diff --git a/.github/workflows/build_linux_aarch64.yml b/.github/workflows/build_linux_aarch64.yml new file mode 100644 index 00000000..2644712d --- /dev/null +++ b/.github/workflows/build_linux_aarch64.yml @@ -0,0 +1,25 @@ +jobs: + stage_0_job_0: + name: plotjuggler plotjuggler-ros + runs-on: cirun-linux-aarch64--${{ github.run_id }} + strategy: + fail-fast: false + needs: [] + steps: + - name: Checkout code + uses: actions/checkout@v4 + - name: Build ros-jazzy-plotjuggler ros-jazzy-plotjuggler-ros + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-jazzy-plotjuggler ros-jazzy-plotjuggler-ros + DOCKER_IMAGE: condaforge/linux-anvil-aarch64 + run: | + export CI=azure + export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME + export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME}) + .scripts/build_linux.sh +name: build_linux +on: + push: + branches: + - buildbranch_linux_aarch64 diff --git a/activate.bat b/activate.bat new file mode 100755 index 00000000..48ff1d71 --- /dev/null +++ b/activate.bat @@ -0,0 +1,15 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@REM Don't do anything when we are in conda build. +@if defined SYS_PREFIX exit /b 0 + +@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins" + +@call "%CONDA_PREFIX%\Library\local_setup.bat" +@set PYTHONHOME= +@set "ROS_OS_OVERRIDE=conda:win64" +@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros" +@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library" +@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe" diff --git a/activate.ps1 b/activate.ps1 new file mode 100755 index 00000000..137e67ae --- /dev/null +++ b/activate.ps1 @@ -0,0 +1,16 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($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 100755 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 100755 index 00000000..823afff1 --- /dev/null +++ b/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/bld_ament_python.bat b/bld_ament_python.bat new file mode 100755 index 00000000..902db09b --- /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-jazzy-=%" +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 100755 index 00000000..854efe1b --- /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-jazzy-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-jazzy-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-jazzy-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-jazzy-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 100755 index 00000000..0c8cef7c --- /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-jazzy-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 100755 index 00000000..b795d97d --- /dev/null +++ b/bld_colcon_merge.bat @@ -0,0 +1,38 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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=%PYTHON_INSTALL_DIR% ^ + -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 100755 index 00000000..34df1a72 --- /dev/null +++ b/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +fi + +echo "USING PYTHON_EXECUTABLE=${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 ${ROS_PYTHON_VERSION}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -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 100755 index 00000000..e95680de --- /dev/null +++ b/build_ament_python.sh @@ -0,0 +1,19 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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=${PKG_NAME#*ros-jazzy-} + # Substitute "-" with "_" + PKG_NAME_SHORT=${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 + $PYTHON -m pip install . --no-deps -vvv +fi diff --git a/build_catkin.sh b/build_catkin.sh new file mode 100755 index 00000000..5395dd85 --- /dev/null +++ b/build_catkin.sh @@ -0,0 +1,138 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +CATKIN_BUILD_BINARY_PACKAGE="ON" + +if [ "${PKG_NAME}" == "ros-jazzy-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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 $BUILD_PREFIX/bin/g++ +fi + +export