Merge pull request #21 from RoboStack/fresh-builds

Fresh builds

.github/testpr_environment.yml

@@ -1,9 +1,10 @@
-name: base
+name: testpr_env
 channels:
   - robostack-humble
+  - robostack-staging
   - conda-forge
 dependencies:
-  - python 3.9.*
+  - python 3.10.*
   - pip
   - boa
   - rospkg

.github/workflows/build_robostack.yml

@@ -29,7 +29,7 @@ jobs:
           - os: ubuntu-latest
             ARCH: x86_64
             DOCKER_ARCH: amd64
-            DOCKERIMAGE: condaforge/linux-anvil-comp7
+            DOCKERIMAGE: condaforge/linux-anvil-cos7-x86_64
             MINIFORGE_NAME: "rosdesktop"
             OS_NAME: "Linux"
 
@@ -87,4 +87,4 @@ jobs:
         tag: ${{ github.ref }}
         overwrite: true
         file_glob: true
-      if: startsWith(github.ref, 'refs/tags/')
+      if: startsWith(github.ref, 'refs/tags/')

.github/workflows/main.yml

@@ -12,7 +12,7 @@ jobs:
         fetch-depth: 0 # otherwise, you will failed to push refs to dest repo
     - uses: actions/setup-python@v2
       with:
-        python-version: '3.9' # Version range or exact version of a Python version to use, using SemVer's version range syntax
+        python-version: '3.10' # Version range or exact version of a Python version to use, using SemVer's version range syntax
     - name: Install vinca
       run: |
         pip install git+https://github.com/RoboStack/vinca.git

.github/workflows/testpr.yml

@@ -10,7 +10,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest, windows-2019]
-        platform: [linux-64, osx-64, win-64, linux-aarch64, osx-arm64]
+        platform: [linux-64, linux-aarch64, osx-64, win-64, osx-arm64]
         exclude:
           - os: ubuntu-latest
             platform: win-64
@@ -33,16 +33,13 @@ jobs:
           - os: windows-2019
             platform: osx-arm64
     steps:
-    - uses: actions/checkout@main
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: actions/checkout@master
+    - name: install mamba
+      uses: mamba-org/provision-with-micromamba@main
       with:
-        mamba-version: "*"
-        channels: robostack-humble,conda-forge
-        channel-priority: false
-        auto-activate-base: true
-        activate-environment: ""
+        environment-file: .github/testpr_environment.yml
 
-    - shell: bash
+    - shell: bash -l {0}
       if: contains(matrix.os, 'linux-aarch64')
       run: |
         echo "::group::Configure binfmt_misc"

.gitignore

@@ -0,0 +1,6 @@
+vinca.yaml
+recipes/
+*.bat
+*.sh
+*.json
+.DS_Store

.scripts/build_linux.sh

@@ -31,6 +31,7 @@ conda config --set remote_max_retries 5
 # conda config --append channels defaults
 conda config --add channels conda-forge
 conda config --add channels robostack-humble
+conda config --add channels robostack-staging
 conda config --add channels $CONDA_BLD_PATH
 conda config --remove channels defaults
 # conda config --set channel_priority strict

.scripts/build_osx.sh

@@ -52,6 +52,7 @@ conda config --set add_pip_as_python_dependency false
 
 conda config --add channels conda-forge
 conda config --add channels robostack-humble
+conda config --add channels robostack-staging
 conda config --add channels $CONDA_BLD_PATH
 # conda config --set channel_priority strict
 

.scripts/build_osx_arm64.sh

@@ -52,6 +52,7 @@ conda config --set add_pip_as_python_dependency false
 
 conda config --add channels conda-forge
 conda config --add channels robostack-humble
+conda config --add channels robostack-staging
 conda config --add channels $CONDA_BLD_PATH
 # conda config --set channel_priority strict
 

.scripts/build_win.bat

@@ -32,6 +32,7 @@ call conda index %CONDA_BLD_PATH%
 call conda config --remove channels defaults
 call conda config --add channels conda-forge
 call conda config --add channels robostack-humble
+call conda config --add channels robostack-staging
 call conda config --add channels %CONDA_BLD_PATH%
 :: call conda config --set channel_priority strict
 

CONTRIBUTING.md

@@ -17,38 +17,24 @@ We follow the [NumFOCUS code of conduct](https://numfocus.org/code-of-conduct).
 # Adding new packages via pull requests
 You can open a pull request that will get build automatically in our CI.
 
-An example can be found [here](https://github.com/RoboStack/ros-galactic/pull/44). Simply add the required packages to the `vinca_*.yaml` files, where the * indicates the desired platform (linux_64, osx, win or linux_aarch64). Ideally, try to add packages to all of these platforms.
+An example can be found [here](https://github.com/RoboStack/ros-noetic/pull/44). Simply add the required packages to the `vinca_*.yaml` files, where the * indicates the desired platform (linux_64, osx, win or linux_aarch64). Ideally, try to add packages to all of these platforms.
 
