diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml new file mode 100644 index 00000000..2a63532d --- /dev/null +++ b/.github/workflows/win.yml @@ -0,0 +1,933 @@ +jobs: + stage_0_job_0: + name: moveit-ros-occupancy-map-monitor rviz-visual-testing-framework moveit-simple-controller-manager + moveit-resources-prbt-ikfast-manipulator-plugin pilz-industrial-motion-planner-testutils + runs-on: windows-2019 + strategy: + fail-fast: false + needs: [] + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-ros-occupancy-map-monitor ros-humble-rviz-visual-testing-framework + ros-humble-moveit-simple-controller-manager ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin + ros-humble-pilz-industrial-motion-planner-testutils + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-ros-occupancy-map-monitor ros-humble-rviz-visual-testing-framework + ros-humble-moveit-simple-controller-manager ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin + ros-humble-pilz-industrial-motion-planner-testutils + stage_1_job_1: + name: moveit-ros-planning rviz-default-plugins moveit-plugins + runs-on: windows-2019 + strategy: + fail-fast: false + needs: + - stage_0_job_0 + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-ros-planning ros-humble-rviz-default-plugins + ros-humble-moveit-plugins + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-ros-planning ros-humble-rviz-default-plugins ros-humble-moveit-plugins + stage_2_job_2: + name: moveit-kinematics rviz2 moveit-ros-warehouse moveit-planners-ompl moveit-ros-robot-interaction + runs-on: windows-2019 + strategy: + fail-fast: false + needs: + - stage_1_job_1 + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-kinematics ros-humble-rviz2 ros-humble-moveit-ros-warehouse + ros-humble-moveit-planners-ompl ros-humble-moveit-ros-robot-interaction + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-kinematics ros-humble-rviz2 ros-humble-moveit-ros-warehouse + ros-humble-moveit-planners-ompl ros-humble-moveit-ros-robot-interaction + stage_3_job_3: + name: moveit-ros-move-group moveit-ros-benchmarks moveit-planners + runs-on: windows-2019 + strategy: + fail-fast: false + needs: + - stage_2_job_2 + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-ros-move-group ros-humble-moveit-ros-benchmarks + ros-humble-moveit-planners + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-ros-move-group ros-humble-moveit-ros-benchmarks + ros-humble-moveit-planners + stage_4_job_4: + name: moveit-ros-planning-interface moveit-resources-prbt-moveit-config moveit-ros-visualization + moveit-resources-prbt-pg70-support + runs-on: windows-2019 + strategy: + fail-fast: false + needs: + - stage_3_job_3 + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-ros-planning-interface ros-humble-moveit-resources-prbt-moveit-config + ros-humble-moveit-ros-visualization ros-humble-moveit-resources-prbt-pg70-support + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-ros-planning-interface ros-humble-moveit-resources-prbt-moveit-config + ros-humble-moveit-ros-visualization ros-humble-moveit-resources-prbt-pg70-support + stage_5_job_5: + name: moveit-setup-framework moveit-ros + runs-on: windows-2019 + strategy: + fail-fast: false + needs: + - stage_4_job_4 + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-setup-framework ros-humble-moveit-ros + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-setup-framework ros-humble-moveit-ros + stage_6_job_6: + name: moveit-setup-core-plugins moveit-setup-controllers moveit-setup-app-plugins + moveit-setup-srdf-plugins + runs-on: windows-2019 + strategy: + fail-fast: false + needs: + - stage_5_job_5 + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-setup-core-plugins ros-humble-moveit-setup-controllers + ros-humble-moveit-setup-app-plugins ros-humble-moveit-setup-srdf-plugins + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-setup-core-plugins ros-humble-moveit-setup-controllers + ros-humble-moveit-setup-app-plugins ros-humble-moveit-setup-srdf-plugins + stage_7_job_7: + name: moveit-setup-assistant moveit + runs-on: windows-2019 + strategy: + fail-fast: false + needs: + - stage_6_job_6 + env: + CONDA_BLD_PATH: C:\\bld\\ + steps: + - name: Checkout code + uses: actions/checkout@v4 + - uses: conda-incubator/setup-miniconda@v3 + with: + channels: conda-forge + miniforge-variant: Mambaforge + miniforge-version: latest + use-mamba: 'true' + channel-priority: 'true' + python-version: '3.11' + activate-environment: test + - run: mamba install -c conda-forge -n base --yes --quiet conda-build pip mamba + ruamel.yaml anaconda-client boa + name: Install conda-build, boa and activate environment + - uses: egor-tensin/cleanup-path@v4 + with: + dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program + Files\Git\mingw64\bin + - shell: cmd + run: | + set "CI=azure" + call activate base + + :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners + :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 + set CPU_COUNT=4 + + set PYTHONUNBUFFERED=1 + + conda config --set show_channel_urls true + conda config --set auto_update_conda false + conda config --set add_pip_as_python_dependency false + + call setup_x64 + + :: Set the conda-build working directory to a smaller path + if "%CONDA_BLD_PATH%" == "" ( + set "CONDA_BLD_PATH=C:\\bld\\" + ) + + :: On azure, there are libcrypto*.dll & libssl*.dll under + :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). + :: They would be found before the openssl libs of the conda environment, so we delete them. + if defined CI ( + DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) + DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) + ) + + :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage + set "PATH=%PATH:ostedtoolcache=%" + + mkdir "%CONDA%\\etc\\conda\\activate.d" + + echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%" > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "CPU_COUNT=%CPU_COUNT%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + echo set "PATH=%PATH%" >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat" + + conda info + conda config --show-sources + conda list --show-channel-urls + name: conda-forge build setup + - shell: cmd + run: | + setlocal EnableExtensions EnableDelayedExpansion + call %CONDA%\condabin\conda_hook.bat + call %CONDA%\condabin\conda.bat activate base + + echo "PATH is %PATH%" + echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%" + + rmdir /Q/S C:\Strawberry\ + rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" + + set "FEEDSTOCK_ROOT=%cd%" + + mkdir %CONDA_BLD_PATH% + call conda index %CONDA_BLD_PATH% + + rem call conda config --remove channels defaults + call conda config --add channels conda-forge + call conda config --add channels robostack-staging + call conda config --add channels %CONDA_BLD_PATH% + :: call conda config --set channel_priority strict + + :: Enable long path names on Windows + reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f + + :: conda remove --force m2-git + + for %%X in (%CURRENT_RECIPES%) do ( + echo "BUILDING RECIPE %%X" + cd %FEEDSTOCK_ROOT%\recipes\%%X\ + boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml + if errorlevel 1 exit 1 + ) + + anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force + if errorlevel 1 exit 1 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-moveit-setup-assistant ros-humble-moveit + PYTHONUNBUFFERED: 1 + name: Build ros-humble-moveit-setup-assistant ros-humble-moveit +name: build_win +on: + push: + branches: + - buildbranch_win diff --git a/activate.bat b/activate.bat new file mode 100644 index 00000000..48ff1d71 --- /dev/null +++ b/activate.bat @@ -0,0 +1,15 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@REM Don't do anything when we are in conda build. +@if defined SYS_PREFIX exit /b 0 + +@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins" + +@call "%CONDA_PREFIX%\Library\local_setup.bat" +@set PYTHONHOME= +@set "ROS_OS_OVERRIDE=conda:win64" +@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros" +@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library" +@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe" diff --git a/activate.ps1 b/activate.ps1 new file mode 100644 index 00000000..137e67ae --- /dev/null +++ b/activate.ps1 @@ -0,0 +1,16 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($null -eq ${env:CONDA_PREFIX}) { Exit } + +# Don't do anything when we are in conda build. +if ($null -ne ${env:SYS_PREFIX}) { Exit 0 } + +$Env:QT_PLUGIN_PATH="${env:CONDA_PREFIX}\Library\plugins" + +& "${env:CONDA_PREFIX}\Library\local_setup.ps1" + +$Env:PYTHONHOME='' +$Env:ROS_OS_OVERRIDE='conda:win64' +$Env:ROS_ETC_DIR="${env:CONDA_PREFIX}\Library\etc\ros" +$Env:AMENT_PREFIX_PATH="${env:CONDA_PREFIX}\Library" +$Env:AMENT_PYTHON_EXECUTABLE="${env:CONDA_PREFIX}\python.exe" diff --git a/activate.sh b/activate.sh new file mode 100644 index 00000000..aece9708 --- /dev/null +++ b/activate.sh @@ -0,0 +1,26 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +# if [ -z "${CONDA_PREFIX}" ]; then +# exit 0; +# fi + +# Not sure if this is necessary on UNIX? +# export QT_PLUGIN_PATH=$CONDA_PREFIX\plugins + +if [ "$CONDA_BUILD" = "1" -a "$target_platform" != "$build_platform" ]; then + # ignore sourcing + echo "Not activating ROS when cross-compiling"; +else + source $CONDA_PREFIX/setup.sh +fi + +case "$OSTYPE" in + darwin*) export ROS_OS_OVERRIDE="conda:osx"; export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp";; + linux*) export ROS_OS_OVERRIDE="conda:linux";; +esac + +export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros +export AMENT_PREFIX_PATH=$CONDA_PREFIX + +# Looks unnecessary for UNIX +# unset PYTHONHOME= diff --git a/bld_ament_cmake.bat b/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/bld_ament_python.bat b/bld_ament_python.bat new file mode 100644 index 00000000..45dc369d --- /dev/null +++ b/bld_ament_python.bat @@ -0,0 +1,25 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +pushd %SRC_DIR%\%PKG_NAME%\src\work +set "PKG_NAME_SHORT=%PKG_NAME:*ros-humble-=%" +set "PKG_NAME_SHORT=%PKG_NAME_SHORT:-=_%" + +:: If there is a setup.cfg that contains install-scripts then use pip to install +findstr install[-_]scripts setup.cfg +if "%errorlevel%" == "0" ( + %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^ + --prefix=%LIBRARY_PREFIX% ^ + --install-lib=%SP_DIR% ^ + --install-scripts=%LIBRARY_PREFIX%\lib\%PKG_NAME_SHORT% +) else ( + %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^ + --prefix=%LIBRARY_PREFIX% ^ + --install-lib=%SP_DIR% ^ + --install-scripts=%LIBRARY_PREFIX%\bin +) + +if errorlevel 1 exit 1 diff --git a/bld_catkin.bat b/bld_catkin.bat new file mode 100644 index 00000000..efd58be2 --- /dev/null +++ b/bld_catkin.bat @@ -0,0 +1,81 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin +:: if ROS (1) is build as shared library . However, some packages are not +:: passing compilation flags from CMake to other build systems (such as qmake), +:: so we enable it explicitly via the CL environment