From a59f525d95bc7a6c1d25a4e8d84a404ce7081eae Mon Sep 17 00:00:00 2001 From: Silvio Date: Fri, 21 Feb 2025 17:41:33 +0100 Subject: [PATCH 1/5] Cleanup pixi.toml on February 2025 --- .github/workflows/pixi-ci.yml | 23 +- pixi.lock | 86048 ++++++++++++++++++++------------ pixi.toml | 105 +- 3 files changed, 53063 insertions(+), 33113 deletions(-) diff --git a/.github/workflows/pixi-ci.yml b/.github/workflows/pixi-ci.yml index 9d3f484f8..6cbce8c9a 100644 --- a/.github/workflows/pixi-ci.yml +++ b/.github/workflows/pixi-ci.yml @@ -23,27 +23,8 @@ jobs: matrix: build_type: [Release] os: [ubuntu-22.04, ubuntu-24.04-arm, macos-13, macos-14, windows-2019] - pixi_task: [build-all, build-ros2, build-ros2moveit] - exclude: - # ros is not supported on osx-arm64 (incompatibility with gz-sim8) - - os: macos-14 - pixi_task: build-ros2 - # We already test linux-64 and ros2 in build-all-ros2moveit - - os: ubuntu-22.04 - pixi_task: build-ros2 - # Windows build fail due to length of build folder - # See https://github.com/robotology/robotology-superbuild/pull/1746#issuecomment-2514352629 - - os: windows-2019 - pixi_task: build-ros2 - # moveit is only supported on Linux for now (missing required package in robostack) - - os: ubuntu-24.04-arm - pixi_task: build-ros2moveit - - os: macos-13 - pixi_task: build-ros2moveit - - os: macos-14 - pixi_task: build-ros2moveit - - os: windows-2019 - pixi_task: build-ros2moveit + pixi_task: [build-all, build-ros2] + steps: - uses: actions/checkout@v4 diff --git a/pixi.lock b/pixi.lock index ab0df2213..f905829cb 100644 --- a/pixi.lock +++ b/pixi.lock @@ -10,60 +10,64 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/linux-64/ace-8.0.1-he02047a_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.4.3-pyhd8ed1ab_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.10.10-py310h89163eb_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.11.12-py39h9399b63_0.conda - 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sha256: 534824ea44939f3e59ca8ebb95e3ece6f50f9d2a0e69999fbc692311252ed6ac - md5: 559d338a4234c2ad6e676f460a093e67 - depends: - - libgcc-ng >=12 - - libzlib 1.2.13 h4ab18f5_6 - license: Zlib - license_family: Other - size: 92883 - timestamp: 1716874088980 - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda sha256: 5d7c0e5f0005f74112a34a7425179f4eb6e73c92f5d109e6af4ddeca407c92ab md5: c9f075ab2f33b3bbee9e62d4ad0a6cd8 @@ -59292,17 +79349,19 @@ packages: license_family: Other size: 107439 timestamp: 1727963788936 -- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda - sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b - md5: 4d056880988120e29d75bfff282e0f45 +- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_0.conda + sha256: b8f7b4c7264e84fcedce3929239f5c55e86ae90948c9fdee666f93a70ca58e66 + md5: 3fe5420e4da42d8110c28f21de6cc127 depends: - - libgcc-ng >=12 - - libstdcxx-ng >=12 - - libzlib >=1.2.13,<2.0.0a0 + - __glibc >=2.17,<3.0.a0 + - libgcc >=13 + - libstdcxx >=13 + - libzlib >=1.3.1,<2.0a0 + arch: x86_64 + platform: linux license: BSD-3-Clause - license_family: BSD - size: 554846 - timestamp: 1714722996770 + size: 564076 + timestamp: 1740024448267 - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.6-h02f22dd_0.conda sha256: 484f9d0722c77685ae379fbff3ccd662af9ead7e59eb39cd6d0c677cdf25ff6c md5: be8d5f8cf21aed237b8b182ea86b3dd6 @@ -59314,48 +79373,41 @@ packages: license_family: BSD size: 539937 timestamp: 1714723130243 -- conda: https://conda.anaconda.org/conda-forge/osx-64/zstd-1.5.6-h915ae27_0.conda - sha256: efa04a98cb149643fa54c4dad5a0179e36a5fbc88427ea0eec88ceed87fd0f96 - md5: 4cb2cd56f039b129bb0e491c1164167e +- conda: https://conda.anaconda.org/conda-forge/osx-64/zstd-1.5.7-h8210216_0.conda + sha256: 644095227a3dd4559a07ce3f33d660d7e21f5e6b2a4227ce835fa156a4528a92 + md5: 15b43ac4891ef71ecb94ad214a3eff94 depends: - - __osx >=10.9 - - libzlib >=1.2.13,<2.0.0a0 + - __osx >=10.13 + - libzlib >=1.3.1,<2.0a0 + arch: x86_64 + platform: osx license: BSD-3-Clause - license_family: BSD - size: 498900 - timestamp: 1714723303098 -- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda - sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09 - md5: d96942c06c3e84bfcc5efb038724a7fd + size: 484782 + timestamp: 1740024554407 +- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-h6491c7d_0.conda + sha256: ee7bbee860b437a214fbdfb4fdf9e48982dc984ad3b0bf2d6480d94c0a8fc8c4 + md5: 0924e073d067a32ace893528773ffded depends: - __osx >=11.0 - - libzlib >=1.2.13,<2.0.0a0 + - libzlib >=1.3.1,<2.0a0 + arch: arm64 + platform: osx license: BSD-3-Clause - license_family: BSD - size: 405089 - timestamp: 1714723101397 -- conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda - sha256: 768e30dc513568491818fb068ee867c57c514b553915536da09e5d10b4ebf3c3 - md5: 9a17230f95733c04dc40a2b1e5491d74 + size: 398443 + timestamp: 1740024500479 +- conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-hbeecb71_0.conda + sha256: 0d162df20a547072234b2716bc7b5f8e8d111f70a2eff29b739761d49c63d135 + md5: bac46723604a91de9471a5e72f4f9767 depends: - - libzlib >=1.2.13,<2.0.0a0 + - libzlib >=1.3.1,<2.0a0 - ucrt >=10.0.20348.0 - vc >=14.2,<15 - vc14_runtime >=14.29.30139 + arch: x86_64 + platform: win license: BSD-3-Clause - license_family: BSD - size: 349143 - timestamp: 1714723445995 -- conda: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-h27826a3_1.tar.bz2 - sha256: 8ce40952fce6bb50ec74afda2f30f384ad9666add5b8a0f88927c6c2407f27f1 - md5: d0646083f3cb1ef27049538b8043ab15 - depends: - - libgcc-ng >=9.3.0 - - zlib >=1.2.11,<1.3.0a0 - license: GPL-2.0 - license_family: GPL - size: 99102 - timestamp: 1617437120421 + size: 352853 + timestamp: 1740024721160 - conda: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-he45264a_2.conda sha256: a7c3ba25f384c7eb30c4f4c2d390f62714e0b4946d315aa852749f927b4b03ff md5: 6d2d107e0fb8bc381acd4e9c68dbeae7 diff --git a/pixi.toml b/pixi.toml index f29b6a833..2f0104ec6 100644 --- a/pixi.toml +++ b/pixi.toml @@ -14,7 +14,7 @@ linux = "4.18" [activation.env] # This is a single place where CMAKE_BUILD_TYPE is defined, change its value here and -# delete .build or .build-ros2 to change build type +# delete .build or .build-ros2 to change build type CMAKE_BUILD_TYPE = "Release" [feature.base.activation] @@ -29,13 +29,6 @@ scripts = ["pixi_activation.sh", ".build-ros2/install/share/robotology-superbuil [feature.ros2.target.win-64.activation] scripts = ["pixi_activation.bat", ".build-ros2/install/share/robotology-superbuild/setup.bat"] -[feature.ros2moveit.activation] -scripts = ["pixi_activation.sh", ".build-ros2moveit/install/share/robotology-superbuild/setup.sh"] - -#[feature.ros2moveit.target.win-64.activation] -#scripts = ["pixi_activation.bat", ".build-ros2moveit/install/share/robotology-superbuild/setup.bat"] - - [tasks] configure = { cmd = [ "cmake", @@ -116,8 +109,8 @@ libode = "*" libxml2 = "*" nlohmann_json = "*" qhull = "*" -pcl = "*" -libopencv = "*" +pcl = ">=1.11.1" +libopencv = ">=4.10.0" opencv = "*" portaudio = "*" qt-main = "*" @@ -139,13 +132,14 @@ vtk = "*" gazebo = "*" # ROBOTOLOGY_USES_GZ -gz-sim8 = "*" +gz-sim9 = "*" # ROBOTOLOGY_USES_PYTHON python = "*" pip = "*" numpy = "*" -swig = "*" +# Required by YARP 3.11.0 +swig = ">=4.2.1" pybind11 = "*" pyqt = "*" matplotlib = "*" @@ -180,42 +174,19 @@ libdc1394 = "*" libi2c = "*" libgl-devel = "*" -[feature.base.dependencies] -# These additional constraints are incompatible with robostack -# packages as of November 2024 -pcl = ">=1.11.1" -libopencv = ">=4.10.0" # As the ROS 2 dependencies are hosted on robostack and can lag behind # all the different conda-forge ABI migrations, we use a separate ros2 # environment to test them [feature.ros2] -channels = [{channel = "robostack-staging", priority = -1}] - -# osx-arm64 is not supported due to an incompatibility with gz-sim8 -# as of November 2024 -platforms = ["linux-64", "linux-aarch64", "win-64", "osx-64"] - - -[feature.ros2moveit] -channels = [{channel = "robostack-staging", priority = -1}] - -# All platforms except for linux-64 are not supported as robostack does not have a build of -# ros-humble-moveit-visual-tools as of November 2024 -platforms = ["linux-64"] +channels = [{channel = "robostack-humble", priority = -1}] +platforms = ["linux-64", "linux-aarch64", "win-64", "osx-64", "osx-arm64"] [feature.ros2.dependencies] # ROBOTOLOGY_ENABLE_ROS2 dependencies ros-humble-ros-base = "*" ros-humble-test-msgs = "*" - - -[feature.ros2moveit.dependencies] -# ROBOTOLOGY_ENABLE_ROS2 dependencies -ros-humble-ros-base = "*" -ros-humble-test-msgs = "*" - # ROBOTOLOGY_ENABLE_MOVEIT dependencies ros-humble-moveit = "*" ros-humble-hardware-interface = "*" @@ -238,7 +209,7 @@ configure-ros2 = { cmd = [ "-B", ".build-ros2", "-DROBOTOLOGY_USES_ROS2:BOOL=ON", - "-DROBOTOLOGY_USES_MOVEIT:BOOL=OFF", + "-DROBOTOLOGY_USES_MOVEIT:BOOL=ON", ]} configure-all-ros2 = { cmd = [ @@ -256,7 +227,7 @@ configure-all-ros2 = { cmd = [ "-DROBOTOLOGY_USES_GZ:BOOL=ON", "-DROBOTOLOGY_USES_ESDCAN:BOOL=$ROBOTOLOGY_USES_ESDCAN", "-DROBOTOLOGY_USES_ROS2:BOOL=ON", - "-DROBOTOLOGY_USES_MOVEIT:BOOL=OFF", + "-DROBOTOLOGY_USES_MOVEIT:BOOL=ON", # Use the cross-platform Ninja generator "-G", "Ninja", @@ -275,63 +246,9 @@ configure-all-ros2 = { cmd = [ build-ros2 = { cmd = "cmake --build .build-ros2 --parallel 1", depends-on = ["configure-ros2"] } build-all-ros2 = { cmd = "cmake --build .build-ros2 --parallel 1", depends-on = ["configure-all-ros2"] } - -# Ideally we should not duplicate the tasks for each feature, but unfortunatly this is currently required -[feature.ros2moveit.tasks] -configure-ros2moveit = { cmd = [ - "cmake", - # Use the cross-platform Ninja generator - "-G", - "Ninja", - # The source is in the root directory - "-S", - ".", - # We wanna build in the .build directory - "-B", - ".build-ros2moveit", - "-DROBOTOLOGY_USES_ROS2:BOOL=ON", - "-DROBOTOLOGY_USES_MOVEIT:BOOL=ON", -]} - -configure-all-ros2moveit = { cmd = [ - "cmake", - # Enable all options - "-DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON", - "-DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON", - "-DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON", - "-DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON", - "-DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON", - "-DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON", - "-DROBOTOLOGY_USES_PYTHON:BOOL=ON", - "-DROBOTOLOGY_USES_GAZEBO:BOOL=ON", - "-DROBOTOLOGY_USES_PCL_AND_VTK:BOOL=ON", - "-DROBOTOLOGY_USES_GZ:BOOL=ON", - "-DROBOTOLOGY_USES_ESDCAN:BOOL=$ROBOTOLOGY_USES_ESDCAN", - "-DROBOTOLOGY_USES_ROS2:BOOL=ON", - "-DROBOTOLOGY_USES_MOVEIT:BOOL=ON", - # Use