-Sometimes, it may be required to patch the packages. An example of how to do so can be found in [this PR](https://github.com/RoboStack/ros-galactic/pull/32).
+Sometimes, it may be required to patch the packages. An example of how to do so can be found in [this PR](https://github.com/RoboStack/ros-noetic/pull/32).
 
 
 # Testing changes locally
 
-1. Install conda build tools in base environemnt:
-```
-conda install -n base conda-build mamba
-```
-
-2. Create a new conda environment and add the conda-forge and robostack channels:
-```
-conda create -n ros_humble python=3.9
-conda activate ros_humble
-conda config --append channels defaults
-conda config --add channels conda-forge
-conda config --add channels robostack-humble
-```
-3. Install some dependencies: 
-``` 
-mamba install anaconda-client catkin_pkg ruamel_yaml rosdistro empy networkx requests ruamel ruamel.yaml boa
-```
-4. Install vinca: `pip install git+https://github.com/RoboStack/vinca.git@master --no-deps`
-5. Clone this repo: `git clone https://github.com/RoboStack/ros-humble.git`
-6. `cd ros-humble`
-7. `cp vinca_linux_64.yaml vinca.yaml` (replace with your platform as necessary)
-8. Modify `vinca.yaml` as you please, e.g. add new packages to be built.
-9. Run vinca to generate the recipe by executing `vinca --multiple`
-10. Copy the generated recipe to the current folder: `cp recipes/ros-humble-XXX.yaml recipe.yaml` - note that at least one package needs to be (re)build for this folder to show up. See more info below.
-11. Build the recipe using boa: `boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml`
+1. Clone this repo: `git clone https://github.com/RoboStack/ros-humble.git`
+2. `cd ros-humble`
+3. `conda env create -f env/robostackenv.yaml `
+4. Make a symbolic link between your platform's yaml and `vinca.yaml`. Examples
+* `ln -s vinca_linux_64.yaml vinca.yaml` 
+* `ln -s vinca_osx.yaml vinca.yaml`
+* `mklink vinca.yaml vinca_win.yaml`
+5. Modify your platform's yaml as you please, e.g. add new packages to be built.
+6. Run vinca to generate the recipe by executing `vinca --multiple`
+7. Move to the `recipes` folder to find the recipes that need to be (re)build: `cd recipes`. Note that at least one package needs to be (re)build for folder to show up.
+8. Build the recipes from within the `recipes` folder using boa: `boa build . -m ../.ci_support/conda_forge_pinnings.yaml -m ../conda_build_config.yaml`
 
 # How does it work?
 - The `vinca.yaml` file specifies which packages should be built. 

README.md

@@ -47,11 +47,11 @@ To get started with conda (or mamba) as package managers, you need to have a bas
 conda install mamba -c conda-forge
 
 # now create a new environment
-mamba create -n ros_humble ros-humble-desktop python=3.9 spdlog=1.9.2 foonathan-memory=0.7.2 -c robostack-humble -c conda-forge --no-channel-priority --override-channels
+mamba create -n ros_humble ros-humble-desktop python=3.10 -c robostack-humble -c conda-forge --no-channel-priority --override-channels
 conda activate ros_humble
 
 # optionally, install some compiler packages if you want to e.g. build packages in a colcon_ws:
-mamba install compilers cmake=3.23 pkg-config make ninja colcon-common-extensions
+mamba install compilers cmake pkg-config make ninja colcon-common-extensions
 
 # on Windows, install Visual Studio 2017 or 2019 with C++ support 
 # see https://docs.microsoft.com/en-us/cpp/build/vscpp-step-0-installation?view=msvc-160

additional_recipes/ros-humble-octomap/recipe.yaml

@@ -0,0 +1,20 @@
+package:
+  name: ros-humble-octomap
+  version: "1.9.8"
+
+build:
+  number: 2
+
+requirements:
+  run:
+    - octomap 1.9.*
+
+
+about:
+  home: https://github.com/conda-forge/octomap-feedstock
+  license: BSD-3-Clause
+  summary: |
+    An Efficient Probabilistic 3D Mapping Framework Based on Octrees
+extra:
+  recipe-maintainers:
+    - ros-forge

additional_recipes/ros2-distro-mutex/recipe.yaml

@@ -1,13 +1,13 @@
 package:
   name: ros2-distro-mutex
-  version: 0.1.0
+  version: 0.2.0
 
