] - - 16 # [osx] - - 10 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 13 # [linux] + - 17 # [osx] - 11 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 12 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] llvm_openmp: # [osx] - - 16 # [osx] + - 17 # [osx] fortran_compiler: # [unix or win64] - gfortran # [linux64 or (osx and x86_64)] - gfortran # [aarch64 or ppc64le or armv7l or s390x] - flang # [win64] fortran_compiler_version: # [unix or win64] - - 12 # [linux] - - 12 # [osx] + - 13 # [linux] + - 13 # [osx] - 5 # [win64] - - 10 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] - 11 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] + - 12 # [os.environ.get("CF_CUDA_ENABLED", "False") == "True" and linux] m2w64_c_compiler: # [win] - m2w64-toolchain # [win] m2w64_cxx_compiler: # [win] @@ -40,14 +52,13 @@ m2w64_fortran_compiler: # [win] cuda_compiler: - None - nvcc # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - - nvcc # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - cuda-nvcc # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] cuda_compiler_version: - None - - 11.2 # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - 11.8 # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - 12.0 # [(linux or win64) and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] cuda_compiler_version_min: - None # [osx] - - 11.2 # [linux or win64] - 11.8 # [linux or win64] arm_variant_type: # [aarch64] @@ -93,32 +104,29 @@ target_gobin: rust_compiler: - rust +# the numbers here are the Darwin Kernel version for macOS 10.9 & 11.0; +# this is used to form our target triple on osx, and nothing else. After +# we bumped the minimum macOS version to 10.13, this was left unchanged, +# since it is not essential, and long-term we'd like to remove the version. macos_machine: # [osx] - x86_64-apple-darwin13.4.0 # [osx and x86_64] - arm64-apple-darwin20.0.0 # [osx and arm64] MACOSX_DEPLOYMENT_TARGET: # [osx] - 11.0 # [osx and arm64] - - 10.9 # [osx and x86_64] + - 10.13 # [osx and x86_64] VERBOSE_AT: - V=1 VERBOSE_CM: - VERBOSE=1 -# dual build configuration channel_sources: - - conda-forge # [not s390x] - - https://conda-web.anaconda.org/conda-forge # [s390x] + - conda-forge channel_targets: - conda-forge main cdt_name: # [linux] - - cos6 # [linux64 and os.environ.get("DEFAULT_LINUX_VERSION", "cos6") == "cos6"] - - cos7 # [linux64 and os.environ.get("DEFAULT_LINUX_VERSION", "cos6") == "cos7"] - - cos7 # [linux and aarch64] - - cos7 # [linux and ppc64le] - - cos7 # [linux and armv7l] - - cos7 # [linux and s390x] + - cos7 # [linux] - cos7 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cos7 # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] @@ -130,15 +138,6 @@ docker_image: # [os.environ.get("BUILD_PLATFOR - quay.io/condaforge/linux-anvil-ppc64le # [os.environ.get("BUILD_PLATFORM") == "linux-ppc64le"] - quay.io/condaforge/linux-anvil-armv7l # [os.environ.get("BUILD_PLATFORM") == "linux-armv7l"] - # CUDA 11.2 - - quay.io/condaforge/linux-anvil-cuda:11.2 # [linux64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - # CUDA 11.2 arch: native compilation (build == target) - - quay.io/condaforge/linux-anvil-ppc64le-cuda:11.2 