Add build files 2024-07-22-0417

RoboStack · Jul 22, 2024 · ad50c97 · ad50c97
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diff --git a/.github/workflows/osx_arm64.yml b/.github/workflows/osx_arm64.yml
@@ -0,0 +1,259 @@
+jobs:
+  stage_0_job_0:
+    name: urdfdom-py moveit-resources-panda-description octomap-msgs object-recognition-msgs
+      random-numbers
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-urdfdom-py ros-humble-moveit-resources-panda-description
+        ros-humble-octomap-msgs ros-humble-object-recognition-msgs ros-humble-random-numbers
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-urdfdom-py ros-humble-moveit-resources-panda-description
+          ros-humble-octomap-msgs ros-humble-object-recognition-msgs ros-humble-random-numbers
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_0_job_1:
+    name: eigen-stl-containers moveit-resources-pr2-description moveit-common moveit-resources-fanuc-description
+      launch-param-builder
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-eigen-stl-containers ros-humble-moveit-resources-pr2-description
+        ros-humble-moveit-common ros-humble-moveit-resources-fanuc-description ros-humble-launch-param-builder
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-eigen-stl-containers ros-humble-moveit-resources-pr2-description
+          ros-humble-moveit-common ros-humble-moveit-resources-fanuc-description ros-humble-launch-param-builder
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_1_job_2:
+    name: srdfdom moveit-resources-panda-moveit-config moveit-msgs geometric-shapes
+      moveit-resources-fanuc-moveit-config
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-srdfdom ros-humble-moveit-resources-panda-moveit-config
+        ros-humble-moveit-msgs ros-humble-geometric-shapes ros-humble-moveit-resources-fanuc-moveit-config
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-srdfdom ros-humble-moveit-resources-panda-moveit-config
+          ros-humble-moveit-msgs ros-humble-geometric-shapes ros-humble-moveit-resources-fanuc-moveit-config
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_2_job_3:
+    name: moveit-core moveit-configs-utils
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_1_job_2
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-core ros-humble-moveit-configs-utils
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-core ros-humble-moveit-configs-utils
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_3_job_4:
+    name: moveit-ros-occupancy-map-monitor moveit-simple-controller-manager moveit-resources-prbt-ikfast-manipulator-plugin
+      pilz-industrial-motion-planner-testutils chomp-motion-planner
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_2_job_3
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-occupancy-map-monitor ros-humble-moveit-simple-controller-manager
+        ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin ros-humble-pilz-industrial-motion-planner-testutils
+        ros-humble-chomp-motion-planner
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-occupancy-map-monitor ros-humble-moveit-simple-controller-manager
+          ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin ros-humble-pilz-industrial-motion-planner-testutils
+          ros-humble-chomp-motion-planner
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_4_job_5:
+    name: moveit-ros-planning moveit-plugins moveit-planners-chomp
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_3_job_4
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-planning ros-humble-moveit-plugins ros-humble-moveit-planners-chomp
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-planning ros-humble-moveit-plugins
+          ros-humble-moveit-planners-chomp
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_5_job_6:
+    name: moveit-kinematics moveit-ros-warehouse moveit-planners-ompl moveit-ros-robot-interaction
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_4_job_5
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-kinematics ros-humble-moveit-ros-warehouse ros-humble-moveit-planners-ompl
+        ros-humble-moveit-ros-robot-interaction
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-kinematics ros-humble-moveit-ros-warehouse
+          ros-humble-moveit-planners-ompl ros-humble-moveit-ros-robot-interaction
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_6_job_7:
+    name: moveit-ros-move-group moveit-ros-benchmarks moveit-ros-planning-interface
+      moveit-resources-prbt-moveit-config
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_5_job_6
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-move-group ros-humble-moveit-ros-benchmarks
+        ros-humble-moveit-ros-planning-interface ros-humble-moveit-resources-prbt-moveit-config
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-move-group ros-humble-moveit-ros-benchmarks
+          ros-humble-moveit-ros-planning-interface ros-humble-moveit-resources-prbt-moveit-config
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_7_job_8:
+    name: moveit-ros-visualization moveit-resources-prbt-pg70-support
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_6_job_7
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-visualization ros-humble-moveit-resources-prbt-pg70-support
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-visualization ros-humble-moveit-resources-prbt-pg70-support
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_8_job_9:
+    name: moveit-setup-framework pilz-industrial-motion-planner moveit-ros
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_7_job_8
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-setup-framework ros-humble-pilz-industrial-motion-planner
+        ros-humble-moveit-ros
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-setup-framework ros-humble-pilz-industrial-motion-planner
+          ros-humble-moveit-ros
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_9_job_10:
+    name: moveit-setup-core-plugins moveit-setup-controllers moveit-setup-app-plugins
+      moveit-setup-srdf-plugins moveit-planners
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_8_job_9
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - 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 ros-humble-moveit-planners
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-setup-core-plugins ros-humble-moveit-setup-controllers
+          ros-humble-moveit-setup-app-plugins ros-humble-moveit-setup-srdf-plugins
+          ros-humble-moveit-planners
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+  stage_10_job_11:
+    name: moveit-setup-assistant moveit
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_9_job_10
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-setup-assistant ros-humble-moveit
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-setup-assistant ros-humble-moveit
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+name: build_osx
+on:
+  push:
+    branches:
+    - buildbranch_osx_arm64
diff --git a/activate.bat b/activate.bat
@@ -0,0 +1,15 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@REM Don't do anything when we are in conda build.
+@if defined SYS_PREFIX exit /b 0
+
+@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins"
+
+@call "%CONDA_PREFIX%\Library\local_setup.bat"
+@set PYTHONHOME=
+@set "ROS_OS_OVERRIDE=conda:win64"
+@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"
+@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe"
diff --git a/activate.ps1 b/activate.ps1
@@ -0,0 +1,16 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($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
@@ -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
@@ -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
@@ -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