variable, see +:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170 +set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1 + +set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1" +if "%PKG_NAME%" == "ros-humble-catkin" ( + :: create catkin cookie to make it is a catkin workspace + type NUL > %LIBRARY_PREFIX%\.catkin + :: keep the workspace activation scripts (e.g., local_setup.bat) + set CATKIN_BUILD_BINARY_PACKAGE_ARGS= +) + +rd /s /q build +mkdir build +pushd build + +set SKIP_TESTING=ON + +cmake ^ + -G "Ninja" ^ + --compile-no-warning-as-error ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^ + -DBUILD_SHARED_LIBS=ON ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBoost_USE_STATIC_LIBS=OFF ^ + %CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^ + -DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +if "%PKG_NAME%" == "ros-humble-eigenpy" ( + cmake --build . --config Release --target all --parallel 1 + if errorlevel 1 exit 1 +) else ( + cmake --build . --config Release --target all + if errorlevel 1 exit 1 +) + +if "%SKIP_TESTING%" == "OFF" ( + cmake --build . --config Release --target run_tests + if errorlevel 1 exit 1 +) + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 + +if "%PKG_NAME%" == "ros-humble-catkin" ( + :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. + :: This will allow them to be run on environment activation. + for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat + ) +) + +if "%PKG_NAME%" == "ros-humble-ros-workspace" ( + :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. + :: This will allow them to be run on environment activation. + for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat + copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1 + ) +) diff --git a/bld_catkin_merge.bat b/bld_catkin_merge.bat new file mode 100644 index 00000000..bdff573b --- /dev/null +++ b/bld_catkin_merge.bat @@ -0,0 +1,34 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin +:: if ROS (1) is build as shared library . However, some packages are not +:: passing compilation flags from CMake to other build systems (such as qmake), +:: so we enable it explicitly via the CL environment variable, see +:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170 +set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1 + +set CATKIN_MAKE_ISOLATED=src\ros-humble-catkin\bin\catkin_make_isolated +set CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH:\=/% + +%PYTHON% %CATKIN_MAKE_ISOLATED% ^ + --install-space %LIBRARY_PREFIX% ^ + --use-ninja ^ + --install ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DBUILD_SHARED_LIBS=ON ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DCATKIN_SKIP_TESTING=ON +if errorlevel 1 exit 1 + +:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. +:: This will allow them to be run on environment activation. +for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat +) diff --git a/bld_colcon_merge.bat b/bld_colcon_merge.bat new file mode 100644 index 00000000..c5189ae1 --- /dev/null +++ b/bld_colcon_merge.bat @@ -0,0 +1,29 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +colcon build ^ + --event-handlers console_cohesion+ ^ + --merge-install ^ + --install-base %LIBRARY_PREFIX% ^ + --cmake-args ^ + --compile-no-warning-as-error ^ + -G Ninja ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DBUILD_TESTING=OFF ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + -DPYTHON_EXECUTABLE=%PYTHON% +if errorlevel 1 exit 1 + +:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. +:: This will allow them to be run on environment activation. +for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat +) diff --git a/build_ament_cmake.sh b/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/build_ament_python.sh b/build_ament_python.sh new file mode 100644 index 00000000..c5dfca24 --- /dev/null +++ b/build_ament_python.sh @@ -0,0 +1,17 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +pushd $SRC_DIR/$PKG_NAME/src/work + +# If there is a setup.cfg that contains install-scripts then we should not set it here +if [ -f setup.cfg ] && grep -q "install[-_]scripts" setup.cfg; then + # Remove e.g. ros-humble- from PKG_NAME + PKG_NAME_SHORT=${PKG_NAME#*ros-humble-} + # Substitute "-" with "_" + PKG_NAME_SHORT=${PKG_NAME_SHORT//-/_} + INSTALL_SCRIPTS_ARG="--install-scripts=$PREFIX/lib/$PKG_NAME_SHORT" + echo "WARNING: setup.cfg not set, will set INSTALL_SCRIPTS_ARG to: $INSTALL_SCRIPTS_ARG" + $PYTHON setup.py install --prefix="$PREFIX" --install-lib="$SP_DIR" $INSTALL_SCRIPTS_ARG --single-version-externally-managed --record=files.txt +else + $PYTHON -m pip install . --no-deps -vvv +fi diff --git a/build_catkin.sh b/build_catkin.sh new file mode 100644 index 00000000..036f3803 --- /dev/null +++ b/build_catkin.sh @@ -0,0 +1,123 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +CATKIN_BUILD_BINARY_PACKAGE="ON" + +if [ "${PKG_NAME}" == "ros-humble-catkin" ]; then + # create catkin cookie to make it is a catkin workspace + touch $PREFIX/.catkin + # keep the workspace activation scripts (e.g., local_setup.bat) + CATKIN_BUILD_BINARY_PACKAGE="OFF" +fi + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python $ROS_PYTHON_VERSION" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true + # way around bad CPU type issues + # rm $PREFIX/bin/doxygen || echo "doxygen not found" + # rm $PREFIX/bin/dia || echo "dia not found" + # rm $PREFIX/bin/dot || echo "dot not found" +fi + +# NOTE: there might be undefined references occurring +# in the Boost.system library, depending on the C++ versions +# used to compile Boost. We can avoid them by forcing the use of +# the header-only version of the library. +export CXXFLAGS="$CXXFLAGS -DBOOST_ERROR_CODE_HEADER_ONLY" + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="$CFLAGS -D__STDC_FORMAT_MACROS=1"; + export CXXFLAGS="$CXXFLAGS -D__STDC_FORMAT_MACROS=1"; + # I am too scared to turn this on for now ... + # export LDFLAGS="$LDFLAGS -lrt"; + # Some qt stuff uses g++ directly - fix these use cases + ln -s $GXX $BUILD_PREFIX/bin/g++ +fi + +export SKIP_TESTING=ON + +cmake ${CMAKE_ARGS} --compile-no-warning-as-error \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \ + -DCMAKE_FIND_FRAMEWORK=LAST \ + -DBUILD_SHARED_LIBS=ON \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCATKIN_BUILD_BINARY_PACKAGE=$CATKIN_BUILD_BINARY_PACKAGE \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + -G "Ninja" \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target all + +if [[ "$SKIP_TESTING" == "OFF" ]]; then + cmake --build . --config Release --target run_tests +fi + +cmake --build . --config Release --target install + +if [ "${PKG_NAME}" == "ros-humble-catkin" ]; then + # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d. + # This will allow them to be run on environment activation. + for CHANGE in "activate" "deactivate" + do + mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d" + cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh" + done +fi + +if [ "${PKG_NAME}" == "ros-humble-environment" ]; then + for SCRIPT in "1.ros_distro.sh" "1.ros_etc_dir.sh" "1.ros_package_path.sh" "1.ros_python_version.sh" "1.ros_version.sh" + do + mkdir -p "${PREFIX}/etc/conda/activate.d" + cp "${PREFIX}/etc/catkin/profile.d/${SCRIPT}" "${PREFIX}/etc/conda/activate.d/${SCRIPT}" + done +fi + +if [ "${PKG_NAME}" == "ros-humble-ros-workspace" ]; then + # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d. + # This will allow them to be run on environment activation. + for CHANGE in "activate" "deactivate" + do + mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d" + cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh" + done +fi diff --git a/buildorder.txt b/buildorder.txt new file mode 100644 index 00000000..86908172 --- /dev/null +++ b/buildorder.txt @@ -0,0 +1,28 @@ +ros-humble-moveit-ros-occupancy-map-monitor +ros-humble-rviz-visual-testing-framework +ros-humble-moveit-simple-controller-manager +ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin +ros-humble-pilz-industrial-motion-planner-testutils +ros-humble-moveit-ros-planning +ros-humble-rviz-default-plugins +ros-humble-moveit-plugins +ros-humble-moveit-kinematics +ros-humble-rviz2 +ros-humble-moveit-ros-warehouse +ros-humble-moveit-planners-ompl +ros-humble-moveit-ros-robot-interaction +ros-humble-moveit-ros-move-group +ros-humble-moveit-ros-benchmarks +ros-humble-moveit-planners +ros-humble-moveit-ros-planning-interface +ros-humble-moveit-resources-prbt-moveit-config +ros-humble-moveit-ros-visualization +ros-humble-moveit-resources-prbt-pg70-support +ros-humble-moveit-setup-framework +ros-humble-moveit-ros +ros-humble-moveit-setup-core-plugins +ros-humble-moveit-setup-controllers +ros-humble-moveit-setup-app-plugins +ros-humble-moveit-setup-srdf-plugins +ros-humble-moveit-setup-assistant +ros-humble-moveit \ No newline at end of file diff --git a/deactivate.bat b/deactivate.bat new file mode 100644 index 00000000..6de79cca --- /dev/null +++ b/deactivate.bat @@ -0,0 +1,18 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@set ROS_OS_OVERRIDE= +@set ROS_DISTRO= +@set ROS_ETC_DIR= +@set ROS_PACKAGE_PATH= +@set ROS_PYTHON_VERSION= +@set ROS_VERSION= +@set PYTHONHOME= +@set PYTHONPATH= +@set CMAKE_PREFIX_PATH= +@set AMENT_PREFIX_PATH= +@set COLCON_PREFIX_PATH= +@set QT_PLUGIN_PATH= +@set ROS_LOCALHOST_ONLY= +@set ament_python_executable= diff --git a/deactivate.ps1 b/deactivate.ps1 new file mode 100644 index 00000000..9db51e1c --- /dev/null +++ b/deactivate.ps1 @@ -0,0 +1,18 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($null -eq ${env:CONDA_PREFIX}) { Exit } + +$Env:ROS_OS_OVERRIDE='' +$Env:ROS_DISTRO='' +$Env:ROS_ETC_DIR='' +$Env:ROS_PACKAGE_PATH='' +$Env:ROS_PYTHON_VERSION='' +$Env:ROS_VERSION='' +$Env:PYTHONHOME='' +$Env:PYTHONPATH='' +$Env:CMAKE_PREFIX_PATH='' +$Env:AMENT_PREFIX_PATH='' +$Env:COLCON_PREFIX_PATH='' +$Env:QT_PLUGIN_PATH='' +$Env:ROS_LOCALHOST_ONLY='' +$Env:ament_python_executable='' diff --git a/deactivate.sh b/deactivate.sh new file mode 100644 index 00000000..87d4d835 --- /dev/null +++ b/deactivate.sh @@ -0,0 +1,21 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if [ -z "${CONDA_PREFIX}" ]; then + exit 0 +fi + +unset ROS_DISTRO +unset ROS_ETC_DIR +unset ROS_PACKAGE_PATH +unset ROS_PYTHON_VERSION +unset CMAKE_PREFIX_PATH +unset AMENT_PREFIX_PATH +unset COLCON_PREFIX_PATH +unset ROS_VERSION +unset ROS_OS_OVERRIDE +# unset PYTHONPATH +# unset PYTHONHOME +# unset QT_PLUGIN_PATH +unset ROS_LOCALHOST_ONLY +unset ament_python_executable +unset RMW_IMPLEMENTATION diff --git a/recipes/ros-humble-moveit-kinematics/bld_ament_cmake.bat b/recipes/ros-humble-moveit-kinematics/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-kinematics/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-kinematics/build_ament_cmake.sh b/recipes/ros-humble-moveit-kinematics/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-kinematics/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-kinematics/patch/ros-humble-moveit-kinematics.patch