SKIP_TESTING=ON + +if [ "${PKG_NAME}" == "ros-noetic-euslisp" ] || [ "${PKG_NAME}" = "ros-noetic-jskeus" ] || [ "${PKG_NAME}" = "ros-noetic-roseus" ]; then + GENERATOR="Unix Makefiles" +else + GENERATOR="Ninja" +fi + +cmake ${CMAKE_ARGS} --compile-no-warning-as-error \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \ + -DCMAKE_FIND_FRAMEWORK=LAST \ + -DCMAKE_AUTOMOC_EXECUTABLE=$CMAKE_AUTOMOC_EXECUTABLE \ + -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 "$GENERATOR" \ + $SRC_DIR/$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-jazzy-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-jazzy-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-jazzy-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}_${CHANGE}.sh" + done +fi diff --git a/buildorder.txt b/buildorder.txt new file mode 100644 index 00000000..2b36006e --- /dev/null +++ b/buildorder.txt @@ -0,0 +1,2 @@ +ros-jazzy-plotjuggler +ros-jazzy-plotjuggler-ros \ No newline at end of file diff --git a/deactivate.bat b/deactivate.bat new file mode 100755 index 00000000..6de79cca --- /dev/null +++ b/deactivate.bat @@ -0,0 +1,18 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@set ROS_OS_OVERRIDE= +@set ROS_DISTRO= +@set ROS_ETC_DIR= +@set ROS_PACKAGE_PATH= +@set ROS_PYTHON_VERSION= +@set ROS_VERSION= +@set PYTHONHOME= +@set PYTHONPATH= +@set CMAKE_PREFIX_PATH= +@set AMENT_PREFIX_PATH= +@set COLCON_PREFIX_PATH= +@set QT_PLUGIN_PATH= +@set ROS_LOCALHOST_ONLY= +@set ament_python_executable= diff --git a/deactivate.ps1 b/deactivate.ps1 new file mode 100755 index 00000000..9db51e1c --- /dev/null +++ b/deactivate.ps1 @@ -0,0 +1,18 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($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='' +$Env:ament_python_executable='' diff --git a/deactivate.sh b/deactivate.sh new file mode 100755 index 00000000..87d4d835 --- /dev/null +++ b/deactivate.sh @@ -0,0 +1,21 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if [ -z "${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-jazzy-plotjuggler-ros/bld_ament_cmake.bat b/recipes/ros-jazzy-plotjuggler-ros/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-jazzy-plotjuggler-ros/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-jazzy-plotjuggler-ros/build_ament_cmake.sh b/recipes/ros-jazzy-plotjuggler-ros/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-jazzy-plotjuggler-ros/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +fi + +echo "USING PYTHON_EXECUTABLE=${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 ${ROS_PYTHON_VERSION}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -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-jazzy-plotjuggler-ros/recipe.yaml b/recipes/ros-jazzy-plotjuggler-ros/recipe.yaml new file mode 100644 index 00000000..2aeb0bff --- /dev/null +++ b/recipes/ros-jazzy-plotjuggler-ros/recipe.yaml @@ -0,0 +1,122 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-jazzy-plotjuggler-ros + version: 2.1.2 +source: + git: https://github.com/ros2-gbp/plotjuggler-ros-plugins-release.git + tag: release/jazzy/plotjuggler_ros/2.1.2-2 + target_directory: ros-jazzy-plotjuggler-ros/src/work + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 1 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + - if: build_platform != target_platform + then: + - qt-main + host: + - binutils + - if: build_platform == target_platform + then: + - pkg-config + - libboost-devel + - libboost-python-devel + - numpy + - pip + - python + - qt-main + - ros-jazzy-ament-cmake + - ros-jazzy-plotjuggler + - ros-jazzy-rclcpp + - ros-jazzy-rcpputils + - ros-jazzy-ros-environment + - ros-jazzy-ros-workspace + - ros-jazzy-rosbag2 + - ros-jazzy-rosbag2-transport + - ros-jazzy-tf2-msgs + - ros-jazzy-tf2-ros + - ros2-distro-mutex 0.6.