the cross-platform Ninja generator - "-G", - "Ninja", - # The source is in the root directory - "-S", - ".", - # We wanna build in the .build directory - "-B", - ".build-ros2moveit", -]} - -# We limit the number of concurrent ninja builds to 1 as the superbuild will run one project at the time, -# and each project will run itself a number of compilation threads equal to ninja defaults, -# if we do not do this there is an high change that the system running out of memory -# if you want to run with a custom number of threads, run pixi run cmake --build .build-ros2 --parallel N -build-ros2moveit = { cmd = "cmake --build .build-ros2moveit --parallel 1", depends-on = ["configure-ros2moveit"] } -build-all-ros2moveit = { cmd = "cmake --build .build-ros2moveit --parallel 1", depends-on = ["configure-all-ros2moveit"] } - # We have two environments: # * The `default` one, used for all the options that do not depend on ROS 2 -# * The `ros2` one, used for all the options including the one that depend on ROS 2 -# * The `ros2moveit` one, used for all the options including the one that depend on ROS 2 and MoveIt +# * The `ros2` one, used for all the options including the one that depend on ROS 2 and MoveIt [environments] default = ["base"] ros2 = ["ros2"] -ros2moveit = ["ros2moveit"] From 4e3a78f17492a068094fdcfebf983fd337d9c47a Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 21 Feb 2025 17:59:41 +0100 Subject: [PATCH 2/5] Document the installation of Gazebo Ionic (gz-sim9) --- README.md | 2 +- doc/conda-forge.md | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 5b3cf7a85..c38469f31 100644 --- a/README.md +++ b/README.md @@ -143,7 +143,7 @@ If you are on Ubuntu 24.04, please use conda if you want to install Gazebo Class #### `ROBOTOLOGY_USES_GZ` -To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (24.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu . Furthermore, you also need to install the `cli11` dependency with: +To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (24.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/ionic/install_ubuntu#binary-installation-on-ubuntu or https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu . Furthermore, you also need to install the `cli11` dependency with: ~~~ sudo apt-get install libcli11-dev ~~~ diff --git a/doc/conda-forge.md b/doc/conda-forge.md index 2c5e1504b..1317fc5e1 100644 --- a/doc/conda-forge.md +++ b/doc/conda-forge.md @@ -191,10 +191,10 @@ conda install -c conda-forge gazebo #### `ROBOTOLOGY_USES_GZ` -If you install your dependencies with `conda`, just make sure to install the `gz-sim8` package: +If you install your dependencies with `conda`, just make sure to install the `gz-sim9` (Gazebo Ionic) or `gz-sim8` (Gazebo Harmonic) package: ~~~ -conda install -c conda-forge gz-sim8 +conda install -c conda-forge gz-sim9 ~~~ #### `ROBOTOLOGY_USES_ROS2` From 138e5072cfb15934496e810e9fb8909ac0f39754 Mon Sep 17 00:00:00 2001 From: Silvio Date: Fri, 21 Feb 2025 18:22:41 +0100 Subject: [PATCH 3/5] Add missing xorg-xorgproto package --- pixi.lock | 3649 +---------------------------------------------------- pixi.toml | 10 +- 2 files changed, 3 insertions(+), 3656 deletions(-) diff --git a/pixi.lock b/pixi.lock index f905829cb..48a5d4572 100644 --- a/pixi.lock +++ b/pixi.lock @@ -506,6 +506,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxxf86vm-1.1.6-hb9d3cd8_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-xextproto-7.3.0-hb9d3cd8_1004.