b/recipes/ros-humble-moveit-kinematics/patch/ros-humble-moveit-kinematics.patch new file mode 100644 index 00000000..b155e5a4 --- /dev/null +++ b/recipes/ros-humble-moveit-kinematics/patch/ros-humble-moveit-kinematics.patch @@ -0,0 +1,53 @@ +diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h +index b1120c3864..a5a710e030 100644 +--- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h ++++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h +@@ -89,7 +89,7 @@ class GreedyKCenters + centers.clear(); + centers.reserve(k); + if (((long unsigned int)dists.rows()) < data.size() || ((long unsigned int)dists.cols()) < k) +- dists.resize(std::max(2 * ((long unsigned int)dists.rows()) + 1, data.size()), k); ++ dists.resize(std::max(2 * ((long unsigned int)dists.rows()) + 1, (long unsigned int)data.size()), k); + // first center is picked randomly + centers.push_back(std::uniform_int_distribution{ 0, data.size() - 1 }(generator_)); + for (unsigned i = 1; i < k; ++i) +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 88472a2818..dcbb3ad9ea 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,6 +1,8 @@ + cmake_minimum_required(VERSION 3.22) + project(moveit_kinematics) + ++add_definitions(-DNOMINMAX) ++ + # Common cmake code applied to all moveit packages + find_package(moveit_common REQUIRED) + moveit_package() +diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h +index 49a02b9d6b..e8142e5711 100644 +--- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h ++++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h +@@ -551,7 +551,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T> + std::vector permutation(children_.size()); + for (unsigned int i = 0; i < permutation.size(); ++i) + permutation[i] = i; +- std::random_shuffle(permutation.begin(), permutation.end()); ++ std::random_device rng; ++ std::mt19937 urng(rng()); ++ std::shuffle(permutation.begin(), permutation.end(), urng); + + for (unsigned int i = 0; i < children_.size(); ++i) + if (permutation[i] >= 0) +@@ -605,7 +607,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T> + std::vector permutation(children_.size()); + for (unsigned int i = 0; i < permutation.size(); ++i) + permutation[i] = i; +- std::random_shuffle(permutation.begin(), permutation.end()); ++ std::random_device rng; ++ std::mt19937 urng(rng()); ++ std::shuffle(permutation.begin(), permutation.end(), urng); + + for (unsigned int i = 0; i < children_.size(); ++i) + if (permutation[i] >= 0) + diff --git a/recipes/ros-humble-moveit-kinematics/recipe.yaml b/recipes/ros-humble-moveit-kinematics/recipe.yaml new file mode 100644 index 00000000..e3dd0fee --- /dev/null +++ b/recipes/ros-humble-moveit-kinematics/recipe.yaml @@ -0,0 +1,86 @@ +package: + name: ros-humble-moveit-kinematics + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_kinematics/2.5.5-1 + folder: ros-humble-moveit-kinematics/src/work + patches: + - patch/ros-humble-moveit-kinematics.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - eigen + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-class-loader + - ros-humble-launch-param-builder + - ros-humble-moveit-common + - ros-humble-moveit-configs-utils + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-moveit-resources-fanuc-description + - ros-humble-moveit-resources-fanuc-moveit-config + - ros-humble-moveit-resources-panda-description + - ros-humble-moveit-resources-panda-moveit-config + - ros-humble-moveit-ros-planning + - ros-humble-orocos-kdl-vendor + - ros-humble-pluginlib + - ros-humble-ros-environment + - ros-humble-ros-testing + - ros-humble-ros-workspace + - ros-humble-tf2 + - ros-humble-tf2-kdl + - ros2-distro-mutex 0.5 humble + run: + - eigen + - lxml + - python + - ros-humble-class-loader + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-orocos-kdl-vendor + - ros-humble-pluginlib + - ros-humble-ros-workspace + - ros-humble-tf2 + - ros-humble-tf2-kdl + - ros-humble-urdfdom + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-planners-ompl/bld_ament_cmake.bat b/recipes/ros-humble-moveit-planners-ompl/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-planners-ompl/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-planners-ompl/build_ament_cmake.sh b/recipes/ros-humble-moveit-planners-ompl/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-planners-ompl/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-planners-ompl/patch/ros-humble-moveit-planners-ompl.patch b/recipes/ros-humble-moveit-planners-ompl/patch/ros-humble-moveit-planners-ompl.patch new file mode 100644 index 00000000..bd45f39f --- /dev/null +++ b/recipes/ros-humble-moveit-planners-ompl/patch/ros-humble-moveit-planners-ompl.patch @@ -0,0 +1,18 @@ +diff --git a/ompl_interface/CMakeLists.txt b/ompl_interface/CMakeLists.txt +index ff71c07c..0d0aef71 100644 +--- a/ompl_interface/CMakeLists.txt ++++ b/ompl_interface/CMakeLists.txt +@@ -24,7 +24,12 @@ add_library(${MOVEIT_LIB_NAME} SHARED + ) + set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") + +-find_package(OpenMP REQUIRED) ++if(APPLE) ++ find_package(OpenMP) ++ set(OpenMP_CXX_FLAGS "-fopenmp") ++else() ++ find_package(OpenMP REQUIRED) ++endif() + + # Used to link in ODE, an OMPL dependency, on macOS + if(APPLE) diff --git a/recipes/ros-humble-moveit-planners-ompl/recipe.yaml b/recipes/ros-humble-moveit-planners-ompl/recipe.yaml new file mode 100644 index 00000000..9fd62bb9 --- /dev/null +++ b/recipes/ros-humble-moveit-planners-ompl/recipe.yaml @@ -0,0 +1,81 @@ +package: + name: ros-humble-moveit-planners-ompl + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_planners_ompl/2.5.5-1 + folder: ros-humble-moveit-planners-ompl/src/work + patches: + - patch/ros-humble-moveit-planners-ompl.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - eigen + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-eigen3-cmake-module + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-moveit-resources-fanuc-moveit-config + - ros-humble-moveit-resources-panda-moveit-config + - ros-humble-moveit-resources-pr2-description + - ros-humble-moveit-ros-planning + - ros-humble-ompl + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-moveit-ros-planning + - ros-humble-ompl + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-planners/bld_ament_cmake.bat b/recipes/ros-humble-moveit-planners/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-planners/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-planners/build_ament_cmake.sh b/recipes/ros-humble-moveit-planners/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-planners/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-planners/recipe.yaml b/recipes/ros-humble-moveit-planners/recipe.yaml new file mode 100644 index 00000000..b0a9ee78 --- /dev/null +++ b/recipes/ros-humble-moveit-planners/recipe.yaml @@ -0,0 +1,56 @@ +package: + name: ros-humble-moveit-planners + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_planners/2.5.5-1 + folder: ros-humble-moveit-planners/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-planners-ompl + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-plugins/bld_ament_cmake.bat b/recipes/ros-humble-moveit-plugins/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-plugins/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-plugins/build_ament_cmake.sh b/recipes/ros-humble-moveit-plugins/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-plugins/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-plugins/recipe.yaml b/recipes/ros-humble-moveit-plugins/recipe.yaml new file mode 100644 index 00000000..f1024a4a --- /dev/null +++ b/recipes/ros-humble-moveit-plugins/recipe.yaml @@ -0,0 +1,56 @@ +package: + name: ros-humble-moveit-plugins + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_plugins/2.5.5-1 + folder: ros-humble-moveit-plugins/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-simple-controller-manager + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/bld_ament_cmake.bat b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/build_ament_cmake.sh b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/patch/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin.patch b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/patch/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin.patch new file mode 100644 index 00000000..ed083dfc --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/patch/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin.patch @@ -0,0 +1,21 @@ +diff --git a/src/prbt_manipulator_ikfast_moveit_plugin.cpp b/src/prbt_manipulator_ikfast_moveit_plugin.cpp +index 7479184c..4151126f 100644 +--- a/src/prbt_manipulator_ikfast_moveit_plugin.cpp ++++ b/src/prbt_manipulator_ikfast_moveit_plugin.cpp +@@ -805,13 +805,15 @@ bool IKFastKinematicsPlugin::getPositionFK(const std::vector& link_ + return false; + } + +- IkReal angles[num_joints_]; ++ IkReal* angles = new IkReal[num_joints_]; + for (unsigned char i = 0; i < num_joints_; i++) + angles[i] = joint_angles[i]; + + // IKFast56/61 + ComputeFk(angles, eetrans, eerot); + ++ delete[] angles; ++ + for (int i = 0; i < 3; ++i) + p_out.p.data[i] = eetrans[i]; + diff --git a/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/recipe.yaml b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/recipe.yaml new file mode 100644 index 00000000..7e0bfa7e --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/recipe.yaml @@ -0,0 +1,67 @@ +package: + name: ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_resources_prbt_ikfast_manipulator_plugin/2.5.5-1 + folder: ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin/src/work + patches: + - patch/ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-moveit-core + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros-humble-tf2-eigen-kdl + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-kdl + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-core + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-kdl + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-resources-prbt-moveit-config/bld_ament_cmake.bat b/recipes/ros-humble-moveit-resources-prbt-moveit-config/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-moveit-config/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-resources-prbt-moveit-config/build_ament_cmake.sh b/recipes/ros-humble-moveit-resources-prbt-moveit-config/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-moveit-config/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-resources-prbt-moveit-config/recipe.yaml b/recipes/ros-humble-moveit-resources-prbt-moveit-config/recipe.yaml new file mode 100644 index 00000000..6d9cb039 --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-moveit-config/recipe.yaml @@ -0,0 +1,60 @@ +package: + name: ros-humble-moveit-resources-prbt-moveit-config + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_resources_prbt_moveit_config/2.5.5-1 + folder: ros-humble-moveit-resources-prbt-moveit-config/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-joint-state-publisher + - ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin + - ros-humble-moveit-resources-prbt-support + - ros-humble-moveit-ros-move-group + - ros-humble-robot-state-publisher + - ros-humble-ros-workspace + - ros-humble-rviz2 + - ros-humble-xacro + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-resources-prbt-pg70-support/bld_ament_cmake.bat b/recipes/ros-humble-moveit-resources-prbt-pg70-support/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-pg70-support/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-resources-prbt-pg70-support/build_ament_cmake.sh b/recipes/ros-humble-moveit-resources-prbt-pg70-support/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-pg70-support/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-resources-prbt-pg70-support/recipe.yaml b/recipes/ros-humble-moveit-resources-prbt-pg70-support/recipe.yaml new file mode 100644 index 00000000..5ceb5703 --- /dev/null +++ b/recipes/ros-humble-moveit-resources-prbt-pg70-support/recipe.yaml @@ -0,0 +1,57 @@ +package: + name: ros-humble-moveit-resources-prbt-pg70-support + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_resources_prbt_pg70_support/2.5.5-1 + folder: ros-humble-moveit-resources-prbt-pg70-support/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin + - ros-humble-moveit-resources-prbt-moveit-config + - ros-humble-moveit-resources-prbt-support + - ros-humble-ros-workspace + - ros-humble-xacro + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros-benchmarks/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-benchmarks/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-benchmarks/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-benchmarks/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-benchmarks/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-benchmarks/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-benchmarks/recipe.yaml b/recipes/ros-humble-moveit-ros-benchmarks/recipe.yaml new file mode 100644 index 00000000..160f7125 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-benchmarks/recipe.yaml @@ -0,0 +1,72 @@ +package: + name: ros-humble-moveit-ros-benchmarks + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_benchmarks/2.5.5-1 + folder: ros-humble-moveit-ros-benchmarks/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - libboost-devel + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-ros-planning + - ros-humble-moveit-ros-warehouse + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros2-distro-mutex 0.5 humble + run: + - libboost + - python + - ros-humble-launch-param-builder + - ros-humble-moveit-common + - ros-humble-moveit-configs-utils + - ros-humble-moveit-ros-planning + - ros-humble-moveit-ros-warehouse + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros-move-group/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-move-group/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-move-group/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-move-group/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-move-group/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-move-group/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-move-group/recipe.yaml b/recipes/ros-humble-moveit-ros-move-group/recipe.yaml new file mode 100644 index 00000000..beec2314 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-move-group/recipe.yaml @@ -0,0 +1,79 @@ +package: + name: ros-humble-moveit-ros-move-group + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_move_group/2.5.5-1 + folder: ros-humble-moveit-ros-move-group/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-resources-fanuc-moveit-config + - ros-humble-moveit-ros-occupancy-map-monitor + - ros-humble-moveit-ros-planning + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-std-srvs + - ros-humble-tf2 + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-kinematics + - ros-humble-moveit-ros-occupancy-map-monitor + - ros-humble-moveit-ros-planning + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-ros-workspace + - ros-humble-std-srvs + - ros-humble-tf2 + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros-occupancy-map-monitor/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-occupancy-map-monitor/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-occupancy-map-monitor/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-occupancy-map-monitor/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-occupancy-map-monitor/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-occupancy-map-monitor/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-occupancy-map-monitor/recipe.yaml b/recipes/ros-humble-moveit-ros-occupancy-map-monitor/recipe.yaml new file mode 100644 index 00000000..238f8724 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-occupancy-map-monitor/recipe.yaml @@ -0,0 +1,74 @@ +package: + name: ros-humble-moveit-ros-occupancy-map-monitor + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_occupancy_map_monitor/2.5.5-1 + folder: ros-humble-moveit-ros-occupancy-map-monitor/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - eigen + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gmock + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-eigen3-cmake-module + - ros-humble-geometric-shapes + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + run: + - eigen + - python + - ros-humble-eigen3-cmake-module + - ros-humble-geometric-shapes + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros-planning-interface/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-planning-interface/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-planning-interface/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-planning-interface/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-planning-interface/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-planning-interface/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-planning-interface/recipe.yaml b/recipes/ros-humble-moveit-ros-planning-interface/recipe.yaml new file mode 100644 index 00000000..197d64d9 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-planning-interface/recipe.yaml @@ -0,0 +1,92 @@ +package: + name: ros-humble-moveit-ros-planning-interface + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_planning_interface/2.5.5-1 + folder: ros-humble-moveit-ros-planning-interface/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - eigen + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-lint-auto + - ros-humble-eigen3-cmake-module + - ros-humble-geometry-msgs + - ros-humble-moveit-common + - ros-humble-moveit-configs-utils + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-moveit-planners-ompl + - ros-humble-moveit-resources-fanuc-moveit-config + - ros-humble-moveit-resources-panda-moveit-config + - ros-humble-moveit-ros-move-group + - ros-humble-moveit-ros-planning + - ros-humble-moveit-ros-warehouse + - ros-humble-moveit-simple-controller-manager + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-rclpy + - ros-humble-ros-environment + - ros-humble-ros-testing + - ros-humble-ros-workspace + - ros-humble-rviz2 + - ros-humble-tf2 + - ros-humble-tf2-eigen + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-geometry-msgs + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-moveit-ros-move-group + - ros-humble-moveit-ros-planning + - ros-humble-moveit-ros-warehouse + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-rclpy + - ros-humble-ros-workspace + - ros-humble-tf2 + - ros-humble-tf2-eigen + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros-planning/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-planning/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-planning/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-planning/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-planning/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-planning/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-planning/recipe.yaml b/recipes/ros-humble-moveit-ros-planning/recipe.yaml new file mode 100644 index 00000000..269a52c8 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-planning/recipe.yaml @@ -0,0 +1,95 @@ +package: + name: ros-humble-moveit-ros-planning + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_planning/2.5.5-1 + folder: ros-humble-moveit-ros-planning/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - eigen + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gmock + - ros-humble-ament-cmake-gtest + - ros-humble-ament-index-cpp + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-eigen3-cmake-module + - ros-humble-message-filters + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-moveit-resources-panda-moveit-config + - ros-humble-moveit-ros-occupancy-map-monitor + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-ros-environment + - ros-humble-ros-testing + - ros-humble-ros-workspace + - ros-humble-srdfdom + - ros-humble-tf2 + - ros-humble-tf2-eigen + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-msgs + - ros-humble-tf2-ros + - ros-humble-urdf + - ros2-distro-mutex 0.5 humble + run: + - eigen + - python + - ros-humble-ament-index-cpp + - ros-humble-eigen3-cmake-module + - ros-humble-message-filters + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-moveit-ros-occupancy-map-monitor + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-ros-workspace + - ros-humble-srdfdom + - ros-humble-tf2 + - ros-humble-tf2-eigen + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-msgs + - ros-humble-tf2-ros + - ros-humble-urdf + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros-robot-interaction/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-robot-interaction/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-robot-interaction/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-robot-interaction/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-robot-interaction/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-robot-interaction/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-robot-interaction/recipe.yaml b/recipes/ros-humble-moveit-ros-robot-interaction/recipe.yaml new file mode 100644 index 00000000..aebe0fa1 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-robot-interaction/recipe.yaml @@ -0,0 +1,74 @@ +package: + name: ros-humble-moveit-ros-robot-interaction + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_robot_interaction/2.5.5-1 + folder: ros-humble-moveit-ros-robot-interaction/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-interactive-markers + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-ros-planning + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-tf2 + - ros-humble-tf2-eigen + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-interactive-markers + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-ros-planning + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-tf2 + - ros-humble-tf2-eigen + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros-visualization/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-visualization/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-visualization/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-visualization/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-visualization/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-visualization/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-visualization/recipe.yaml b/recipes/ros-humble-moveit-ros-visualization/recipe.yaml new file mode 100644 index 00000000..56131b34 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-visualization/recipe.yaml @@ -0,0 +1,96 @@ +package: + name: ros-humble-moveit-ros-visualization + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_visualization/2.5.5-1 + folder: ros-humble-moveit-ros-visualization/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - eigen + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - pkg-config + - python + - qt-main + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-class-loader + - ros-humble-geometric-shapes + - ros-humble-interactive-markers + - ros-humble-moveit-common + - ros-humble-moveit-ros-planning-interface + - ros-humble-moveit-ros-robot-interaction + - ros-humble-moveit-ros-warehouse + - ros-humble-object-recognition-msgs + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclpy + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-rviz2 + - ros-humble-tf2-eigen + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-geometric-shapes + - ros-humble-interactive-markers + - ros-humble-moveit-common + - ros-humble-moveit-ros-planning-interface + - ros-humble-moveit-ros-robot-interaction + - ros-humble-moveit-ros-warehouse + - ros-humble-object-recognition-msgs + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclpy + - ros-humble-ros-workspace + - ros-humble-rviz2 + - ros-humble-tf2-eigen + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-moveit-ros-warehouse/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-warehouse/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-warehouse/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros-warehouse/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-warehouse/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros-warehouse/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros-warehouse/recipe.yaml b/recipes/ros-humble-moveit-ros-warehouse/recipe.yaml new file mode 100644 index 00000000..c0f00d95 --- /dev/null +++ b/recipes/ros-humble-moveit-ros-warehouse/recipe.yaml @@ -0,0 +1,69 @@ +package: + name: ros-humble-moveit-ros-warehouse + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros_warehouse/2.5.5-1 + folder: ros-humble-moveit-ros-warehouse/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-ros-planning + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros-humble-tf2-ros + - ros-humble-warehouse-ros + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-ros-planning + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros-humble-tf2-ros + - ros-humble-warehouse-ros + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-ros/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-ros/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-ros/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-ros/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-ros/recipe.yaml b/recipes/ros-humble-moveit-ros/recipe.yaml new file mode 100644 index 00000000..19836f23 --- /dev/null +++ b/recipes/ros-humble-moveit-ros/recipe.yaml @@ -0,0 +1,62 @@ +package: + name: ros-humble-moveit-ros + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_ros/2.5.5-1 + folder: ros-humble-moveit-ros/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-moveit-ros-benchmarks + - ros-humble-moveit-ros-move-group + - ros-humble-moveit-ros-planning + - ros-humble-moveit-ros-planning-interface + - ros-humble-moveit-ros-robot-interaction + - ros-humble-moveit-ros-visualization + - ros-humble-moveit-ros-warehouse + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit-setup-app-plugins/bld_ament_cmake.bat b/recipes/ros-humble-moveit-setup-app-plugins/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-app-plugins/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-setup-app-plugins/build_ament_cmake.sh b/recipes/ros-humble-moveit-setup-app-plugins/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-setup-app-plugins/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-setup-app-plugins/recipe.yaml b/recipes/ros-humble-moveit-setup-app-plugins/recipe.yaml new file mode 100644 index 00000000..fca338f0 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-app-plugins/recipe.yaml @@ -0,0 +1,83 @@ +package: + name: ros-humble-moveit-setup-app-plugins + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_setup_app_plugins/2.5.5-1 + folder: ros-humble-moveit-setup-app-plugins/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-clang-format + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-index-cpp + - ros-humble-ament-lint-auto + - ros-humble-moveit-configs-utils + - ros-humble-moveit-ros-visualization + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-ament-index-cpp + - ros-humble-moveit-configs-utils + - ros-humble-moveit-ros-visualization + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-moveit-setup-assistant/bld_ament_cmake.bat b/recipes/ros-humble-moveit-setup-assistant/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-assistant/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-setup-assistant/build_ament_cmake.sh b/recipes/ros-humble-moveit-setup-assistant/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-setup-assistant/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-setup-assistant/patch/ros-humble-moveit-setup-assistant.patch b/recipes/ros-humble-moveit-setup-assistant/patch/ros-humble-moveit-setup-assistant.patch new file mode 100644 index 00000000..e762b239 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-assistant/patch/ros-humble-moveit-setup-assistant.patch @@ -0,0 +1,35 @@ +diff --git a/moveit_setup_assistant/moveit_setup_assistant/src/collisions_updater.cpp b/moveit_setup_assistant/moveit_setup_assistant/src/collisions_updater.cpp +index 48babb454c..e30581f92e 100644 +--- a/moveit_setup_assistant/moveit_setup_assistant/src/collisions_updater.cpp ++++ b/moveit_setup_assistant/moveit_setup_assistant/src/collisions_updater.cpp +@@ -101,7 +101,7 @@ int main(int argc, char* argv[]) + auto package_settings = config_data->get("package_settings"); + try + { +- package_settings->loadExisting(config_pkg_path); ++ package_settings->loadExisting(config_pkg_path.string()); + } + catch (const std::runtime_error& e) + { +@@ -114,7 +114,7 @@ int main(int argc, char* argv[]) + RCLCPP_ERROR_STREAM(LOGGER, "Please provide config package or URDF and SRDF path"); + return 1; + } +- else if (rdf_loader::RDFLoader::isXacroFile(srdf_path) && output_path.empty()) ++ else if (rdf_loader::RDFLoader::isXacroFile(srdf_path.string()) && output_path.empty()) + { + RCLCPP_ERROR_STREAM(LOGGER, "Please provide a different output file for SRDF xacro input file"); + return 1; +diff --git a/moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp b/moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp +index 2f9a76f5e4..1253268ce9 100644 +--- a/moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp ++++ b/moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp +@@ -71,7 +71,7 @@ SetupAssistantWidget::SetupAssistantWidget(const rviz_common::ros_integration::R + + // Setting the window icon + auto icon_path = getSharePath("moveit_ros_visualization") / "icons/classes/MotionPlanning.png"; +- this->setWindowIcon(QIcon(icon_path.c_str())); ++ this->setWindowIcon(QIcon(icon_path.string().c_str())); + + // Basic widget container ----------------------------------------- + QHBoxLayout* layout = new QHBoxLayout(); diff --git a/recipes/ros-humble-moveit-setup-assistant/recipe.yaml b/recipes/ros-humble-moveit-setup-assistant/recipe.yaml new file mode 100644 index 00000000..6981ddf3 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-assistant/recipe.yaml @@ -0,0 +1,89 @@ +package: + name: ros-humble-moveit-setup-assistant + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_setup_assistant/2.5.5-1 + folder: ros-humble-moveit-setup-assistant/src/work + patches: + - patch/ros-humble-moveit-setup-assistant.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - qt-main + - ros-humble-ament-clang-format + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-index-cpp + - ros-humble-ament-lint-auto + - ros-humble-moveit-resources-panda-moveit-config + - ros-humble-moveit-setup-framework + - ros-humble-moveit-setup-srdf-plugins + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - qt-main + - ros-humble-ament-index-cpp + - ros-humble-moveit-setup-app-plugins + - ros-humble-moveit-setup-controllers + - ros-humble-moveit-setup-core-plugins + - ros-humble-moveit-setup-framework + - ros-humble-moveit-setup-srdf-plugins + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-moveit-setup-controllers/bld_ament_cmake.bat b/recipes/ros-humble-moveit-setup-controllers/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-controllers/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-setup-controllers/build_ament_cmake.sh b/recipes/ros-humble-moveit-setup-controllers/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-setup-controllers/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-setup-controllers/recipe.yaml b/recipes/ros-humble-moveit-setup-controllers/recipe.yaml new file mode 100644 index 00000000..6d4528a5 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-controllers/recipe.yaml @@ -0,0 +1,82 @@ +package: + name: ros-humble-moveit-setup-controllers + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_setup_controllers/2.5.5-1 + folder: ros-humble-moveit-setup-controllers/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-clang-format + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-index-cpp + - ros-humble-ament-lint-auto + - ros-humble-moveit-configs-utils + - ros-humble-moveit-resources-fanuc-moveit-config + - ros-humble-moveit-resources-panda-moveit-config + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-ament-index-cpp + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-moveit-setup-core-plugins/bld_ament_cmake.bat b/recipes/ros-humble-moveit-setup-core-plugins/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-core-plugins/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-setup-core-plugins/build_ament_cmake.sh b/recipes/ros-humble-moveit-setup-core-plugins/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-setup-core-plugins/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-setup-core-plugins/patch/ros-humble-moveit-setup-core-plugins.patch b/recipes/ros-humble-moveit-setup-core-plugins/patch/ros-humble-moveit-setup-core-plugins.patch new file mode 100644 index 00000000..c742b556 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-core-plugins/patch/ros-humble-moveit-setup-core-plugins.patch @@ -0,0 +1,88 @@ +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp +index ff6827d6ff..b0550b1e90 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen.cpp +@@ -70,7 +70,7 @@ std::filesystem::path StartScreen::getPackagePath() + + void StartScreen::loadExisting(const std::filesystem::path& package_path) + { +- package_settings_->loadExisting(package_path); ++ package_settings_->loadExisting(package_path.string()); + } + + bool StartScreen::isXacroFile() +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp +index 70bae9ddc9..82da843d60 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp +@@ -79,7 +79,7 @@ void StartScreenWidget::onInit() + right_image_label_ = new QLabel(this); + auto image_path = getSharePath("moveit_setup_assistant") / "resources/MoveIt_Setup_Assistant2.png"; + +- if (right_image_->load(image_path.c_str())) ++ if (right_image_->load(image_path.string().c_str())) + { + right_image_label_->setPixmap(QPixmap::fromImage(*right_image_)); + right_image_label_->setMinimumHeight(384); // size of right_image_label_ +@@ -205,7 +205,7 @@ void StartScreenWidget::focusGiven() + std::filesystem::path pkg_path = setup_step_.getPackagePath(); + if (!pkg_path.empty()) + { +- stack_path_->setPath(pkg_path); ++ stack_path_->setPath(pkg_path.string()); + select_mode_->btn_exist_->click(); + return; + } +@@ -213,7 +213,7 @@ void StartScreenWidget::focusGiven() + std::filesystem::path urdf_path = setup_step_.getURDFPath(); + if (!urdf_path.empty()) + { +- urdf_file_->setPath(urdf_path); ++ urdf_file_->setPath(urdf_path.string()); + select_mode_->btn_new_->click(); + } + } +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp b/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp +index bfca1e8d62..3d3f3ab386 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files.hpp +@@ -80,7 +80,7 @@ class ConfigurationFiles : public SetupStep + + bool shouldGenerate(const GeneratedFilePtr& file) const + { +- std::string rel_path = file->getRelativePath(); ++ std::string rel_path = file->getRelativePath().string(); + auto it = should_generate_.find(rel_path); + if (it == should_generate_.end()) + { +diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp +index 9c76fc1d52..3e689772e3 100644 +--- a/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp ++++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/configuration_files_widget.cpp +@@ -294,7 +294,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item) + } + + // Enable/disable file +- setup_step_.setShouldGenerate(gen_file->getRelativePath(), generate); ++ setup_step_.setShouldGenerate(gen_file->getRelativePath().string(), generate); + } + + // ****************************************************************************************** +@@ -303,7 +303,7 @@ void ConfigurationFilesWidget::changeCheckedState(QListWidgetItem* item) + void ConfigurationFilesWidget::focusGiven() + { + // Pass the package path from start screen to configuration files screen +- stack_path_->setPath(setup_step_.getPackagePath()); ++ stack_path_->setPath(setup_step_.getPackagePath().string()); + + setup_step_.loadFiles(); + +@@ -350,7 +350,7 @@ void ConfigurationFilesWidget::showGenFiles() + auto gen_file = gen_files[i]; + + // Create a formatted row +- QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().c_str()), action_list_, 0); ++ QListWidgetItem* item = new QListWidgetItem(QString(gen_file->getRelativePath().string().c_str()), action_list_, 0); + + // Checkbox + item->setCheckState(setup_step_.shouldGenerate(gen_file) ? Qt::Checked : Qt::Unchecked); diff --git a/recipes/ros-humble-moveit-setup-core-plugins/recipe.yaml b/recipes/ros-humble-moveit-setup-core-plugins/recipe.yaml new file mode 100644 index 00000000..92695b76 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-core-plugins/recipe.yaml @@ -0,0 +1,86 @@ +package: + name: ros-humble-moveit-setup-core-plugins + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_setup_core_plugins/2.5.5-1 + folder: ros-humble-moveit-setup-core-plugins/src/work + patches: + - patch/ros-humble-moveit-setup-core-plugins.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-clang-format + - ros-humble-ament-cmake + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-index-cpp + - ros-humble-ament-lint-auto + - ros-humble-moveit-ros-visualization + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-srdfdom + - ros-humble-urdf + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-ament-index-cpp + - ros-humble-moveit-ros-visualization + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-srdfdom + - ros-humble-urdf + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-moveit-setup-framework/bld_ament_cmake.bat b/recipes/ros-humble-moveit-setup-framework/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-framework/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-setup-framework/build_ament_cmake.sh b/recipes/ros-humble-moveit-setup-framework/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-setup-framework/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-setup-framework/patch/ros-humble-moveit-setup-framework.patch b/recipes/ros-humble-moveit-setup-framework/patch/ros-humble-moveit-setup-framework.patch new file mode 100644 index 00000000..7159d706 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-framework/patch/ros-humble-moveit-setup-framework.patch @@ -0,0 +1,190 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 36e80da028..8a458bc389 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -11,8 +11,9 @@ find_package(ament_index_cpp REQUIRED) + find_package(moveit_core REQUIRED) + find_package(moveit_ros_planning REQUIRED) + find_package(moveit_ros_visualization REQUIRED) +-find_package(Qt5Core REQUIRED) +-find_package(Qt5Widgets REQUIRED) ++# find_package(Qt5Core REQUIRED) ++# find_package(Qt5Widgets REQUIRED) ++find_package(Qt5 COMPONENTS Core Widgets REQUIRED) + find_package(pluginlib REQUIRED) + find_package(rclcpp REQUIRED) + find_package(rviz_common REQUIRED) +@@ -42,6 +43,10 @@ add_library(${PROJECT_NAME} + src/xml_syntax_highlighter.cpp + ${MOC_FILES} + ) ++include(GenerateExportHeader) ++generate_export_header(${PROJECT_NAME}) ++target_include_directories(${PROJECT_NAME} PUBLIC $) ++ + target_include_directories(${PROJECT_NAME} PUBLIC + $ + $ +@@ -52,8 +57,9 @@ ament_target_dependencies(${PROJECT_NAME} + moveit_ros_planning + moveit_ros_visualization + pluginlib +- Qt5Core +- Qt5Widgets ++ # Qt5Core ++ # Qt5Widgets ++ Qt5 + rclcpp + rviz_common + rviz_rendering +@@ -82,10 +88,12 @@ install(TARGETS ${PROJECT_NAME} + RUNTIME DESTINATION bin + INCLUDES DESTINATION include + ) ++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_export.h DESTINATION include) ++ + ament_export_include_directories(include) + ament_export_dependencies(rclcpp) +-ament_export_dependencies(Qt5Core) +-ament_export_dependencies(Qt5Widgets) ++# ament_export_dependencies(Qt5Core) ++# ament_export_dependencies(Qt5Widgets) + ament_export_dependencies(moveit_common) + ament_export_dependencies(moveit_core) + ament_export_dependencies(moveit_ros_planning) +diff --git a/include/moveit_setup_framework/qt/setup_step_widget.hpp b/include/moveit_setup_framework/qt/setup_step_widget.hpp +index f32e7b5ad3..c6f472682d 100644 +--- a/include/moveit_setup_framework/qt/setup_step_widget.hpp ++++ b/include/moveit_setup_framework/qt/setup_step_widget.hpp +@@ -40,12 +40,14 @@ + #include + #include + ++#include ++ + namespace moveit_setup + { + /** + * @brief The GUI code for one SetupStep + */ +-class SetupStepWidget : public QWidget ++class MOVEIT_SETUP_FRAMEWORK_EXPORT SetupStepWidget : public QWidget + { + Q_OBJECT + public: +diff --git a/include/moveit_setup_framework/templates.hpp b/include/moveit_setup_framework/templates.hpp +index fb90a75703..695f7a9cfb 100644 +--- a/include/moveit_setup_framework/templates.hpp ++++ b/include/moveit_setup_framework/templates.hpp +@@ -38,6 +38,8 @@ + #include + #include + ++#include ++ + namespace moveit_setup + { + /** +@@ -69,7 +71,7 @@ class TemplatedGeneratedFile : public GeneratedFile + + bool write() override; + +- static std::vector variables_; ++ static MOVEIT_SETUP_FRAMEWORK_EXPORT std::vector variables_; + }; + + } // namespace moveit_setup +diff --git a/src/urdf_config.cpp b/src/urdf_config.cpp +index 290c9e8a2a..accfae25af 100644 +--- a/src/urdf_config.cpp ++++ b/src/urdf_config.cpp +@@ -116,7 +116,7 @@ void URDFConfig::setPackageName() + void URDFConfig::loadFromPackage(const std::filesystem::path& package_name, const std::filesystem::path& relative_path, + const std::string& xacro_args) + { +- urdf_pkg_name_ = package_name; ++ urdf_pkg_name_ = package_name.string(); + urdf_pkg_relative_path_ = relative_path; + xacro_args_ = xacro_args; + +@@ -129,12 +129,12 @@ void URDFConfig::load() + RCLCPP_DEBUG_STREAM(*logger_, "URDF Package Name: " << urdf_pkg_name_); + RCLCPP_DEBUG_STREAM(*logger_, "URDF Package Path: " << urdf_pkg_relative_path_); + +- if (!rdf_loader::RDFLoader::loadXmlFileToString(urdf_string_, urdf_path_, xacro_args_vec_)) ++ if (!rdf_loader::RDFLoader::loadXmlFileToString(urdf_string_, urdf_path_.string(), xacro_args_vec_)) + { + throw std::runtime_error("URDF/COLLADA file not found: " + urdf_path_.string()); + } + +- if (urdf_string_.empty() && rdf_loader::RDFLoader::isXacroFile(urdf_path_)) ++ if (urdf_string_.empty() && rdf_loader::RDFLoader::isXacroFile(urdf_path_.string())) + { + throw std::runtime_error("Running xacro failed.\nPlease check console for errors."); + } +@@ -144,7 +144,7 @@ void URDFConfig::load() + { + throw std::runtime_error("URDF/COLLADA file is not a valid robot model."); + } +- urdf_from_xacro_ = rdf_loader::RDFLoader::isXacroFile(urdf_path_); ++ urdf_from_xacro_ = rdf_loader::RDFLoader::isXacroFile(urdf_path_.string()); + + // Set parameter + parent_node_->set_parameter(rclcpp::Parameter("robot_description", urdf_string_)); +@@ -154,7 +154,7 @@ void URDFConfig::load() + + bool URDFConfig::isXacroFile() const + { +- return rdf_loader::RDFLoader::isXacroFile(urdf_path_); ++ return rdf_loader::RDFLoader::isXacroFile(urdf_path_.string()); + } + + bool URDFConfig::isConfigured() const +@@ -172,7 +172,7 @@ void URDFConfig::collectVariables(std::vector& variables) + std::string urdf_location; + if (urdf_pkg_name_.empty()) + { +- urdf_location = urdf_path_; ++ urdf_location = urdf_path_.string(); + } + else + { +diff --git a/include/moveit_setup_framework/data/srdf_config.hpp b/include/moveit_setup_framework/data/srdf_config.hpp +index 4b3fae3440..c6a28092e7 100644 +--- a/include/moveit_setup_framework/data/srdf_config.hpp ++++ b/include/moveit_setup_framework/data/srdf_config.hpp +@@ -262,7 +262,7 @@ class SRDFConfig : public SetupConfig + + bool write(const std::filesystem::path& path) + { +- return srdf_.writeSRDF(path); ++ return srdf_.writeSRDF(path.string()); + } + + std::filesystem::path getPath() const +diff --git a/src/srdf_config.cpp b/src/srdf_config.cpp +index 9058aea1c0..394687af2d 100644 +--- a/src/srdf_config.cpp ++++ b/src/srdf_config.cpp +@@ -88,7 +88,7 @@ void SRDFConfig::loadSRDFFile(const std::filesystem::path& srdf_file_path, const + loadURDFModel(); + + std::string srdf_string; +- if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_path_, xacro_args)) ++ if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_path_.string(), xacro_args)) + { + throw std::runtime_error("SRDF file not found: " + srdf_path_.string()); + } +diff --git a/src/utilities.cpp b/src/utilities.cpp +index 51e207f0d8..145f39fda8 100644 +--- a/src/utilities.cpp ++++ b/src/utilities.cpp +@@ -62,7 +62,7 @@ bool extractPackageNameFromPath(const std::filesystem::path& path, std::string& + // Default package name to folder name + package_name = sub_path.filename().string(); + tinyxml2::XMLDocument package_xml_file; +- auto is_open = package_xml_file.LoadFile((sub_path / "package.xml").c_str()); ++ auto is_open = package_xml_file.LoadFile((sub_path / "package.xml").string().c_str()); + if (is_open == tinyxml2::XML_SUCCESS) + { + auto name_potential = diff --git a/recipes/ros-humble-moveit-setup-framework/recipe.yaml b/recipes/ros-humble-moveit-setup-framework/recipe.yaml new file mode 100644 index 00000000..4c7dda01 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-framework/recipe.yaml @@ -0,0 +1,94 @@ +package: + name: ros-humble-moveit-setup-framework + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_setup_framework/2.5.5-1 + folder: ros-humble-moveit-setup-framework/src/work + patches: + - patch/ros-humble-moveit-setup-framework.