* jazzy_* + - if: linux + then: + - libgl-devel + - libopengl-devel + - if: unix + then: + - xorg-libx11 + - xorg-libxext + run: + - binutils + - libboost-devel + - libboost-python-devel + - python + - qt-main + - ros-jazzy-plotjuggler + - ros-jazzy-rclcpp + - ros-jazzy-rcpputils + - ros-jazzy-ros-environment + - ros-jazzy-ros-workspace + - ros-jazzy-rosbag2 + - ros-jazzy-rosbag2-transport + - ros-jazzy-tf2-msgs + - ros-jazzy-tf2-ros + - ros2-distro-mutex 0.6.* jazzy_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - if: unix + then: + - xorg-libx11 + - xorg-libxext diff --git a/recipes/ros-jazzy-plotjuggler/bld_ament_cmake.bat b/recipes/ros-jazzy-plotjuggler/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-jazzy-plotjuggler/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-jazzy-plotjuggler/build_ament_cmake.sh b/recipes/ros-jazzy-plotjuggler/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-jazzy-plotjuggler/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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}" + +# 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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +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=$PYTHON_INSTALL_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_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -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-jazzy-plotjuggler/patch/ros-jazzy-plotjuggler.patch b/recipes/ros-jazzy-plotjuggler/patch/ros-jazzy-plotjuggler.patch new file mode 100644 index 00000000..9a0da52d --- /dev/null +++ b/recipes/ros-jazzy-plotjuggler/patch/ros-jazzy-plotjuggler.patch @@ -0,0 +1,626 @@ +diff --git a/cmake/FindXCB.cmake b/cmake/FindXCB.cmake +new file mode 100644 +index 00000000..a2e2757a +--- /dev/null ++++ b/cmake/FindXCB.cmake +@@ -0,0 +1,51 @@ ++# - FindXCB ++# ++# Copyright 2015 Valve Coporation ++ ++find_package(PkgConfig) ++ ++if(NOT XCB_FIND_COMPONENTS) ++ set(XCB_FIND_COMPONENTS xcb) ++endif() ++ ++include(FindPackageHandleStandardArgs) ++set(XCB_FOUND true) ++set(XCB_INCLUDE_DIRS "") ++set(XCB_LIBRARIES "") ++foreach(comp ${XCB_FIND_COMPONENTS}) ++ # component name ++ string(TOUPPER ${comp} compname) ++ string(REPLACE "-" "_" compname ${compname}) ++ # header name ++ string(REPLACE "xcb-" "" headername xcb/${comp}.h) ++ # library name ++ set(libname ${comp}) ++ ++ pkg_check_modules(PC_${comp} QUIET ${comp}) ++ ++ find_path(${compname}_INCLUDE_DIR NAMES ${headername} ++ HINTS ++ ${PC_${comp}_INCLUDEDIR} ++ ${PC_${comp}_INCLUDE_DIRS} ++ ) ++ ++ find_library(${compname}_LIBRARY NAMES ${libname} ++ HINTS ++ ${PC_${comp}_LIBDIR} ++ ${PC_${comp}_LIBRARY_DIRS} ++ ) ++ ++ find_package_handle_standard_args(${comp} ++ FOUND_VAR ${comp}_FOUND ++ REQUIRED_VARS ${compname}_INCLUDE_DIR ${compname}_LIBRARY) ++ mark_as_advanced(${compname}_INCLUDE_DIR ${compname}_LIBRARY) ++ ++ list(APPEND XCB_INCLUDE_DIRS ${${compname}_INCLUDE_DIR}) ++ list(APPEND XCB_LIBRARIES ${${compname}_LIBRARY}) ++ ++ if(NOT ${comp}_FOUND) ++ set(XCB_FOUND false) ++ endif() ++endforeach() ++ ++list(REMOVE_DUPLICATES XCB_INCLUDE_DIRS) +diff --git a/3rdparty/nlohmann/json.hpp b/3rdparty/nlohmann/json.hpp +index cb27e058..cecdb1fd 100644 +--- a/3rdparty/nlohmann/json.hpp ++++ b/3rdparty/nlohmann/json.hpp +@@ -3198,6 +3198,7 @@ template struct identity_tag {}; + #include // false_type, is_constructible, is_integral, is_same, true_type + #include // declval + #include // tuple ++#include // char_traits + + // #include + +@@ -3261,6 +3262,7 @@ struct iterator_traits::value>> + + + // #include ++// #include + + + namespace nlohmann +@@ -3272,6 +3274,7 @@ NLOHMANN_CAN_CALL_STD_FUNC_IMPL(begin); + + + // #include ++// #include + + + namespace nlohmann +@@ -3482,6 +3485,63 @@ struct has_to_json < BasicJsonType, T, enable_if_t < !is_basic_json::value >> + }; + + ++///////////////// ++// char_traits // ++///////////////// ++ ++// Primary template of char_traits calls std char_traits ++template ++struct char_traits : std::char_traits ++{}; ++ ++// Explicitly define char traits for unsigned char since it is not standard ++template<> ++struct char_traits : std::char_traits ++{ ++ using char_type = unsigned char; ++ using int_type = uint64_t; ++ ++ // Redefine