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-xf86vidmodeproto-2.3.1-hb9d3cd8_1005.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-xorgproto-2024.1-hb9d3cd8_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-xproto-7.0.31-hb9d3cd8_1008.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.2.6-h166bdaf_0.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2 @@ -6191,8 +6192,6 @@ packages: - conda: https://conda.anaconda.org/conda-forge/win-64/_libavif_api-1.1.1-h57928b3_2.conda sha256: b99b8948a170ff721ea958ee04a4431797070e85dd6942cb27b73ac3102e5145 md5: 76cf1f62c9a62d6b8f44339483e0f016 - arch: x86_64 - platform: win size: 9286 timestamp: 1730268773319 - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 @@ -6221,8 +6220,6 @@ packages: depends: - _libgcc_mutex 0.1 conda_forge - llvm-openmp >=9.0.1 - arch: x86_64 - platform: linux license: BSD-3-Clause license_family: BSD size: 5744 @@ -6245,8 +6242,6 @@ packages: md5: 98a1185182fec3c434069fa74e6473d6 depends: - llvm-openmp >=9.0.1 - arch: aarch64 - platform: linux license: BSD-3-Clause license_family: BSD size: 5802 @@ -6282,8 +6277,6 @@ packages: - __glibc >=2.17,<3.0.a0 - libgcc >=13 - libstdcxx >=13 - arch: x86_64 - platform: linux license: DOC size: 5438323 timestamp: 1733557321432 @@ -6302,8 +6295,6 @@ packages: depends: - libgcc >=13 - libstdcxx >=13 - arch: aarch64 - platform: linux license: DOC size: 5428854 timestamp: 1733561319196 @@ -6322,8 +6313,6 @@ packages: depends: - __osx >=10.13 - libcxx >=18 - arch: x86_64 - platform: osx license: DOC size: 1794654 timestamp: 1733557504064 @@ -6342,8 +6331,6 @@ packages: depends: - __osx >=11.0 - libcxx >=18 - arch: arm64 - platform: osx license: DOC size: 1822961 timestamp: 1733557572726 @@ -6364,8 +6351,6 @@ packages: - ucrt >=10.0.20348.0 - 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xorg-libxfixes >=6.0.1,<7.0a0 - xorg-libxrender >=0.9.11,<0.10.0a0 - arch: aarch64 - platform: linux license: MIT license_family: MIT size: 34596 @@ -78082,8 +74533,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxfixes >=6.0.1,<7.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 13217 @@ -78155,8 +74604,6 @@ packages: - __glibc >=2.17,<3.0.a0 - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 50060 @@ -78177,8 +74624,6 @@ packages: depends: - __osx >=10.13 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 42572 @@ -78189,8 +74634,6 @@ packages: depends: - __osx >=11.0 - xorg-libx11 >=1.8.10,<2.0a0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 41870 @@ -78214,8 +74657,6 @@ packages: - __glibc >=2.17,<3.0.a0 - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 19575 @@ -78236,8 +74677,6 @@ packages: depends: - __osx >=10.13 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 16859 @@ -78248,8 +74687,6 @@ packages: depends: - __osx >=11.0 - xorg-libx11 >=1.8.10,<2.0a0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 17116 @@ -78263,8 +74700,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxfixes >=6.0.1,<7.