Add workflow using conda to install dependencies #313
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diegoferigo
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In general FYI I am all in favor in progressively moving dependencies with a clear versioning API/ABI and release policy from the robotology channel to proper conda-forge dependencies. iDynTree is definitely one of the first candidates, the missing part is just to move the idyntree-yarp-tools to https://github.com/robotology/idyntree-yarp-tools . |
My comment was not clear enough: substitute |
Actually I did not even noticed the conda-forge/robotology typo. I just mentioned that for mutual alignment. |
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Rebased and improved the workflow. Still blocked by conda-forge/libignition-gazebo-feedstock#4. |
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I re-triggered CI just to check and now after conda-forge/libignition-common-feedstock#36, the error of the wrong plugin directory seems solved. The project is building (also before it was) and the tests run and fail. This time, the error is the following:
Inspecting the conda environment, no ODE package is installed automatically (this was what I was mentioning today about the runtime dependencies of ignition libraries packaged in conda-forge @traversaro). mamba list |
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Now few tests are failing, but the majority are passing. Definitely a step forward. I'm not sure what's missing now, I guess I need to debug it locally, from CI it's not clear to me. Failing tests:
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Rebasing on latest Edit: no changes. |
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This PR seems now working on linux, but there's a test failing probably due to the dart version that is shipped in conda-forge (I disabled it for the moment). MacOS segfaults during pytest.Windows errors during CMake configuring |
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Updated status:
On windows, it seems that it links the dll instead of the libs. cc @traversaro any clue? I can see that the library is found as part of the macos: segfaults when scenario is importedwindows: fails to compile due to link error with zlib.dll |
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I managed to get a more descriptive error message on macos: It seems to pick the |
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With the workaround provided by @traversaro in conda-forge/libignition-gazebo-feedstock#30 (comment), the windows build compiles until the SWIG bindings, that now fail with: The workflow is compiling in Debug and this could be the cause of this |
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Compiling in Release seems fixing the SWIG bindings: but now the vendored Physics system is failing with: Trying to use |
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Now also windows compiles the project successfully. Let's see if we manage to reach the testing step. Similarly to macOS, I suspect that importing the bindings does not work out of the box also on windows. |
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Install explicitly libode Disable failing tests due to conda-forge's dart [remove]
[remove] temporarily disable check for ign command
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Updated status:
macos: segfaults when scenario is importedwindows: tests fail |
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@traversaro reading better the windows error:
it seems that something related to the relocation here failed. The file |
Yes, the problem is probably not here, I guess for now you can skip Windows and macOS after just opening an issue in the ign-gazebo feedstock repo on those problems. |
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#279 provides useful information about why relying on conda could be beneficial over the current PyPI-based distribution.
Much work has been done by the conda-forge community (including @traversaro) to provide the Ignition stack:
This PR explores the integration of conda and its channels (particularly, conda-forge and robotology) to install the build dependencies in CI.
CMAKE_PREFIX_PATHfor iDynTree does not work in this setup, I had to rely oniDynTree_DIR(note that iDynTree exported targets are inside the python package)This PR is currently blocked by conda-forge/libignition-gazebo-feedstock#4.