to_int_type function ++ static int_type to_int_type(char_type c) noexcept ++ { ++ return static_cast(c); ++ } ++ ++ static char_type to_char_type(int_type i) noexcept ++ { ++ return static_cast(i); ++ } ++ ++ static constexpr int_type eof() noexcept ++ { ++ return static_cast(EOF); ++ } ++}; ++ ++// Explicitly define char traits for signed char since it is not standard ++template<> ++struct char_traits : std::char_traits ++{ ++ using char_type = signed char; ++ using int_type = uint64_t; ++ ++ // Redefine to_int_type function ++ static int_type to_int_type(char_type c) noexcept ++ { ++ return static_cast(c); ++ } ++ ++ static char_type to_char_type(int_type i) noexcept ++ { ++ return static_cast(i); ++ } ++ ++ static constexpr int_type eof() noexcept ++ { ++ return static_cast(EOF); ++ } ++}; ++ + /////////////////// + // is_ functions // + /////////////////// +@@ -5342,16 +5402,16 @@ class iterator_input_adapter + : current(std::move(first)), end(std::move(last)) + {} + +- typename std::char_traits::int_type get_character() ++ typename char_traits::int_type get_character() + { + if (JSON_HEDLEY_LIKELY(current != end)) + { +- auto result = std::char_traits::to_int_type(*current); ++ auto result = char_traits::to_int_type(*current); + std::advance(current, 1); + return result; + } + +- return std::char_traits::eof(); ++ return char_traits::eof(); + } + + private: +@@ -6517,7 +6577,7 @@ class lexer : public lexer_base + using number_float_t = typename BasicJsonType::number_float_t; + using string_t = typename BasicJsonType::string_t; + using char_type = typename InputAdapterType::char_type; +- using char_int_type = typename std::char_traits::int_type; ++ using char_int_type = typename char_traits::int_type; + + public: + using token_type = typename lexer_base::token_type; +@@ -6667,7 +6727,7 @@ class lexer : public lexer_base + switch (get()) + { + // end of file while parsing string +- case std::char_traits::eof(): ++ case char_traits::eof(): + { + error_message = "invalid string: missing closing quote"; + return token_type::parse_error; +@@ -7256,7 +7316,7 @@ class lexer : public lexer_base + { + case '\n': + case '\r': +- case std::char_traits::eof(): ++ case char_traits::eof(): + case '\0': + return true; + +@@ -7273,7 +7333,7 @@ class lexer : public lexer_base + { + switch (get()) + { +- case std::char_traits::eof(): ++ case char_traits::eof(): + case '\0': + { + error_message = "invalid comment; missing closing '*/'"; +@@ -7702,10 +7762,10 @@ scan_number_done: + token_type scan_literal(const char_type* literal_text, const std::size_t length, + token_type return_type) + { +- JSON_ASSERT(std::char_traits::to_char_type(current) == literal_text[0]); ++ JSON_ASSERT(char_traits::to_char_type(current) == literal_text[0]); + for (std::size_t i = 1; i < length; ++i) + { +- if (JSON_HEDLEY_UNLIKELY(std::char_traits::to_char_type(get()) != literal_text[i])) ++ if (JSON_HEDLEY_UNLIKELY(char_traits::to_char_type(get()) != literal_text[i])) + { + error_message = "invalid literal"; + return token_type::parse_error; +@@ -7723,7 +7783,7 @@ scan_number_done: + { + token_buffer.clear(); + token_string.clear(); +- token_string.push_back(std::char_traits::to_char_type(current)); ++ token_string.push_back(char_traits::to_char_type(current)); + } + + /* +@@ -7731,7 +7791,7 @@ scan_number_done: + + This function provides the interface to the used input adapter. It does + not throw in case the input reached EOF, but returns a +- `std::char_traits::eof()` in that case. Stores the scanned characters ++ `char_traits::eof()` in that case. Stores the scanned characters + for use in error messages. + + @return character read from the input +@@ -7751,9 +7811,9 @@ scan_number_done: + current = ia.get_character(); + } + +- if (JSON_HEDLEY_LIKELY(current != std::char_traits::eof())) ++ if (JSON_HEDLEY_LIKELY(current != char_traits::eof())) + { +- token_string.push_back(std::char_traits::to_char_type(current)); ++ token_string.push_back(char_traits::to_char_type(current)); + } + + if (current == '\n') +@@ -7792,7 +7852,7 @@ scan_number_done: + --position.chars_read_current_line; + } + +- if (JSON_HEDLEY_LIKELY(current != std::char_traits::eof())) ++ if (JSON_HEDLEY_LIKELY(current != char_traits::eof())) + { + JSON_ASSERT(!token_string.empty()); + token_string.pop_back(); +@@ -7986,7 +8046,7 @@ scan_number_done: + // end of input (the null byte is needed when parsing from + // string literals) + case '\0': +- case std::char_traits::eof(): ++ case char_traits::eof(): + return token_type::end_of_input; + + // error +@@ -8004,7 +8064,7 @@ scan_number_done: + const bool ignore_comments = false; + + /// the current character +- char_int_type current = std::char_traits::eof(); ++ char_int_type current = char_traits::eof(); + + /// whether the next get() call should just return current + bool next_unget = false; +@@ -8235,7 +8295,7 @@ class binary_reader + using binary_t = typename BasicJsonType::binary_t; + using json_sax_t = SAX; + using char_type = typename InputAdapterType::char_type; +- using char_int_type = typename std::char_traits::int_type; ++ using char_int_type = typename char_traits::int_type; + + public: + /*! +@@ -8307,7 +8367,7 @@ class binary_reader + get(); + } + +- if (JSON_HEDLEY_UNLIKELY(current != std::char_traits::eof())) ++ if (JSON_HEDLEY_UNLIKELY(current != char_traits::eof())) + { + return sax->parse_error(chars_read, get_token_string(), + parse_error::create(110, chars_read, exception_message(format, "expected end of input; last byte: 0x" + get_token_string(), "value"), BasicJsonType())); +@@ -8389,7 +8449,7 @@ class binary_reader + return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "string length must be at least 1, is " + std::to_string(len), "string"), BasicJsonType())); + } + +- return get_string(input_format_t::bson, len - static_cast(1), result) && get() != std::char_traits::eof(); ++ return get_string(input_format_t::bson, len - static_cast(1), result) && get() != char_traits::eof(); + } + + /*! +@@ -8580,7 +8640,7 @@ class binary_reader + switch (get_char ? get() : current) + { + // EOF +- case std::char_traits::eof(): ++ case char_traits::eof(): + return unexpect_eof(input_format_t::cbor, "value"); + + // Integer 0x00..0x17 (0..23) +@@ -9350,7 +9410,7 @@ class binary_reader + switch (get()) + { + // EOF +- case std::char_traits::eof(): ++ case char_traits::eof(): + return unexpect_eof(input_format_t::msgpack, "value"); + + // positive fixint +@@ -10172,7 +10232,7 @@ class binary_reader + { + switch (prefix) + { +- case std::char_traits::eof(): // EOF ++ case char_traits::eof(): // EOF + return unexpect_eof(input_format_t::ubjson, "value"); + + case 'T': // true +@@ -10478,7 +10538,7 @@ class binary_reader + + This function provides the interface to the used input adapter. It does + not throw in case the input reached EOF, but returns a -'ve valued +- `std::char_traits::eof()` in that case. ++ `char_traits::eof()` in that case. + + @return character read from the input + */ +@@ -10618,7 +10678,7 @@ class binary_reader + JSON_HEDLEY_NON_NULL(3) + bool unexpect_eof(const input_format_t format, const char* context) const + { +- if (JSON_HEDLEY_UNLIKELY(current == std::char_traits::eof())) ++ if (JSON_HEDLEY_UNLIKELY(current == char_traits::eof())) + { + return sax->parse_error(chars_read, "", + parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context), BasicJsonType())); +@@ -10679,7 +10739,7 @@ class binary_reader + InputAdapterType ia; + + /// the current character +- char_int_type current = std::char_traits::eof(); ++ char_int_type current = char_traits::eof(); + + /// the number of characters read + std::size_t chars_read = 0; +@@ -16102,8 +16162,8 @@ class serializer + error_handler_t error_handler_ = error_handler_t::strict) + : o(std::move(s)) + , loc(std::localeconv()) +- , thousands_sep(loc->thousands_sep == nullptr ? '\0' : std::char_traits::to_char_type(* (loc->thousands_sep))) +- , decimal_point(loc->decimal_point == nullptr ? '\0' : std::char_traits::to_char_type(* (loc->decimal_point))) ++ , thousands_sep(loc->thousands_sep == nullptr ? '\0' : char_traits::to_char_type(* (loc->thousands_sep))) ++ , decimal_point(loc->decimal_point == nullptr ? '\0' : char_traits::to_char_type(* (loc->decimal_point))) + , indent_char(ichar) + , indent_string(512, indent_char) + , error_handler(error_handler_) +diff --git a/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp b/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp +index 761e0b73..b7ce4129 100644 +--- a/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp ++++ b/plotjuggler_plugins/ParserProtobuf/error_collectors.cpp +@@ -2,38 +2,38 @@ + #include + #include + +-void FileErrorCollector::AddError(const std::string& filename, int line, int, +- const std::string& message) ++void FileErrorCollector::RecordError(const absl::string_view filename, int line, int, ++ const absl::string_view message) + { + auto msg = QString("File: [%1] Line: [%2] Message: %3\n\n") +- .arg(QString::fromStdString(filename)) ++ .arg(QString::fromStdString(std::string(filename))) + .arg(line) +- .arg(QString::fromStdString(message)); ++ .arg(QString::fromStdString(std::string(message))); + + _errors.push_back(msg); + } + +-void FileErrorCollector::AddWarning(const std::string& filename, int line, int, +- const std::string& message) ++void FileErrorCollector::RecordWarning(const absl::string_view filename, int line, int, ++ const absl::string_view message) + { + auto msg = QString("Warning [%1] line %2: %3") +- .arg(QString::fromStdString(filename)) ++ .arg(QString::fromStdString(std::string(filename))) + .arg(line) +- .arg(QString::fromStdString(message)); ++ .arg(QString::fromStdString(std::string(message))); + qDebug() << msg; + } + +-void IoErrorCollector::AddError(int line, google::protobuf::io::ColumnNumber, +- const std::string& message) ++void IoErrorCollector::RecordError(int line, google::protobuf::io::ColumnNumber, ++ const absl::string_view message) + { + _errors.push_back( +- QString("Line: [%1] Message: %2\n").arg(line).arg(QString::fromStdString(message))); ++ QString("Line: [%1] Message: %2\n").arg(line).arg(QString::fromStdString(std::string(message)))); + } + +-void IoErrorCollector::AddWarning(int line, google::protobuf::io::ColumnNumber column, +- const std::string& message) ++void IoErrorCollector::RecordWarning(int line, google::protobuf::io::ColumnNumber column, ++ const absl::string_view message) + { + qDebug() << QString("Line: [%1] Message: %2\n") + .arg(line) +- .arg(QString::fromStdString(message)); ++ .arg(QString::fromStdString(std::string(message))); + } +diff --git a/plotjuggler_plugins/ParserProtobuf/error_collectors.h b/plotjuggler_plugins/ParserProtobuf/error_collectors.h +index f70a881f..7afe1fea 100644 +--- a/plotjuggler_plugins/ParserProtobuf/error_collectors.h ++++ b/plotjuggler_plugins/ParserProtobuf/error_collectors.h +@@ -3,17 +3,18 @@ + + #include + #include ++#include + + #include + + class IoErrorCollector : public google::protobuf::io::ErrorCollector + { + public: +- void AddError(int line, google::protobuf::io::ColumnNumber column, +- const std::string& message) override; ++ void RecordError(int line, google::protobuf::io::ColumnNumber column, ++ const absl::string_view message) override; + +- void AddWarning(int line, google::protobuf::io::ColumnNumber column, +- const std::string& message) override; ++ void RecordWarning(int line, google::protobuf::io::ColumnNumber column, ++ const absl::string_view message) override; + + const QStringList& errors() + { +@@ -27,11 +28,11 @@ private: + class FileErrorCollector : public google::protobuf::compiler::MultiFileErrorCollector + { + public: +- void AddError(const std::string& filename, int line, int, +- const std::string& message) override; ++ void RecordError(const absl::string_view filename, int line, int, ++ const absl::string_view message) override; + +- void AddWarning(const std::string& filename, int line, int, +- const std::string& message) override; ++ void RecordWarning(const absl::string_view filename, int line, int, ++ const absl::string_view message) override; + + const QStringList& errors() + { +diff --git a/3rdparty/Qt-Advanced-Docking/CMakeLists.txt b/3rdparty/Qt-Advanced-Docking/CMakeLists.txt +index 6b650f1b..82c58edb 100644 +--- a/3rdparty/Qt-Advanced-Docking/CMakeLists.txt ++++ b/3rdparty/Qt-Advanced-Docking/CMakeLists.txt +@@ -67,7 +67,9 @@ target_link_libraries(qt_advanced_docking PUBLIC Qt5::Core Qt5::Gui Qt5::Widgets + + if(UNIX AND NOT APPLE) + target_link_libraries(qt_advanced_docking PUBLIC Qt5::X11Extras) +- target_link_libraries(qt_advanced_docking PRIVATE xcb) ++ find_package(XCB REQUIRED) ++ target_link_libraries(qt_advanced_docking PRIVATE ${XCB_LIBRARIES}) ++ target_include_directories(qt_advanced_docking SYSTEM PUBLIC ${XCB_INCLUDE_DIRS}) + endif() + + set_target_properties(qt_advanced_docking PROPERTIES +diff --git a/3rdparty/lua-5.4.3/CMakeLists.txt b/3rdparty/lua-5.4.3/CMakeLists.txt +index ad3dc012..a3da197b 100644 +--- a/3rdparty/lua-5.4.3/CMakeLists.txt ++++ b/3rdparty/lua-5.4.3/CMakeLists.txt +@@ -1,3 +1,5 @@ ++include_directories( ./src ) ++ + set(LUA_LIB_SRCS + ${CMAKE_CURRENT_SOURCE_DIR}/src/lapi.c + ${CMAKE_CURRENT_SOURCE_DIR}/src/lcode.c +@@ -32,7 +34,7 @@ set(LUA_LIB_SRCS + ${CMAKE_CURRENT_SOURCE_DIR}/src/loadlib.c + ${CMAKE_CURRENT_SOURCE_DIR}/src/linit.c + ) +-set(LUA_LIB_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/src) ++# set(LUA_LIB_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/src) + + if(CMAKE_C_COMPILER_ID MATCHES "GNU|Clang|AppleClang") + add_compile_options(-fPIC) +@@ -42,7 +44,7 @@ add_library(lua_static STATIC + ${LUA_LIB_SRCS} + ${CMAKE_CURRENT_SOURCE_DIR}/src/lua.c + ) +-target_include_directories(lua_static PUBLIC ${LUA_LIB_INCLUDE}) ++# target_include_directories(lua_static PUBLIC ${LUA_LIB_INCLUDE}) + + add_library(lua_objects OBJECT ${LUA_LIB_SRCS}) + +@@ -55,3 +57,11 @@ if(EMSCRIPTEN) + endif() + target_compile_definitions(lua_static PUBLIC ${LUA_DEFINITIONS}) + ++install( ++ TARGETS ++ lua_static ++ EXPORT export_lua_static ++ LIBRARY DESTINATION lib ++ ARCHIVE DESTINATION lib ++ RUNTIME DESTINATION bin ++ INCLUDES DESTINATION include ) +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 16477dd3..859f7320 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,4 +1,4 @@ +-cmake_minimum_required(VERSION 3.10.2) ++cmake_minimum_required(VERSION 3.20) + + PROJECT(plotjuggler LANGUAGES C CXX VERSION 3.9.2) + +@@ -94,18 +94,6 @@ if (NOT WIN32) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer") + endif() + +-if(APPLE AND EXISTS /usr/local/opt/qt5) +- # Homebrew installs Qt5 (up to at least 5.9.1) in +- # /usr/local/qt5, ensure it can be found by CMake since +- # it is not in the default /usr/local prefix. +- # source: https://github.com/Homebrew/homebrew-core/issues/8392#issuecomment-325226494 +- list(APPEND CMAKE_PREFIX_PATH "/usr/local/opt/qt5") +- set(CMAKE_MACOSX_RPATH 1) +-elseif(APPLE AND EXISTS /opt/homebrew/opt/qt@5) +- list(APPEND CMAKE_PREFIX_PATH "/opt/homebrew/opt/qt@5") +- set(CMAKE_MACOSX_RPATH 1) +-endif() +- + find_package(Qt5 REQUIRED COMPONENTS + Core + Widgets +@@ -120,11 +108,9 @@ find_package(Qt5 REQUIRED COMPONENTS + set( QT_LINK_LIBRARIES + Qt5::Core + Qt5::Widgets +- Qt5::PrintSupport + Qt5::Xml + Qt5::Concurrent + Qt5::Svg +- Qt5::OpenGL + Qt5::WebSockets + ) + +@@ -191,7 +177,7 @@ if (BASE_AS_SHARED) + ${PLOTJUGGLER_BASE_SRC} + ${PLOTJUGGLER_BASE_MOCS} + ) +- target_link_libraries(plotjuggler_base PRIVATE lua_objects plotjuggler_qwt_objects) ++ target_link_libraries(plotjuggler_base PRIVATE ${QT_LINK_LIBRARIES} lua_objects plotjuggler_qwt_objects) + else() + add_library(plotjuggler_base STATIC + ${PLOTJUGGLER_BASE_SRC} +@@ -199,13 +185,6 @@ else() + ) + endif() + +-# target_link_libraries(plotjuggler_base plotjuggler_qwt) +- +-target_include_directories(plotjuggler_base INTERFACE +- $ +- $ +-) +- + ######################### INSTALL #################################### + + if(COMPILING_WITH_CATKIN) +diff --git a/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt b/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt +index f399fdad..4c89c787 100644 +--- a/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt ++++ b/plotjuggler_plugins/ParserProtobuf/CMakeLists.txt +@@ -1,13 +1,6 @@ +-if(BUILDING_WITH_CONAN) +- message(STATUS "Finding Protobuf with conan") +- set(Protobuf_LIBS protobuf::libprotobuf) +-else() +- message(STATUS "Finding Protobuf without package managers") +- find_package(Protobuf QUIET) +- set(Protobuf_LIBS ${Protobuf_LIBRARIES}) +-endif() ++set(Protobuf_LIBS protobuf::libprotobuf) + +-find_package(Protobuf QUIET) ++find_package(Protobuf QUIET CONFIG) + + if( Protobuf_FOUND) + +diff --git a/3rdparty/sol/sol.hpp b/3rdparty/sol/sol.hpp +index 0bb68ebe..20855338 100644 +--- a/3rdparty/sol/sol.hpp ++++ b/3rdparty/sol/sol.hpp +@@ -6747,12 +6747,9 @@ namespace sol { + /// one. + /// + /// \group emplace +- template +- T& emplace(Args&&... args) noexcept { +- static_assert(std::is_constructible::value, "T must be constructible with Args"); +- +- *this = nullopt; +- this->construct(std::forward(args)...); ++ T& emplace(T& arg) noexcept { ++ m_value = &arg; ++ return **this; + } + + /// Swaps this optional with the other. diff --git a/recipes/ros-jazzy-plotjuggler/recipe.yaml b/recipes/ros-jazzy-plotjuggler/recipe.yaml new file mode 100644 index 00000000..aea2b9fb --- /dev/null +++ b/recipes/ros-jazzy-plotjuggler/recipe.yaml @@ -0,0 +1,129 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-jazzy-plotjuggler + version: 3.9.2 +source: + git: https://github.com/ros2-gbp/plotjuggler-release.git + tag: release/jazzy/plotjuggler/3.9.2-1 + target_directory: ros-jazzy-plotjuggler/src/work + patches: + - patch/ros-jazzy-plotjuggler.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 1 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + - if: build_platform != target_platform + then: + - qt-main + host: + - ${{ 'elfutils' if linux }} + - binutils + - if: build_platform == target_platform + then: + - pkg-config + - cppzmq + - libboost-devel + - libboost-python-devel + - libprotobuf + - libxcb + - lz4 + - numpy + - pip + - protobuf + - python + - qt-main + - ros-jazzy-ament-cmake + - ros-jazzy-ament-index-cpp + - ros-jazzy-fastcdr + - ros-jazzy-rclcpp + - ros-jazzy-ros-environment + - ros-jazzy-ros-workspace + - ros2-distro-mutex 0.6.* jazzy_* + - zeromq + - zstd + - if: linux + then: + - libgl-devel + - libopengl-devel + - if: unix + then: + - xorg-libx11 + - xorg-libxext + run: + - binutils + - cppzmq + - libboost-devel + - libboost-python-devel + - libprotobuf + - lz4 + - protobuf + - python + - qt-main + - ros-jazzy-ament-index-cpp + - ros-jazzy-fastcdr + - ros-jazzy-rclcpp + - ros-jazzy-ros-workspace + - ros2-distro-mutex 0.6.* jazzy_* + - zeromq + - zstd + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} + - if: unix + then: + - xorg-libx11 + - xorg-libxext diff --git a/vinca.yaml b/vinca.yaml new file mode 100644 index 00000000..3e8749ed --- /dev/null +++ b/vinca.yaml @@ -0,0 +1,64 @@ +ros_distro: jazzy + +# mapping for package keys +conda_index: + - robostack.yaml + - packages-ignore.yaml + +build_number: 1 + +mutex_package: ros2-distro-mutex 0.6.* jazzy_* + +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 + - urdfdom + - urdfdom_headers + - urdfdom_py + +packages_remove_from_deps: + - cartographer + +skip_existing: + # - output + - https://conda.anaconda.org/robostack-jazzy/ + +packages_select_by_deps: + - ament_cmake_core + - ament_cmake_catch2 + + - desktop + - ros_base + - ros_environment + - ros_workspace + - dev_tools + - diagnostics + - teleop + - robot + - perception + - navigation2 + - simulation + - desktop_full + + - moveit + - moveit-planners-chomp + + - ros_gz + - slam_toolbox + - turtlebot3 + + - plotjuggler-ros + + - apriltag_ros + + - ackermann-msgs + - velodyne + - sbg_driver + - gtsam + +patch_dir: patch diff --git 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