Add build files 2024-02-07-0009

.github/workflows/win.yml

@@ -0,0 +1,289 @@
+jobs:
+  stage_0_job_0:
+    name: moveit-ros-occupancy-map-monitor viz moveit-ros-planning desktop
+    runs-on: windows-2019
+    strategy:
+      fail-fast: false
+    needs: []
+    env:
+      CONDA_BLD_PATH: C:\\bld\\
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        channels: conda-forge
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+        use-mamba: 'true'
+        channel-priority: 'true'
+        python-version: '3.11'
+        activate-environment: test
+    - run: mamba install -c conda-forge -n base --yes --quiet conda-build=3.27 pip
+        mamba ruamel.yaml anaconda-client boa
+      name: Install conda-build, boa and activate environment
+    - shell: cmd
+      run: |
+        set "CI=azure"
+        call activate base
+
+        :: 2 cores available on Appveyor workers: https://www.appveyor.com/docs/build-environment/#build-vm-configurations
+        :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149
+        set CPU_COUNT=2
+
+        set PYTHONUNBUFFERED=1
+
+        conda config --set show_channel_urls true
+        conda config --set auto_update_conda false
+        conda config --set add_pip_as_python_dependency false
+
+        call setup_x64
+
+        :: Set the conda-build working directory to a smaller path
+        if "%CONDA_BLD_PATH%" == "" (
+            set "CONDA_BLD_PATH=C:\\bld\\"
+        )
+
+        :: Remove some directories from PATH
+        set "PATH=%PATH:C:\\ProgramData\\Chocolatey\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files (x86)\\sbt\\bin;=%"
+        set "PATH=%PATH:C:\\Rust\\.cargo\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\Git\\usr\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\Git\\cmd;=%"
+        set "PATH=%PATH:C:\\Program Files\\Git\\mingw64\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files (x86)\\Subversion\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\CMake\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\OpenSSL\\bin;=%"
+        set "PATH=%PATH:C:\\Strawberry\\c\\bin;=%"
+        set "PATH=%PATH:C:\\Strawberry\\perl\\bin;=%"
+        set "PATH=%PATH:C:\\Strawberry\\perl\\site\\bin;=%"
+        set "PATH=%PATH:c:\\tools\\php;=%"
+
+        :: On azure, there are libcrypto*.dll & libssl*.dll under
+        :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder).
+        :: They would be found before the openssl libs of the conda environment, so we delete them.
+        if defined CI (
+            DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll)
+            DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll)
+        )
+
+        :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
+        set "PATH=%PATH:ostedtoolcache=%"
+
+        mkdir "%CONDA%\\etc\\conda\\activate.d"
+
+        echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%"         > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+        echo set "CPU_COUNT=%CPU_COUNT%"                  >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+        echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%"    >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+        echo set "PATH=%PATH%"                            >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+
+        conda info
+        conda config --show-sources
+        conda list --show-channel-urls
+      name: conda-forge build setup
+    - shell: cmd
+      run: |
+        setlocal EnableExtensions EnableDelayedExpansion
+        call %CONDA%\condabin\conda_hook.bat
+        call %CONDA%\condabin\conda.bat activate base
+
+        set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
+        set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
+        set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
+        set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
+        set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\c\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
+        set "PATH=%PATH:c:\tools\php;=%"
+        :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
+        set "PATH=%PATH:ostedtoolcache=%"
+
+        echo "PATH is %PATH%"
+        echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%"
+
+        rmdir /Q/S C:\Strawberry\
+        rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"
+
+        set "FEEDSTOCK_ROOT=%cd%"
+
+        mkdir %CONDA_BLD_PATH%
+        call conda index %CONDA_BLD_PATH%
+
+        rem call conda config --remove channels defaults
+        call conda config --add channels conda-forge
+        call conda config --add channels robostack-staging
+        call conda config --add channels %CONDA_BLD_PATH%
+        :: call conda config --set channel_priority strict
+
+        :: Enable long path names on Windows
+        reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f
+
+        :: conda remove --force m2-git
+
+        for %%X in (%CURRENT_RECIPES%) do (
+            echo "BUILDING RECIPE %%X"
+            cd %FEEDSTOCK_ROOT%\recipes\%%X\
+            boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml
+            if errorlevel 1 exit 1
+        )
+
+        anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force
+        if errorlevel 1 exit 1
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-noetic-moveit-ros-occupancy-map-monitor ros-noetic-viz
+          ros-noetic-moveit-ros-planning ros-noetic-desktop
+        PYTHONUNBUFFERED: 1
+      name: Build ros-noetic-moveit-ros-occupancy-map-monitor ros-noetic-viz ros-noetic-moveit-ros-planning
+        ros-noetic-desktop
+  stage_1_job_1:
+    name: moveit-visual-tools