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 47179 @@ -78301,8 +74736,6 @@ packages: - libstdcxx >=13 - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 13891 @@ -78341,8 +74774,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxt >=1.3.0,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 89078 @@ -78380,8 +74811,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxt >=1.3.0,<2.0a0 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 66944 @@ -78407,8 +74836,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxt >=1.3.0,<2.0a0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 63555 @@ -78425,8 +74852,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxt >=1.3.0,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 64764 @@ -78473,8 +74898,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxt >=1.3.0,<2.0a0 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 57470 @@ -78519,8 +74942,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxt >=1.3.0,<2.0a0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 54582 @@ -78548,8 +74969,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxrender >=0.9.11,<0.10.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 29599 @@ -78574,8 +74993,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxrender >=0.9.11,<0.10.0a0 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 25157 @@ -78588,8 +75005,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxrender >=0.9.11,<0.10.0a0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 25255 @@ -78601,8 +75016,6 @@ packages: - __glibc >=2.17,<3.0.a0 - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 33005 @@ -78613,8 +75026,6 @@ packages: depends: - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - arch: aarch64 - platform: linux license: MIT license_family: MIT size: 33649 @@ -78625,8 +75036,6 @@ packages: depends: - __osx >=10.13 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 28831 @@ -78637,8 +75046,6 @@ packages: depends: - __osx >=11.0 - xorg-libx11 >=1.8.10,<2.0a0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 28434 @@ -78651,8 +75058,6 @@ packages: - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 14412 @@ -78666,8 +75071,6 @@ packages: - xorg-libice >=1.1.1,<2.0a0 - xorg-libsm >=1.2.4,<2.0a0 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 379686 @@ -78680,8 +75083,6 @@ packages: - xorg-libice >=1.1.1,<2.0a0 - xorg-libsm >=1.2.4,<2.0a0 - xorg-libx11 >=1.8.9,<2.0a0 - arch: aarch64 - platform: linux license: MIT license_family: MIT size: 384752 @@ -78694,8 +75095,6 @@ packages: - xorg-libice >=1.1.1,<2.0a0 - xorg-libsm >=1.2.4,<2.0a0 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 199297 @@ -78708,8 +75107,6 @@ packages: - xorg-libice >=1.1.1,<2.0a0 - xorg-libsm >=1.2.4,<2.0a0 - xorg-libx11 >=1.8.10,<2.0a0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 185960 @@ -78738,8 +75135,6 @@ packages: - xorg-libice >=1.1.1,<2.0a0 - xorg-libsm >=1.2.4,<2.0a0 - xorg-libx11 >=1.8.10,<2.0a0 - arch: x86_64 - platform: win license: MIT license_family: MIT size: 918674 @@ -78753,8 +75148,6 @@ packages: - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - xorg-libxi >=1.7.10,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 32808 @@ -78779,8 +75172,6 @@ packages: - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 17819 @@ -78792,8 +75183,6 @@ packages: - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - arch: aarch64 - platform: linux license: MIT license_family: MIT size: 18185 @@ -78871,8 +75260,6 @@ packages: md5: 8d29dcaff88cd231bb16ca7ec4819701 depends: - __osx >=10.13 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 567510 @@ -78882,8 +75269,6 @@ packages: md5: 1b974e05b976e33edb29a0475013ac60 depends: - __osx >=11.0 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 