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-ppc64le"] - - quay.io/condaforge/linux-anvil-aarch64-cuda:11.2 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-aarch64"] - # CUDA 11.2 arch: cross-compilation (build != target) - - quay.io/condaforge/linux-anvil-cuda:11.2 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - - quay.io/condaforge/linux-anvil-cuda:11.2 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - # CUDA 11.8 - quay.io/condaforge/linux-anvil-cuda:11.8 # [linux64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] # CUDA 11.8 arch: native compilation (build == target) @@ -148,14 +147,28 @@ docker_image: # [os.environ.get("BUILD_PLATFOR - quay.io/condaforge/linux-anvil-cuda:11.8 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] - quay.io/condaforge/linux-anvil-cuda:11.8 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + # CUDA 12 + - quay.io/condaforge/linux-anvil-cos7-x86_64 # [linux64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + # case: native compilation (build == target) + - quay.io/condaforge/linux-anvil-ppc64le # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-ppc64le"] + - quay.io/condaforge/linux-anvil-aarch64 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-aarch64"] + # case: cross-compilation (build != target) + - quay.io/condaforge/linux-anvil-cos7-x86_64 # [ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + - quay.io/condaforge/linux-anvil-cos7-x86_64 # [aarch64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM") == "linux-64"] + zip_keys: + # For CUDA, c_stdlib_version/cdt_name is zipped below with the compilers. + - # [linux and os.environ.get("CF_CUDA_ENABLED", "False") != "True"] + - c_stdlib_version # [linux and os.environ.get("CF_CUDA_ENABLED", "False") != "True"] + - cdt_name # [linux and os.environ.get("CF_CUDA_ENABLED", "False") != "True"] - # [unix] - c_compiler_version # [unix] - cxx_compiler_version # [unix] - fortran_compiler_version # [unix] + - c_stdlib_version # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] + - cdt_name # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cuda_compiler # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cuda_compiler_version # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - - cdt_name # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - docker_image # [linux and os.environ.get("CF_CUDA_ENABLED", "False") == "True" and os.environ.get("BUILD_PLATFORM", "").startswith("linux-")] - # [win64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] - cuda_compiler # [win64 and os.environ.get("CF_CUDA_ENABLED", "False") == "True"] @@ -164,17 +177,9 @@ zip_keys: - python - numpy - python_impl - # transition until arrow_cpp can be dropped for arrow 13.x - - - arrow_cpp - libarrow - libarrow_all - # as of 4.23.x, libprotobuf requires patch-level run-exports; - # we couple it with grpc (which very roughly releases in sync) - # to reduce the migration pain for these two libs a bit. - - - - libgrpc - - libprotobuf # aarch64 specifics because conda-build sets many things to centos 6 @@ -190,22 +195,8 @@ cdt_arch: armv7l # [armv7l] BUILD: armv7-conda_cos7-linux-gnueabihf # [armv7l] pin_run_as_build: - # TODO: add run_exports to the following feedstocks - flann: - max_pin: x.x.x - graphviz: - max_pin: x - libsvm: - max_pin: x