+    runs-on: windows-2019
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    env:
+      CONDA_BLD_PATH: C:\\bld\\
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        channels: conda-forge
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+        use-mamba: 'true'
+        channel-priority: 'true'
+        python-version: '3.11'
+        activate-environment: test
+    - run: mamba install -c conda-forge -n base --yes --quiet conda-build=3.27 pip
+        mamba ruamel.yaml anaconda-client boa
+      name: Install conda-build, boa and activate environment
+    - shell: cmd
+      run: |
+        set "CI=azure"
+        call activate base
+
+        :: 2 cores available on Appveyor workers: https://www.appveyor.com/docs/build-environment/#build-vm-configurations
+        :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149
+        set CPU_COUNT=2
+
+        set PYTHONUNBUFFERED=1
+
+        conda config --set show_channel_urls true
+        conda config --set auto_update_conda false
+        conda config --set add_pip_as_python_dependency false
+
+        call setup_x64
+
+        :: Set the conda-build working directory to a smaller path
+        if "%CONDA_BLD_PATH%" == "" (
+            set "CONDA_BLD_PATH=C:\\bld\\"
+        )
+
+        :: Remove some directories from PATH
+        set "PATH=%PATH:C:\\ProgramData\\Chocolatey\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files (x86)\\sbt\\bin;=%"
+        set "PATH=%PATH:C:\\Rust\\.cargo\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\Git\\usr\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\Git\\cmd;=%"
+        set "PATH=%PATH:C:\\Program Files\\Git\\mingw64\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files (x86)\\Subversion\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\CMake\\bin;=%"
+        set "PATH=%PATH:C:\\Program Files\\OpenSSL\\bin;=%"
+        set "PATH=%PATH:C:\\Strawberry\\c\\bin;=%"
+        set "PATH=%PATH:C:\\Strawberry\\perl\\bin;=%"
+        set "PATH=%PATH:C:\\Strawberry\\perl\\site\\bin;=%"
+        set "PATH=%PATH:c:\\tools\\php;=%"
+
+        :: On azure, there are libcrypto*.dll & libssl*.dll under
+        :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder).
+        :: They would be found before the openssl libs of the conda environment, so we delete them.
+        if defined CI (
+            DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll)
+            DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll)
+        )
+
+        :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
+        set "PATH=%PATH:ostedtoolcache=%"
+
+        mkdir "%CONDA%\\etc\\conda\\activate.d"
+
+        echo set "CONDA_BLD_PATH=%CONDA_BLD_PATH%"         > "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+        echo set "CPU_COUNT=%CPU_COUNT%"                  >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+        echo set "PYTHONUNBUFFERED=%PYTHONUNBUFFERED%"    >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+        echo set "PATH=%PATH%"                            >> "%CONDA%\\etc\\conda\\activate.d\\conda-forge-ci-setup-activate.bat"
+
+        conda info
+        conda config --show-sources
+        conda list --show-channel-urls
+      name: conda-forge build setup
+    - shell: cmd
+      run: |
+        setlocal EnableExtensions EnableDelayedExpansion
+        call %CONDA%\condabin\conda_hook.bat
+        call %CONDA%\condabin\conda.bat activate base
+
+        set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
+        set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
+        set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
+        set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
+        set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\c\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
+        set "PATH=%PATH:c:\tools\php;=%"
+        :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
+        set "PATH=%PATH:ostedtoolcache=%"
+
+        echo "PATH is %PATH%"
+        echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%"
+
+        rmdir /Q/S C:\Strawberry\
+        rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"
+
+        set "FEEDSTOCK_ROOT=%cd%"
+
+        mkdir %CONDA_BLD_PATH%
+        call conda index %CONDA_BLD_PATH%
+
+        rem call conda config --remove channels defaults
+        call conda config --add channels conda-forge
+        call conda config --add channels robostack-staging
+        call conda config --add channels %CONDA_BLD_PATH%
+        :: call conda config --set channel_priority strict
+
+        :: Enable long path names on Windows
+        reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f
+
+        :: conda remove --force m2-git
+
+        for %%X in (%CURRENT_RECIPES%) do (
+            echo "BUILDING RECIPE %%X"
+            cd %FEEDSTOCK_ROOT%\recipes\%%X\
+            boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml
+            if errorlevel 1 exit 1
+        )
+
+        anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force
+        if errorlevel 1 exit 1
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-noetic-moveit-visual-tools
+        PYTHONUNBUFFERED: 1
+      name: Build ros-noetic-moveit-visual-tools
+name: build_win
+on:
+  push:
+    branches:
+    - buildbranch_win

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"

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"

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=

bld_ament_cmake.bat

@@ -0,0 +1,38 @@
+:: 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% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1