 build:
   number: 0
   string: humble
   run_exports:
     # NOTE MANUALLY EDIT THIS!!!!
-    - ros2-distro-mutex 0.1 humble
+    - ros2-distro-mutex 0.2 humble
 
 requirements:
   # NOTE:
@@ -30,14 +30,12 @@ requirements:
   # if the upstream package does not have run_exports
   # please change it in the conda_build_config.yaml!
   run_constrained:
-    - boost-cpp 1.74
-    - log4cxx 0.11
+    - boost-cpp 1.78
     - pcl 1.12
-    - libopencv 4.5.5
-    - poco 1.11
     - gazebo 11
     - ogre 1.12
     - libpqxx 6
+    - setuptools 61.0.0
 
 about:
   home: https://github.com/robostack/ros-humble

conda_build_config.yaml

@@ -1,38 +1,30 @@
-c_compiler:
-  - vs2019                     # [win]
-cxx_compiler:
-  - vs2019                     # [win]
-
-console_bridge:
-  - 1.0
+assimp:
+  - 5.2.5
+hdf5:
+  - 1.12.2
 gazebo:
   - '11'
+libpqxx:
+  - 6
 numpy:
-  - 1.19
+  - 1.21
+pcl:
+  - 1.12.1
 ogre:
   - 1.12.*
-pcl:
-  - 1.12.0
-libpqxx:
-  - 6
-
-# Workaround for https://github.com/RoboStack/ros-galactic/pull/86#issuecomment-1079811424
-setuptools:  # [win]
-  - 61.0.0  # [win]
+qt:
+  - 5.15
+qt-main:
+  - 5.15
+
+cdt_name:  # [linux]
+  - cos7   # [linux]
 
 python:
-  # part of a zip_keys: python, python_impl, numpy
-  # - 3.6.* *_cpython    # [not (osx and arm64)]
-  # - 3.7.* *_cpython    # [not (osx and arm64)]
-  # - 3.8.* *_cpython
-  - 3.9.* *_cpython
+  - 3.10.* *_cpython
 python_impl:
-  # part of a zip_keys: python, python_impl, numpy
-  # - cpython   # [not (osx and arm64)]
-  # - cpython   # [not (osx and arm64)]
   - cpython
 
-# Project overrides
 macos_min_version:             # [osx and x86_64]
   - 10.14                      # [osx and x86_64]
 macos_machine:                 # [osx]

env/robostackenv.yaml

@@ -0,0 +1,21 @@
+name: robostackenv
+channels:
+- robostack-humble
+- robostack-staging
+- conda-forge
+dependencies:
+- python=3.10
+- conda-build
+- anaconda-client
+- mamba
+- conda
+- catkin_pkg
+- ruamel.yaml
+- rosdistro
+- empy
+- networkx
+- requests
+- boa=0.9
+- pip
+- pip:
+  - git+https://github.com/RoboStack/vinca.git@master

patch/dependencies.yaml

@@ -1,3 +1,5 @@
+ros_ign_interfaces:
+  add_host: ["ros-humble-rcl-interfaces"]
 cartographer_ros:
   add_host: ["cartographer 2.*"]
 ackermann_msgs:
@@ -107,7 +109,9 @@ backward_ros:
   add_host: [{sel(linux or (osx and x86_64)): binutils}, {sel(linux): elfutils}]
 nav2_smac_planner:
   add_build: [{"sel(osx)": "llvm-openmp"}]
-  add_host: [{"sel(osx)": "llvm-openmp"}]
+  add_host: [{"sel(osx)": "llvm-openmp"}, "ompl", "libode"]
+ompl:
+  add_host: ["ompl"]
 pybind11_vendor:
   add_host: ["pybind11"]
   add_run: ["pybind11"]
@@ -171,3 +175,15 @@ moveit:
   add_host: ["REQUIRE_OPENGL"]
 force_torque_sensor_broadcaster:
   add_host: ["typeguard", "jinja2"]
+ros_workspace:
+  add_build: ["setuptools 61.0.0"]
+ros_environment:
+  add_build: ["setuptools 61.0.0"]
+ament_package:
+  add_build: ["setuptools 61.0.0"]
+ament_cmake_core:
+  add_build: ["setuptools 61.0.0"]
+ros_gz_sim:
+  add_host: ["REQUIRE_OPENGL"]
+geometric_shapes:
+  add_host: ["octomap"]

patch/ros-humble-apex-containers.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index ebab722..452127f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,8 +27,6 @@ set(apex_containers_sources
+ set_source_files_properties(${apex_containers_sources} PROPERTIES language "CXX")
+ add_library(${PROJECT_NAME} SHARED ${apex_containers_sources})
+ target_compile_options(${PROJECT_NAME} PRIVATE
+-  -Wall
+-  -Werror
+   -Wextra
+   -pedantic
+   -Wcast-align