netcdf-cxx4: max_pin: x.x - occt: - max_pin: x.x - poppler: - max_pin: x.x - r-base: - max_pin: x.x - min_pin: x.x vlfeat: max_pin: x.x.x @@ -228,70 +219,82 @@ blas_impl: # this output was dropped as of libabseil 20230125 abseil_cpp: - '20220623.0' +ace: + - '8.0.1' alsa_lib: - - 1.2.10 + - '1.2' antic: - 0.2 aom: - - '3.7' + - '3.9' arb: - '2.23' arpack: - - '3.8' -# keep in sync with libarrow -arrow_cpp: - - 14 # does not exist; switch to libarrow - - 13 - - 12 - - 11.0.0 + - '3.9' assimp: - - 5.3.1 + - 5.4.2 attr: - 2.5 aws_c_auth: - - 0.7.11 + - 0.7.31 aws_c_cal: - - 0.6.9 + - 0.7.4 aws_c_common: - - 0.9.12 + - 0.9.28 aws_c_compression: - - 0.2.17 + - 0.2.19 # coupled to aws_c_common version bump, see # https://github.com/conda-forge/aws-c-http-feedstock/pull/109 aws_c_event_stream: - - 0.4.1 + - 0.4.3 aws_c_http: - - 0.8.0 + - 0.8.10 # the builds got coupled because 0.2.4 landed before the this migrator finished aws_c_io: - - 0.14.1 + - 0.14.18 # the builds got coupled because 0.2.4 landed before the io migrator aws_c_mqtt: - - 0.10.1 + - 0.10.7 aws_c_s3: - - 0.4.9 + - 0.6.6 aws_c_sdkutils: - - 0.1.13 + - 0.1.19 aws_checksums: - - 0.1.17 + - 0.1.20 aws_crt_cpp: - - 0.26.0 + - 0.28.3 aws_sdk_cpp: - - 1.11.210 + - 1.11.407 +azure_core_cpp: + - 1.13.0 +azure_identity_cpp: + - 1.9.0 +azure_storage_blobs_cpp: + - 12.13.0 +azure_storage_common_cpp: + - 12.8.0 +azure_storage_files_datalake_cpp: + - 12.12.0 +azure_storage_files_shares_cpp: + - 12.11.0 +azure_storage_queues_cpp: + - 12.4.0 bullet_cpp: - 3.25 bzip2: - 1 c_ares: - 1 +c_blosc2: + - '2.15' cairo: - 1 capnproto: - - 0.10.2 + - 1.0.2 ccr: - 1.3 cfitsio: - - 4.3.0 + - 4.3.1 coin_or_cbc: - 2.10 coincbc: @@ -309,7 +312,7 @@ console_bridge: cudnn: - 8 cutensor: - - 1 + - 2 curl: - 8 dav1d: @@ -323,9 +326,9 @@ dcap: eclib: - '20231211' elfutils: - - 0.189 + - '0.191' exiv2: - - 0.27 + - '0.28' expat: - 2 ffmpeg: @@ -335,7 +338,7 @@ fftw: flann: - 1.9.2 flatbuffers: - - 23.5.26 + - 24.3.25 fmt: - '10' fontconfig: @@ -343,31 +346,35 @@ fontconfig: freetype: - 2 gct: - - 6.2.1629922860 + - 6.2.1705709074 gf2x: - '1.3' gdk_pixbuf: - 2 gnuradio_core: - - 3.10.9 + - 3.10.11 gnutls: - - 3.7 + - '3.8' gsl: - 2.7 gsoap: - 2.8.123 gstreamer: - - '1.22' + - '1.24' gst_plugins_base: - - '1.22' + - '1.24' gdal: - - '3.8' + - '3.9' +libgdal: + - '3.9' +libgdal_core: + - '3.9' geos: - - 3.12.1 + - 3.12.2 geotiff: - - 1.7.1 + - 1.7.3 gfal2: - - '2.21' + - '2.23' gflags: - 2.2 giflib: @@ -377,43 +384,45 @@ glew: glib: - '2' glog: - - '0.6' + - '0.7' glpk: - '5.0' gmp: - 6 -# keep google_cloud_cpp in sync with libgoogle_cloud +# keep google_cloud_cpp in sync with libgoogle_cloud_* google_cloud_cpp: - - '2.12' + - '2.29' google_cloud_cpp_common: - 0.25.0 googleapis_cpp: - '0.10' graphviz: - - '9' + - '12' # this has been renamed to libgrpc as of 1.49; dropped as of 1.52. # IOW, this version is unavailable; makes the renaming more obvious grpc_cpp: - '1.52' harfbuzz: - - '8' + - '9' hdf4: - 4.2.15 hdf5: - 1.14.3 icu: - '73' +idyntree: + - '13' imath: - - 3.1.9 + - 3.1.12 ipopt: - - 3.14.13 + - 3.14.16 isl: - '0.26' jasper: - 4 jpeg: - 9 -lcms: +lcms2: - 2 lerc: - '4' @@ -422,46 +431,45 @@ libjpeg_turbo: libev: - 4.33 json_c: - - '0.17' + - '0.18' jsoncpp: - 1.9.5 kealib: - '1.5' krb5: - - '1.20' + - '1.21' ldas_tools_framecpp: - '2.9' libabseil: - - '20230802' + - '20240116' libabseil_static: - '20220623.0' libaec: - '1' libarchive: - '3.7' -# keep in sync with arrow_cpp (libarrow exists only from 10.x, -# but make sure we have same length for zip as arrow_cpp) libarrow: + - '17.0' + - '16.1' + - 15 - 14 - - 13 - - 12 - - 11.0.0 -# only exists as of arrow v14, but needs to have same length as libarrow libarrow_all: + - '17.0' + - '16.1' + - 15 - 14 - - 13 - - 12 - - 11.0.0 libavif: - - '1.0.1' + - 1 libblitz: - 1.0.2 libboost_devel: - - '1.82' + - '1.84' +libboost_headers: + - '1.84' libboost_python_devel: - - '1.82' + - '1.84' libcint: - - '5.5' + - '6.1' libcurl: - 8 libcrc32c: @@ -469,11 +477,11 @@ libcrc32c: libdap4: - 3.20.6 libdeflate: - - '1.19' + - '1.21' libduckdb_devel: - - '0.9.2' + - '1' libeantic: - - 1 + - '2' libevent: - 2.1.12 libexactreal: @@ -483,121 +491,174 @@ libffi: libflatsurf: - 3 libflint: - - '2.9' + - '3.0' libframel: - '8.41' -libgdal: - - '3.8' libgit2: - - '1.7' + - '1.8' # Keep in sync with google_cloud_cpp libgoogle_cloud: - - '2.12' + - '2.29' +libgoogle_cloud_devel: + - '2.29' +libgoogle_cloud_all_devel: + - '2.29' +libgoogle_cloud_aiplatform_devel: + - '2.29' +libgoogle_cloud_automl_devel: + - '2.29' +libgoogle_cloud_bigquery_devel: + - '2.29' +libgoogle_cloud_bigtable_devel: + - '2.29' +libgoogle_cloud_compute_devel: + - '2.29' +libgoogle_cloud_dialogflow_cx_devel: + - '2.29' +libgoogle_cloud_dialogflow_es_devel: + - '2.29' +libgoogle_cloud_discoveryengine_devel: + - '2.29' +libgoogle_cloud_dlp_devel: + - '2.29' +libgoogle_cloud_iam_devel: + - '2.29' +libgoogle_cloud_oauth2_devel: + - '2.29' +libgoogle_cloud_policytroubleshooter_devel: + - '2.29' +libgoogle_cloud_pubsub_devel: + - '2.29' +libgoogle_cloud_spanner_devel: + - '2.29' +libgoogle_cloud_speech_devel: + - '2.29' +libgoogle_cloud_storage_devel: + - '2.29' libgrpc: - - '1.59' + - "1.62" libhugetlbfs: - 2 +libhwloc: + - 2.11.1 libhwy: - - '1.0' + - '1.1' libiconv: - 1 libidn2: - 2 libintervalxt: - 3 +libitk_devel: + - 5.4 libkml: - 1.3 +libkml_devel: + - 1.3 libiio: - 0 +libitk_devel: + - 5.4 libmed: - '4.1' libmatio: - - 1.5.26 + - 1.5.27 libmatio_cpp: - - 0.2.3 + - 0.2.5 libmicrohttpd: - - 0.9 + - '1.0' libnetcdf: - 4.9.2 +libode: + - 0.16.2 libopencv: - - 4.9.0 + - 4.10.0 libopentelemetry_cpp: - - '1.13' + - '1.16' libosqp: - 0.6.3 libopenvino_dev: - - 2023.2.0 + - 2024.4.0 libpcap: - '1.10' libpng: - 1.6 libprotobuf: - - 4.24.4 + - 4.25.3 libpq: - '16' libraw: - '0.21' librdkafka: - - '2.2' + - '2.5' librsvg: - 2 libsecret: - 0.18 libsentencepiece: - - '0.1.99' + - 0.2.0 libsndfile: - '1.2' libsoup: - 3 libspatialindex: - - 1.9.3 + - 2.0.0 libssh: - 0.10 libssh2: - 1 libsvm: - - '332' + - '335' # keep libsqlite in sync with sqlite libsqlite: - 3 libtensorflow: - - 2.14 + - "2.16" libtensorflow_cc: - - 2.14 + - "2.16" libthrift: - - 0.18.1 + - 0.21.0 libtiff: - - '4.6' + - '4.7' +# keep in synch with pytorch +libtorch: + - '2.4' libunwind: - '1.6' libv8: - 8.9.83 +libvigra: + - '1.12' libvips: - 8 libwebp: - 1 libwebp_base: - 1 +libxcb: + - '1' libxml2: - 2 libxsmm: - 1 libuuid: - 2 +libyarp: + - 3.9.0 libzip: - 1 lmdb: - 0.9.29 log4cxx: - - 1.1.0 + - 1.2.0 lz4_c: - '1.9.3' lzo: - 2 metis: - - 5.1 + - 5.1.0 mimalloc: - - 2.1.2 + - 2.1.7 mkl: - '2023' mkl_devel: @@ -613,9 +674,9 @@ msgpack_c: msgpack_cxx: - 6 mumps_mpi: - - 5.2.1 + - 5.7.3 mumps_seq: - - 5.2.1 + - 5.7.3 nccl: - 2 ncurses: @@ -634,7 +695,7 @@ nss: nspr: - 4 nlopt: - - '2.7' + - '2.8' ntl: - '11.4.3' # we build for the oldest version possible of numpy for forward compatibility @@ -643,8 +704,8 @@ numpy: # part of a zip_keys: python, python_impl, numpy - 1.22 - 1.22 - - 1.22 - 1.23 + - 1.26 occt: - 7.7.2 openblas: @@ -652,105 +713,120 @@ openblas: openexr: - '3.2' openh264: - - 2.4.0 + - 2.4.1 openjpeg: - '2' openmpi: - 4 +openslide: + - 4 openssl: - '3' orc: - - 1.9.2 + - 2.0.2 pango: - - 1.50 + - '1' pari: - 2.15.* *_pthread pcl: - - 1.13.1 + - 1.14.1 perl: - 5.32.1 petsc: - - '3.20' + - '3.21' petsc4py: - - '3.20' + - '3.21' pugixml: - '1.14' slepc: - - '3.20' + - '3.21' slepc4py: - - '3.20' + - '3.21' svt_av1: - - 1.8.0 + - 2.2.1 p11_kit: - '0.24' pcre: - '8' pcre2: - - '10.42' + - '10.44' +pdal: + - 2.8.0 +libpdal: + - 2.8.0 +libpdal_core: + - 2.8.0 pixman: - 0 poco: - - 1.12.4 + - 1.13.3 poppler: - - '23.07' + - '24.08' postgresql: - '16' postgresql_plpython: - '16' proj: - - 9.3.1 + - '9.5' pulseaudio: - - '16.1' + - '17.0' pulseaudio_client: - - '16.1' + - '17.0' pulseaudio_daemon: - - '16.1' + - '17.0' pybind11_abi: - 4 python: # part of a zip_keys: python, python_impl, numpy - - 3.8.* *_cpython - 3.9.* *_cpython - 3.10.* *_cpython - 3.11.* *_cpython + - 3.12.* *_cpython python_impl: # part of a zip_keys: python, python_impl, numpy - cpython - cpython - cpython - cpython +is_freethreading: + - false +# Keep in sync with libtorch pytorch: - - '2.0' + - '2.4' pyqt: - 5.15 pyqtwebengine: - 5.15 pyqtchart: - 5.15 +qhull: + - 2020.2 +qpdf: + - 11 qt: - 5.15 qt_main: - 5.15 qt6_main: - - '6.6' + - '6.7' qtkeychain: - '0.14' rdma_core: - - '49' + - '53' re2: - - 2023.06.02 + - 2023.09.01 readline: - "8" rocksdb: - - '8.0' + - '9.1' root_base: - - 6.28.10 + - 6.30.4 + - 6.32.0 ruby: - 2.5 - 2.6 r_base: - 4.1 # [win] - - 4.2 # [not win] - 4.3 # [not win] libscotch: - 7.0.4 @@ -760,8 +836,12 @@ scotch: - 7.0.4 ptscotch: - 7.0.4 +s2geography: + - 0.1.2 +s2geometry: + - 0.11.1 s2n: - - 1.4.1 + - 1.5.5 sdl2: - '2' sdl2_image: @@ -773,9 +853,9 @@ sdl2_net: sdl2_ttf: - '2' singular: - - 4.3.2.p8 + - 4.4.0 snappy: - - 1 + - 1.2 soapysdr: - '0.8' sox: @@ -788,39 +868,45 @@ sqlite: srm_ifce: - 1.24.6 starlink_ast: - - '9.2.7' + - 9.2.11 suitesparse: - - 5 + - '7' superlu_dist: - - '8' + - '9' tbb: - '2021' tbb_devel: - '2021' tensorflow: - - '2.14' + - "2.16" thrift_cpp: - - 0.18.1 + - 0.21.0 tinyxml2: - - 10 + - '10' tk: - 8.6 # [not ppc64le] tiledb: - - '2.19' + - '2.26' +ucc: + - 1 ucx: - - '1.15.0' + - '1.17' uhd: - - 4.6.0 + - 4.7.0 urdfdom: - - 4 + - '4.0' vc: # [win] - 14 # [win] +vigra: + - '1.12' vlfeat: - 0.9.21 volk: - '3.1' vtk: - - 9.2.6 + - 9.3.0 +vtk_base: + - 9.3.0 wcslib: - '8' wxwidgets: @@ -840,8 +926,8 @@ zeromq: zfp: - 1.0 zlib: - - 1.2 + - 1 zlib_ng: - - 2.0 + - '2.2' zstd: - '1.5' From 977762e637d7fb669a3f115e87788606085cc34a Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sat, 12 Oct 2024 00:31:30 -0700 Subject: [PATCH 27/28] WIP: de-vendoring nearly complete. --- conda_build_config.yaml | 10 ++----- patch/ros-jazzy-gz-dartsim-vendor.patch | 25 +++++++++++++++++ patch/ros-jazzy-gz-fuel-tools-vendor.patch | 15 +++++++++++ patch/ros-jazzy-gz-gui-vendor.patch | 15 +++++++++++ patch/ros-jazzy-gz-ogre-next-vendor.patch | 31 ++++++++++++++++++++-- 5 files changed, 86 insertions(+), 10 deletions(-) create mode 100644 patch/ros-jazzy-gz-dartsim-vendor.patch create mode 100644 patch/ros-jazzy-gz-fuel-tools-vendor.patch create mode 100644 patch/ros-jazzy-gz-gui-vendor.patch diff --git a/conda_build_config.yaml b/conda_build_config.yaml index eb808113..579ba3f5 100644 --- a/conda_build_config.yaml +++ b/conda_build_config.yaml @@ -1,15 +1,9 @@ -# gazebo: -# - '11' -# libpqxx: -# - 7 numpy: - 1.26 -# ogre: -# - 14.2.* libprotobuf: - - 5.27.5 + - 4.25.3 protobuf: - - 5.27.5 + - 4.25.3 cdt_name: - ${{ "cos7" if linux }} diff --git a/patch/ros-jazzy-gz-dartsim-vendor.patch b/patch/ros-jazzy-gz-dartsim-vendor.patch new file mode 100644 index 00000000..820608f6 --- /dev/null +++ b/patch/ros-jazzy-gz-dartsim-vendor.patch @@ -0,0 +1,25 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 6b642f8..31cedab 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,10 +1,20 @@ + cmake_minimum_required(VERSION 3.10) + project(gz_dartsim_vendor) + ++# Project-specific settings ++set(LIB_VER_MAJOR 6) ++set(LIB_VER_MINOR 13) ++set(LIB_VER_PATCH 2) ++set(LIB_VER ${LIB_VER_MAJOR}.${LIB_VER_MINOR}.${LIB_VER_PATCH}) ++ + find_package(ament_cmake REQUIRED) + find_package(ament_cmake_vendor_package REQUIRED) + ++find_package(DART ${LIB_VER}) ++message(NOTICE "DART_FOUND" = ${DART_FOUND}) ++ + ament_vendor(${PROJECT_NAME} ++ SATISFIED ${DART_FOUND} + VCS_URL https://github.com/dartsim/dart.git + VCS_VERSION v6.13.2 + CMAKE_ARGS diff --git a/patch/ros-jazzy-gz-fuel-tools-vendor.patch b/patch/ros-jazzy-gz-fuel-tools-vendor.patch new file mode 100644 index 00000000..ed6266f1 --- /dev/null +++ b/patch/ros-jazzy-gz-fuel-tools-vendor.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index b084b2c..b2fc80d 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -4,8 +4,8 @@ project(gz_fuel_tools_vendor) + + # Project-specific settings + set(LIB_VER_MAJOR 9) +-set(LIB_VER_MINOR 1) +-set(LIB_VER_PATCH 0) ++set(LIB_VER_MINOR 0) ++set(LIB_VER_PATCH 3) + + # Derived variables + set(LIB_NAME gz-fuel_tools) diff --git a/patch/ros-jazzy-gz-gui-vendor.patch b/patch/ros-jazzy-gz-gui-vendor.patch new file mode 100644 index 00000000..d9ebdd68 --- /dev/null +++ b/patch/ros-jazzy-gz-gui-vendor.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a58d9a4..e6ea27e 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -4,8 +4,8 @@ project(gz_gui_vendor) + + # Project-specific settings + set(LIB_VER_MAJOR 8) +-set(LIB_VER_MINOR 3) +-set(LIB_VER_PATCH 0) ++set(LIB_VER_MINOR 1) ++set(LIB_VER_PATCH 1) + + # Derived variables + set(LIB_NAME gz-gui) diff --git a/patch/ros-jazzy-gz-ogre-next-vendor.patch b/patch/ros-jazzy-gz-ogre-next-vendor.patch index 68f4c819..6ec64771 100644 --- a/patch/ros-jazzy-gz-ogre-next-vendor.patch +++ b/patch/ros-jazzy-gz-ogre-next-vendor.patch @@ -1,8 +1,35 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index a904707..d3567a7 100644 +index a904707..7e1c41e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -33,8 +33,7 @@ ament_vendor(${PROJECT_NAME} +@@ -1,9 +1,18 @@ + cmake_minimum_required(VERSION 3.10) + project(gz_ogre_next_vendor) + ++# Project-specific settings ++set(LIB_VER_MAJOR 2) ++set(LIB_VER_MINOR 3) ++set(LIB_VER_PATCH 3) ++set(LIB_VER ${LIB_VER_MAJOR}.