567698 @@ -79012,8 +75397,6 @@ packages: depends: - libgcc-ng >=12 - libstdcxx-ng >=12 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 204867 @@ -79024,8 +75407,6 @@ packages: depends: - libgcc-ng >=12 - libstdcxx-ng >=12 - arch: aarch64 - platform: linux license: MIT license_family: MIT size: 193472 @@ -79035,8 +75416,6 @@ packages: md5: 1bb3addc859ed1338370da6e2996ef47 depends: - libcxx >=15.0.7 - arch: x86_64 - platform: osx license: MIT license_family: MIT size: 130328 @@ -79046,8 +75425,6 @@ packages: md5: e783a232972a5c7dca549111e63a78b2 depends: - libcxx >=15.0.7 - arch: arm64 - platform: osx license: MIT license_family: MIT size: 130329 @@ -79059,8 +75436,6 @@ packages: - ucrt >=10.0.20348.0 - vc >=14.2,<15 - vc14_runtime >=14.29.30139 - arch: x86_64 - platform: win license: MIT license_family: MIT size: 136608 @@ -79076,8 +75451,6 @@ packages: - propcache >=0.2.1 - python >=3.11,<3.12.0a0 - python_abi 3.11.* *_cp311 - arch: x86_64 - platform: linux license: Apache-2.0 license_family: Apache size: 153704 @@ -79093,8 +75466,6 @@ packages: - propcache >=0.2.1 - python >=3.9,<3.10.0a0 - python_abi 3.9.* *_cp39 - arch: x86_64 - platform: linux license: Apache-2.0 license_family: Apache size: 141057 @@ -79110,8 +75481,6 @@ packages: - python >=3.11,<3.12.0a0 - python >=3.11,<3.12.0a0 *_cpython - python_abi 3.11.* *_cp311 - arch: aarch64 - platform: linux license: Apache-2.0 license_family: Apache size: 152607 @@ -79127,8 +75496,6 @@ packages: - python >=3.9,<3.10.0a0 - python >=3.9,<3.10.0a0 *_cpython - python_abi 3.9.* *_cp39 - arch: aarch64 - platform: linux license: Apache-2.0 license_family: Apache size: 138961 @@ -79157,8 +75524,6 @@ packages: - propcache >=0.2.1 - python >=3.11,<3.12.0a0 - python_abi 3.11.* *_cp311 - arch: x86_64 - platform: osx license: Apache-2.0 license_family: Apache size: 145441 @@ -79189,8 +75554,6 @@ packages: - python >=3.11,<3.12.0a0 - python >=3.11,<3.12.0a0 *_cpython - python_abi 3.11.* *_cp311 - arch: arm64 - platform: osx license: Apache-2.0 license_family: Apache size: 145896 @@ -79223,8 +75586,6 @@ packages: - ucrt >=10.0.20348.0 - vc >=14.2,<15 - vc14_runtime >=14.29.30139 - arch: x86_64 - platform: win license: Apache-2.0 license_family: Apache size: 144327 @@ -79357,8 +75718,6 @@ packages: - libgcc >=13 - libstdcxx >=13 - libzlib >=1.3.1,<2.0a0 - arch: x86_64 - platform: linux license: BSD-3-Clause size: 564076 timestamp: 1740024448267 @@ -79379,8 +75738,6 @@ packages: depends: - __osx >=10.13 - libzlib >=1.3.1,<2.0a0 - arch: x86_64 - platform: osx license: BSD-3-Clause size: 484782 timestamp: 1740024554407 @@ -79390,8 +75747,6 @@ packages: depends: - __osx >=11.0 - libzlib >=1.3.1,<2.0a0 - arch: arm64 - platform: osx license: BSD-3-Clause size: 398443 timestamp: 1740024500479 @@ -79403,8 +75758,6 @@ packages: - ucrt >=10.0.20348.0 - vc >=14.2,<15 - vc14_runtime >=14.29.30139 - arch: x86_64 - platform: win license: BSD-3-Clause size: 352853 timestamp: 1740024721160 diff --git a/pixi.toml b/pixi.toml index 2f0104ec6..5e840e0d2 100644 --- a/pixi.toml +++ b/pixi.toml @@ -160,19 +160,13 @@ freeglut = "*" # ROBOTOLOGY_USES_ESDCAN esdcan = { version = "*", channel = "robotology" } -[target.linux-64.dependencies] -bash-completion = "*" -freeglut = "*" -libdc1394 = "*" -libi2c = "*" -libgl-devel = "*" - -[target.linux-aarch64.dependencies] +[target.linux.dependencies] bash-completion = "*" freeglut = "*" libdc1394 = "*" libi2c = "*" libgl-devel = "*" +xorg-xorgproto = "*" # As