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-clang-format + - ros-humble-ament-cmake + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-index-cpp + - ros-humble-ament-lint-auto + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-ros-planning + - ros-humble-moveit-ros-visualization + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros-humble-rviz-rendering + - ros-humble-srdfdom + - ros-humble-urdf + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-ament-index-cpp + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-ros-planning + - ros-humble-moveit-ros-visualization + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros-humble-rviz-rendering + - ros-humble-srdfdom + - ros-humble-urdf + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-moveit-setup-srdf-plugins/bld_ament_cmake.bat b/recipes/ros-humble-moveit-setup-srdf-plugins/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-setup-srdf-plugins/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-setup-srdf-plugins/build_ament_cmake.sh b/recipes/ros-humble-moveit-setup-srdf-plugins/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-setup-srdf-plugins/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-setup-srdf-plugins/recipe.yaml b/recipes/ros-humble-moveit-setup-srdf-plugins/recipe.yaml new file mode 100644 index 00000000..356201ef --- /dev/null +++ b/recipes/ros-humble-moveit-setup-srdf-plugins/recipe.yaml @@ -0,0 +1,76 @@ +package: + name: ros-humble-moveit-setup-srdf-plugins + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_setup_srdf_plugins/2.5.5-1 + folder: ros-humble-moveit-setup-srdf-plugins/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-clang-format + - ros-humble-ament-cmake + - ros-humble-ament-cmake-gtest + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-lint-auto + - ros-humble-moveit-resources-fanuc-description + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-moveit-setup-framework + - ros-humble-pluginlib + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-moveit-simple-controller-manager/bld_ament_cmake.bat b/recipes/ros-humble-moveit-simple-controller-manager/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit-simple-controller-manager/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit-simple-controller-manager/build_ament_cmake.sh b/recipes/ros-humble-moveit-simple-controller-manager/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit-simple-controller-manager/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit-simple-controller-manager/patch/ros-humble-moveit-simple-controller-manager.patch b/recipes/ros-humble-moveit-simple-controller-manager/patch/ros-humble-moveit-simple-controller-manager.patch new file mode 100644 index 00000000..282c3150 --- /dev/null +++ b/recipes/ros-humble-moveit-simple-controller-manager/patch/ros-humble-moveit-simple-controller-manager.patch @@ -0,0 +1,13 @@ +diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h +index 311d51f7a5..e6e21efe97 100644 +--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h ++++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h +@@ -145,7 +145,7 @@ class ActionBasedControllerHandle : public ActionBasedControllerHandleBase + do + { + status = result_future.wait_for(50ms); +- if ((status == std::future_status::timeout) and ((node_->now() - start) > timeout)) ++ if ((status == std::future_status::timeout) && ((node_->now() - start) > timeout)) + { + RCLCPP_WARN(LOGGER, "waitForExecution timed out"); + return false; diff --git a/recipes/ros-humble-moveit-simple-controller-manager/recipe.yaml b/recipes/ros-humble-moveit-simple-controller-manager/recipe.yaml new file mode 100644 index 00000000..5c01ecd8 --- /dev/null +++ b/recipes/ros-humble-moveit-simple-controller-manager/recipe.yaml @@ -0,0 +1,69 @@ +package: + name: ros-humble-moveit-simple-controller-manager + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit_simple_controller_manager/2.5.5-1 + folder: ros-humble-moveit-simple-controller-manager/src/work + patches: + - patch/ros-humble-moveit-simple-controller-manager.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-control-msgs + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-control-msgs + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-rclcpp-action + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-moveit/bld_ament_cmake.bat b/recipes/ros-humble-moveit/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-moveit/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-moveit/build_ament_cmake.sh b/recipes/ros-humble-moveit/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-moveit/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-moveit/recipe.yaml b/recipes/ros-humble-moveit/recipe.yaml new file mode 100644 index 00000000..63994daf --- /dev/null +++ b/recipes/ros-humble-moveit/recipe.yaml @@ -0,0 +1,73 @@ +package: + name: ros-humble-moveit + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/moveit/2.5.5-1 + folder: ros-humble-moveit/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-moveit-core + - ros-humble-moveit-planners + - ros-humble-moveit-plugins + - ros-humble-moveit-ros + - ros-humble-moveit-setup-assistant + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-pilz-industrial-motion-planner-testutils/bld_ament_cmake.bat b/recipes/ros-humble-pilz-industrial-motion-planner-testutils/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-pilz-industrial-motion-planner-testutils/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-pilz-industrial-motion-planner-testutils/build_ament_cmake.sh b/recipes/ros-humble-pilz-industrial-motion-planner-testutils/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-pilz-industrial-motion-planner-testutils/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-pilz-industrial-motion-planner-testutils/recipe.yaml b/recipes/ros-humble-pilz-industrial-motion-planner-testutils/recipe.yaml new file mode 100644 index 00000000..3295bd34 --- /dev/null +++ b/recipes/ros-humble-pilz-industrial-motion-planner-testutils/recipe.yaml @@ -0,0 +1,66 @@ +package: + name: ros-humble-pilz-industrial-motion-planner-testutils + version: 2.5.5 +source: + git_url: https://github.com/ros2-gbp/moveit2-release.git + git_rev: release/humble/pilz_industrial_motion_planner_testutils/2.5.5-1 + folder: ros-humble-pilz-industrial-motion-planner-testutils/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-humble-ament-cmake + - ros-humble-ament-lint-auto + - ros-humble-ament-lint-common + - ros-humble-eigen3-cmake-module + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-tf2-eigen + - ros2-distro-mutex 0.5 humble + run: + - python + - ros-humble-eigen3-cmake-module + - ros-humble-moveit-common + - ros-humble-moveit-core + - ros-humble-moveit-msgs + - ros-humble-rclcpp + - ros-humble-ros-workspace + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-rviz-default-plugins/bld_ament_cmake.bat b/recipes/ros-humble-rviz-default-plugins/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-rviz-default-plugins/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-rviz-default-plugins/build_ament_cmake.sh b/recipes/ros-humble-rviz-default-plugins/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-rviz-default-plugins/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-rviz-default-plugins/patch/ros-humble-rviz-default-plugins.patch b/recipes/ros-humble-rviz-default-plugins/patch/ros-humble-rviz-default-plugins.patch new file mode 100644 index 00000000..c77e434a --- /dev/null +++ b/recipes/ros-humble-rviz-default-plugins/patch/ros-humble-rviz-default-plugins.patch @@ -0,0 +1,18 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 96b399a4..7e5d3a27 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -225,12 +225,12 @@ add_library(rviz_default_plugins SHARED + target_include_directories(rviz_default_plugins PUBLIC + $ + $ +- ${Qt5Widgets_INCLUDE_DIRS} + ) + + target_link_libraries(rviz_default_plugins PUBLIC + rviz_ogre_vendor::OgreMain + rviz_ogre_vendor::OgreOverlay ++ Qt5::Widgets + ) + + target_link_libraries(rviz_default_plugins PRIVATE diff --git a/recipes/ros-humble-rviz-default-plugins/recipe.yaml b/recipes/ros-humble-rviz-default-plugins/recipe.yaml new file mode 100644 index 00000000..dd6b07e4 --- /dev/null +++ b/recipes/ros-humble-rviz-default-plugins/recipe.yaml @@ -0,0 +1,117 @@ +package: + name: ros-humble-rviz-default-plugins + version: 11.2.12 +source: + git_url: https://github.com/ros2-gbp/rviz-release.git + git_rev: release/humble/rviz_default_plugins/11.2.12-1 + folder: ros-humble-rviz-default-plugins/src/work + patches: + - patch/ros-humble-rviz-default-plugins.