${LIB_VER_MINOR}.${LIB_VER_PATCH}) ++ + find_package(ament_cmake REQUIRED) + find_package(ament_cmake_vendor_package REQUIRED) + ++find_package(OGRE ${LIB_VER}) ++message(NOTICE "OGRE_FOUND" = ${OGRE}) ++ + set(EXTRA_CMAKE_FLAGS) + if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|ARM.*)") + # Flags for non SIMD architectures +@@ -12,6 +21,7 @@ if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|A + endif() + + ament_vendor(${PROJECT_NAME} ++ SATISFIED ${OGRE_FOUND} + VCS_URL https://github.com/OGRECave/ogre-next.git + VCS_VERSION v2.3.3 + CMAKE_ARGS +@@ -33,8 +43,7 @@ ament_vendor(${PROJECT_NAME} -DOGRE_VULKAN_WINDOW_XCB:BOOL=ON ${EXTRA_CMAKE_FLAGS} GLOBAL_HOOK From 23bcf6e3c9227bb69ec9c0653a2d69ab7e613710 Mon Sep 17 00:00:00 2001 From: Jacob Oursland Date: Sat, 12 Oct 2024 17:20:43 -0700 Subject: [PATCH 28/28] HACK: force de-vendoring of gz-dartsim and gz-ogre-next. --- patch/ros-jazzy-gz-dartsim-vendor.patch | 7 +++++-- patch/ros-jazzy-gz-ogre-next-vendor.patch | 11 +++++++---- 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/patch/ros-jazzy-gz-dartsim-vendor.patch b/patch/ros-jazzy-gz-dartsim-vendor.patch index 820608f6..4b7c3091 100644 --- a/patch/ros-jazzy-gz-dartsim-vendor.patch +++ b/patch/ros-jazzy-gz-dartsim-vendor.patch @@ -1,8 +1,8 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index 6b642f8..31cedab 100644 +index 6b642f8..3a93810 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -1,10 +1,20 @@ +@@ -1,10 +1,23 @@ cmake_minimum_required(VERSION 3.10) project(gz_dartsim_vendor) @@ -17,6 +17,9 @@ index 6b642f8..31cedab 100644 +find_package(DART ${LIB_VER}) +message(NOTICE "DART_FOUND" = ${DART_FOUND}) ++ ++# Hack ++set(DART_FOUND TRUE) + ament_vendor(${PROJECT_NAME} + SATISFIED ${DART_FOUND} diff --git a/patch/ros-jazzy-gz-ogre-next-vendor.patch b/patch/ros-jazzy-gz-ogre-next-vendor.patch index 6ec64771..124d088f 100644 --- a/patch/ros-jazzy-gz-ogre-next-vendor.patch +++ b/patch/ros-jazzy-gz-ogre-next-vendor.patch @@ -1,8 +1,8 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index a904707..7e1c41e 100644 +index a904707..e6b84cd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -1,9 +1,18 @@ +@@ -1,9 +1,21 @@ cmake_minimum_required(VERSION 3.10) project(gz_ogre_next_vendor) @@ -17,11 +17,14 @@ index a904707..7e1c41e 100644 +find_package(OGRE ${LIB_VER}) +message(NOTICE "OGRE_FOUND" = ${OGRE}) ++ ++# Hack ++set(OGRE_FOUND TRUE) + set(EXTRA_CMAKE_FLAGS) if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|ARM.*)") # Flags for non SIMD architectures -@@ -12,6 +21,7 @@ if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|A +@@ -12,6 +24,7 @@ if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|A endif() ament_vendor(${PROJECT_NAME} @@ -29,7 +32,7 @@ index a904707..7e1c41e 100644 VCS_URL https://github.com/OGRECave/ogre-next.git VCS_VERSION v2.3.3 CMAKE_ARGS -@@ -33,8 +43,7 @@ ament_vendor(${PROJECT_NAME} +@@ -33,8 +46,7 @@ ament_vendor(${PROJECT_NAME} -DOGRE_VULKAN_WINDOW_XCB:BOOL=ON ${EXTRA_CMAKE_FLAGS} GLOBAL_HOOK