the ROS 2 dependencies are hosted on robostack and can lag behind From c873c1f41b152ab173150f4d3b23046aa905f6b1 Mon Sep 17 00:00:00 2001 From: Silvio Date: Mon, 24 Feb 2025 09:54:33 +0100 Subject: [PATCH 4/5] Add workarounds for finding Python on Windows on ROS 2 projects --- cmake/Buildxcub-moveit2.cmake | 9 +++++++++ cmake/Buildyarp-devices-ros2.cmake | 10 ++++++++++ 2 files changed, 19 insertions(+) diff --git a/cmake/Buildxcub-moveit2.cmake b/cmake/Buildxcub-moveit2.cmake index 23a909c21..997b38b1f 100644 --- a/cmake/Buildxcub-moveit2.cmake +++ b/cmake/Buildxcub-moveit2.cmake @@ -7,6 +7,14 @@ include(FindOrBuildPackage) find_or_build_package(YARP QUIET) find_or_build_package(yarp-devices-ros2 QUIET) +# Workaround for ROS 2 Humble Python find cmake logic on Windows, +# drop when we do not support ROS 2 Humble anymore +# See https://github.com/robotology/robotology-superbuild/pull/1800#issuecomment-2677023043 +set(LOCAL_CMAKE_ARGS "") +if(MSVC AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES) + find_package(Python3 COMPONENTS Interpreter Development REQUIRED) + set(LOCAL_CMAKE_ARGS "-DPYTHON_EXECUTABLE=${Python3_EXECUTABLE} -DPython_EXECUTABLE=${Python3_EXECUTABLE} -DPython3_EXECUTABLE=${Python3_EXECUTABLE}") +endif() ycm_ep_helper(xcub-moveit2 TYPE GIT STYLE GITHUB @@ -14,6 +22,7 @@ ycm_ep_helper(xcub-moveit2 TYPE GIT TAG master COMPONENT core FOLDER src + CMAKE_ARGS ${LOCAL_CMAKE_ARGS} DEPENDS YARP yarp-devices-ros2 # This is because xcub-moveit2 is a ros-style repository # composed by multiple CMake projects, for compatibility with CMake diff --git a/cmake/Buildyarp-devices-ros2.cmake b/cmake/Buildyarp-devices-ros2.cmake index 5ef1e0626..b792ff4b9 100644 --- a/cmake/Buildyarp-devices-ros2.cmake +++ b/cmake/Buildyarp-devices-ros2.cmake @@ -7,10 +7,20 @@ include(FindOrBuildPackage) find_or_build_package(YCM QUIET) find_or_build_package(YARP QUIET) +# Workaround for ROS 2 Humble Python find cmake logic on Windows, +# drop when we do not support ROS 2 Humble anymore +# See https://github.com/robotology/robotology-superbuild/pull/1800#issuecomment-2677023043 +set(LOCAL_CMAKE_ARGS "") +if(MSVC AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES) + find_package(Python3 COMPONENTS Interpreter Development REQUIRED) + set(LOCAL_CMAKE_ARGS "-DPYTHON_EXECUTABLE=${Python3_EXECUTABLE} -DPython_EXECUTABLE=${Python3_EXECUTABLE} -DPython3_EXECUTABLE=${Python3_EXECUTABLE}") +endif() + ycm_ep_helper(yarp-devices-ros2 TYPE GIT STYLE GITHUB REPOSITORY robotology/yarp-devices-ros2.git TAG master COMPONENT core FOLDER src + CMAKE_ARGS ${CMAKE_ARGS} DEPENDS YCM YARP) From cfc2cec3d13ecdf4a74bc77448688590d1ba7073 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Mon, 24 Feb 2025 10:33:29 +0100 Subject: [PATCH 5/5] Skip Windows pixi + ROS2 job for now --- .github/workflows/pixi-ci.yml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/.github/workflows/pixi-ci.yml b/.github/workflows/pixi-ci.yml index 6cbce8c9a..28d5d0ddc 100644 --- a/.github/workflows/pixi-ci.yml +++ b/.github/workflows/pixi-ci.yml @@ -24,6 +24,11 @@ jobs: build_type: [Release] os: [ubuntu-22.04, ubuntu-24.04-arm, macos-13, macos-14, windows-2019] pixi_task: [build-all, build-ros2] + exclude: + # Windows build fail due to length of build folder and other CI-specific issues, skip for now + # See https://github.com/robotology/robotology-superbuild/pull/1746#issuecomment-2514352629 + - os: windows-2019 + pixi_task: build-ros2 steps: - uses: actions/checkout@v4