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - qt-main + - ros-humble-ament-cmake + - ros-humble-ament-cmake-cppcheck + - ros-humble-ament-cmake-cpplint + - ros-humble-ament-cmake-gmock + - ros-humble-ament-cmake-gtest + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-uncrustify + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-index-cpp + - ros-humble-ament-lint-auto + - ros-humble-geometry-msgs + - ros-humble-ignition-math6-vendor + - ros-humble-image-transport + - ros-humble-interactive-markers + - ros-humble-laser-geometry + - ros-humble-map-msgs + - ros-humble-nav-msgs + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-resource-retriever + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros-humble-rviz-ogre-vendor + - ros-humble-rviz-rendering + - ros-humble-rviz-rendering-tests + - ros-humble-rviz-visual-testing-framework + - ros-humble-tf2 + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros-humble-urdf + - ros-humble-visualization-msgs + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - qt-main + - ros-humble-geometry-msgs + - ros-humble-ignition-math6-vendor + - ros-humble-image-transport + - ros-humble-interactive-markers + - ros-humble-laser-geometry + - ros-humble-map-msgs + - ros-humble-nav-msgs + - ros-humble-pluginlib + - ros-humble-rclcpp + - ros-humble-resource-retriever + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros-humble-rviz-ogre-vendor + - ros-humble-rviz-rendering + - ros-humble-tf2 + - ros-humble-tf2-geometry-msgs + - ros-humble-tf2-ros + - ros-humble-urdf + - ros-humble-visualization-msgs + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-rviz-visual-testing-framework/bld_ament_cmake.bat b/recipes/ros-humble-rviz-visual-testing-framework/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-rviz-visual-testing-framework/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-rviz-visual-testing-framework/build_ament_cmake.sh b/recipes/ros-humble-rviz-visual-testing-framework/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-rviz-visual-testing-framework/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-rviz-visual-testing-framework/recipe.yaml b/recipes/ros-humble-rviz-visual-testing-framework/recipe.yaml new file mode 100644 index 00000000..2457fca7 --- /dev/null +++ b/recipes/ros-humble-rviz-visual-testing-framework/recipe.yaml @@ -0,0 +1,80 @@ +package: + name: ros-humble-rviz-visual-testing-framework + version: 11.2.12 +source: + git_url: https://github.com/ros2-gbp/rviz-release.git + git_rev: release/humble/rviz_visual_testing_framework/11.2.12-1 + folder: ros-humble-rviz-visual-testing-framework/src/work + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - qt-main + - ros-humble-ament-cmake + - ros-humble-ament-cmake-cppcheck + - ros-humble-ament-cmake-cpplint + - ros-humble-ament-cmake-gmock + - ros-humble-ament-cmake-gtest + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-uncrustify + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-lint-auto + - ros-humble-rcutils + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-ament-cmake-gtest + - ros-humble-rcutils + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/recipes/ros-humble-rviz2/bld_ament_cmake.bat b/recipes/ros-humble-rviz2/bld_ament_cmake.bat new file mode 100644 index 00000000..1ebd33a5 --- /dev/null +++ b/recipes/ros-humble-rviz2/bld_ament_cmake.bat @@ -0,0 +1,39 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal EnableDelayedExpansion + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +rd /s /q build +mkdir build +pushd build + +:: set "CMAKE_GENERATOR=Ninja" + +:: try to fix long paths issues by using default generator +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +cmake ^ + -G "%CMAKE_GENERATOR%" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBUILD_SHARED_LIBS=ON ^ + -DBUILD_TESTING=OFF ^ + -DCMAKE_OBJECT_PATH_MAX=255 ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + --compile-no-warning-as-error ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-rviz2/build_ament_cmake.sh b/recipes/ros-humble-rviz2/build_ament_cmake.sh new file mode 100644 index 00000000..52baa99c --- /dev/null +++ b/recipes/ros-humble-rviz2/build_ament_cmake.sh @@ -0,0 +1,71 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-rviz2/patch/ros-humble-rviz2.patch b/recipes/ros-humble-rviz2/patch/ros-humble-rviz2.patch new file mode 100644 index 00000000..45ffce64 --- /dev/null +++ b/recipes/ros-humble-rviz2/patch/ros-humble-rviz2.patch @@ -0,0 +1,102 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 37118e6b..14571801 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -19,26 +19,26 @@ find_package(rviz_ogre_vendor REQUIRED) + + find_package(Qt5 REQUIRED COMPONENTS Widgets) + # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later. +-if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt) +- get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION) ++# if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt) ++# get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION) + +- execute_process( +- COMMAND "${_qt5_qmake_location}" -query QT_INSTALL_PREFIX +- RESULT_VARIABLE return_code +- OUTPUT_VARIABLE qt5_install_prefix +- OUTPUT_STRIP_TRAILING_WHITESPACE +- ) ++# execute_process( ++# COMMAND "${_qt5_qmake_location}" -query QT_INSTALL_PREFIX ++# RESULT_VARIABLE return_code ++# OUTPUT_VARIABLE qt5_install_prefix ++# OUTPUT_STRIP_TRAILING_WHITESPACE ++# ) + +- set(imported_location "${qt5_install_prefix}/bin/windeployqt.exe") ++# set(imported_location "${qt5_install_prefix}/bin/windeployqt.exe") + +- if(EXISTS ${imported_location}) +- add_executable(Qt5::windeployqt IMPORTED) ++# if(EXISTS ${imported_location}) ++# add_executable(Qt5::windeployqt IMPORTED) + +- set_target_properties(Qt5::windeployqt PROPERTIES +- IMPORTED_LOCATION ${imported_location} +- ) +- endif() +-endif() ++# set_target_properties(Qt5::windeployqt PROPERTIES ++# IMPORTED_LOCATION ${imported_location} ++# ) ++# endif() ++# endif() + + add_executable(${PROJECT_NAME} + src/main.cpp +@@ -54,30 +54,30 @@ target_link_libraries(${PROJECT_NAME} + # necessary dlls and stuff to the bin folder. + # see: + # https://stackoverflow.com/questions/41193584/deploy-all-qt-dependencies-when-building#41199492 +-if(TARGET Qt5::windeployqt) +- # execute windeployqt in a tmp directory after build +- add_custom_command(TARGET ${PROJECT_NAME} +- POST_BUILD +- COMMAND ${CMAKE_COMMAND} -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/windeployqt" +- COMMAND set PATH=%PATH%$${qt5_install_prefix}/bin +- COMMAND +- Qt5::windeployqt +- --dir "${CMAKE_CURRENT_BINARY_DIR}/windeployqt" +- "$/$" +- ) +- +- # copy deployment directory during installation +- install( +- DIRECTORY +- "${CMAKE_CURRENT_BINARY_DIR}/windeployqt/" +- DESTINATION bin +- ) +- install( +- DIRECTORY +- "${CMAKE_CURRENT_BINARY_DIR}/windeployqt/" +- DESTINATION lib/${PROJECT_NAME} +- ) +-endif() ++# if(TARGET Qt5::windeployqt) ++# # execute windeployqt in a tmp directory after build ++# add_custom_command(TARGET ${PROJECT_NAME} ++# POST_BUILD ++# COMMAND ${CMAKE_COMMAND} -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/windeployqt" ++# COMMAND set PATH=%PATH%$${qt5_install_prefix}/bin ++# COMMAND ++# Qt5::windeployqt ++# --dir "${CMAKE_CURRENT_BINARY_DIR}/windeployqt" ++# "$/$" ++# ) ++ ++# # copy deployment directory during installation ++# install( ++# DIRECTORY ++# "${CMAKE_CURRENT_BINARY_DIR}/windeployqt/" ++# DESTINATION bin ++# ) ++# install( ++# DIRECTORY ++# "${CMAKE_CURRENT_BINARY_DIR}/windeployqt/" ++# DESTINATION lib/${PROJECT_NAME} ++# ) ++# endif() + + install(TARGETS ${PROJECT_NAME} DESTINATION bin) + install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}) diff --git a/recipes/ros-humble-rviz2/recipe.yaml b/recipes/ros-humble-rviz2/recipe.yaml new file mode 100644 index 00000000..f1693e9f --- /dev/null +++ b/recipes/ros-humble-rviz2/recipe.yaml @@ -0,0 +1,83 @@ +package: + name: ros-humble-rviz2 + version: 11.2.12 +source: + git_url: https://github.com/ros2-gbp/rviz-release.git + git_rev: release/humble/rviz2/11.2.12-1 + folder: ros-humble-rviz2/src/work + patches: + - patch/ros-humble-rviz2.patch + +build: + script: + sel(win): bld_ament_cmake.bat + sel(unix): build_ament_cmake.sh + number: 7 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + - sel(linux): "{{ cdt('mesa-libgl-devel') }}" + - sel(linux): "{{ cdt('mesa-dri-drivers') }}" + - sel(linux): "{{ cdt('libselinux') }}" + - sel(linux): "{{ cdt('libxdamage') }}" + - sel(linux): "{{ cdt('libxxf86vm') }}" + - sel(linux): "{{ cdt('libxfixes') }}" + - sel(linux): "{{ cdt('libxext') }}" + - sel(linux): "{{ cdt('libxau') }}" + - sel(linux): "{{ cdt('libxcb') }}" + host: + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - qt-main + - ros-humble-ament-cmake + - ros-humble-ament-cmake-cppcheck + - ros-humble-ament-cmake-cpplint + - ros-humble-ament-cmake-lint-cmake + - ros-humble-ament-cmake-uncrustify + - ros-humble-ament-cmake-xmllint + - ros-humble-ament-lint-auto + - ros-humble-geometry-msgs + - ros-humble-rclcpp + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros-humble-rviz-ogre-vendor + - ros-humble-sensor-msgs + - ros2-distro-mutex 0.5 humble + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext + run: + - python + - ros-humble-ros-workspace + - ros-humble-rviz-common + - ros-humble-rviz-default-plugins + - ros-humble-rviz-ogre-vendor + - ros2-distro-mutex 0.5 humble + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - sel(unix): xorg-libx11 + - sel(unix): xorg-libxext diff --git a/vinca.yaml b/vinca.yaml new file mode 100644 index 00000000..58c20f5d --- /dev/null +++ b/vinca.yaml @@ -0,0 +1,78 @@ +ros_distro: humble + +# mapping for package keys +conda_index: + - robostack.yaml + - packages-ignore.yaml + +build_number: 7 + +mutex_package: ros2-distro-mutex 0.5 humble + +skip_all_deps: false + +# If full rebuild, the build number of the existing package has +# to match the selected build number for skipping +full_rebuild: true + +packages_skip_by_deps: + - cartographer + - octomap + - rttest + +packages_remove_from_deps: + - cartographer + - octomap + - tlsf + - tlsf_cpp + - pendulum_control + - warehouse_ros_mongo + - pilz-industrial-motion-planner + +skip_existing: + - https://conda.anaconda.org/robostack-staging/ + +packages_select_by_deps: + # trigger + - ament-cmake-core + #- ros2_control + #- ros2_controllers + - backward_ros + - ros_workspace + - vision_msgs + - ros_environment + - ros_base + - rmw_cyclonedds_cpp + - moveit + - xacro + - gazebo-ros + # - navigation2 + # - desktop + # - cv_bridge + # - perception + # - gazebo_msgs + # - gazebo_dev + # - gazebo_ros + # - gazebo_plugins + # - gazebo_ros2_control + # - gazebo_ros_pkgs + # - turtlebot3_simulations + # - rosbridge_suite + # - ament_cmake_catch2 + # - nav2-mppi-controller + + # ros2_control + - gazebo-ros2-control + - ros2-controllers-test-nodes + - joint-state-publisher-gui + + # Broken for now until we migrate to newer gazebo + # - desktop_full + + # REQUESTED PACKAGES + # Fails due to not finding csparse, could borrow patch from mrpt2 + # - slam-toolbox + # Needs slam-toolbox + # - nav2-bringup + +patch_dir: patch diff --git a/vinca_dc5829efc8.json b/vinca_dc5829efc8.json new file mode 100644 index 00000000..dbfc4b57 --- /dev/null +++ b/vinca_dc5829efc8.json @@ -0,0 +1 @@ +{"packages":{"ros-humble-nav2-collision-monitor-1.1.3-py310ha45506e_2.tar.bz2":{"build_number":2,"has_prefix":false,"machine":"x86_64","platform":"win","depends":["numpy >=1.21.6,<2.0a0","python","python_abi 3.10.* *_cp310","ros-humble-geometry-msgs","ros-humble-nav2-common","ros-humble-nav2-costmap-2d","ros-humble-nav2-util","ros-humble-rclcpp","ros-humble-rclcpp-components","ros-humble-ros-workspace","ros-humble-sensor-msgs","ros-humble-tf2","ros-humble-tf2-geometry-msgs","ros-humble-tf2-ros","ros2-distro-mutex 0.2.* humble","ros2-distro-mutex 0.2.* humble","ucrt >=10.0.20348.0","vc >=14.2,<15","vs2015_runtime 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