[.github] Add general humble workflow (#57)

* Add general humble workflow * Minor ordering change * Fix container * Run on 22.04, no container * Use industrial ci instead of ros-tooling * Install dependencies * Fix error * Use sudo * Update some dependencies * Additional dependencies * Remove (likely unneeded deps) * Fully remove deps * Set some hidapi cmake variables * Use cmake to find hidapi, libusb * Simplify cmake modules * Remove now-unused hidapi submodule
Interbotix · Oct 9, 2024 · e2ffad9 · e2ffad9
1 parent 403bac1
commit e2ffad9
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diff --git a/.github/workflows/humble.yml b/.github/workflows/humble.yml
@@ -0,0 +1,37 @@
+name: build-humble
+
+on:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+
+# Limit jobs run by PRs or branches by cancelling ongoing jobs
+# https://docs.github.com/en/actions/using-jobs/using-concurrency#example-using-concurrency-and-the-default-behavior
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  humble:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_DISTRO: humble, ROS_REPO: testing}
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Prepare Workspace
+        run: |
+          rm \
+            interbotix_ros_common_drivers/COLCON_IGNORE \
+            interbotix_ros_slate/COLCON_IGNORE \
+            interbotix_ros_xseries/COLCON_IGNORE
+      - uses: ros-industrial/industrial_ci@master
+        env: ${{matrix.env}}
diff --git a/.gitmodules b/.gitmodules
@@ -6,6 +6,3 @@
 	path = interbotix_ros_xseries/interbotix_xs_driver
 	url = https://github.com/Interbotix/interbotix_xs_driver.git
 	branch = v0.3.3
-[submodule "interbotix_ros_common_drivers/interbotix_ros_footswitch/interbotix_footswitch_driver/dependencies/hidapi"]
-	path = interbotix_ros_common_drivers/interbotix_ros_footswitch/interbotix_footswitch_driver/dependencies/hidapi
-	url = https://github.com/libusb/hidapi.git
diff --git a/..._ros_common_drivers/interbotix_ros_footswitch/interbotix_footswitch_driver/CMakeLists.txt b/..._ros_common_drivers/interbotix_ros_footswitch/interbotix_footswitch_driver/CMakeLists.txt
@@ -1,15 +1,20 @@
 cmake_minimum_required(VERSION 3.12.0)
 project(interbotix_footswitch_driver)
 
+list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake")
+
 find_package(ament_cmake REQUIRED)
 find_package(interbotix_footswitch_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(HIDAPI REQUIRED)
+find_package(LIBUSB 1 REQUIRED)
 
-find_package(PkgConfig REQUIRED)
-add_subdirectory(dependencies/hidapi)
-
-include_directories(include)
+include_directories(
+  include
+  ${HIDAPI_INCLUDE_DIRS}
+  ${LibUSB_INCLUDE_DIRS}
+)
 
 set(ROS_DEPENDENCIES
   interbotix_footswitch_msgs
@@ -22,7 +27,11 @@ add_library(footswitch_driver
 )
 
 ament_target_dependencies(footswitch_driver ${ROS_DEPENDENCIES})
-target_link_libraries(footswitch_driver hidapi::hidraw)
+
+target_link_libraries(footswitch_driver
+  ${HIDAPI_LIBRARIES}
+  ${LibUSB_LIBRARIES}
+)
 
 add_executable(footswitch_driver_node
   src/footswitch_driver_node.cpp

diff --git a/...mon_drivers/interbotix_ros_footswitch/interbotix_footswitch_driver/cmake/FindHIDAPI.cmake b/...mon_drivers/interbotix_ros_footswitch/interbotix_footswitch_driver/cmake/FindHIDAPI.cmake
@@ -0,0 +1,234 @@
+# https://github.com/rpavlik/cmake-modules/blob/1b450496c5d11fdcad8b000843d0c516e1eaa59f/FindHIDAPI.cmake
+
+#.rst:
+# FindHIDAPI
+# ----------
+#
+# Try to find HIDAPI library, from http://www.signal11.us/oss/hidapi/
+#
+# Cache Variables: (probably not for direct use in your scripts)
+#  HIDAPI_INCLUDE_DIR
+#  HIDAPI_LIBRARY
+#
+# Non-cache variables you might use in your CMakeLists.txt:
+#  HIDAPI_FOUND
+#  HIDAPI_INCLUDE_DIRS
+#  HIDAPI_LIBRARIES
+#
+# COMPONENTS
+# ^^^^^^^^^^
+#
+# This module respects several COMPONENTS specifying the backend you prefer:
+# ``any`` (the default), ``libusb``, and ``hidraw``.
+# The availablility of the latter two depends on your platform.
+#
+#
+# IMPORTED Targets
+# ^^^^^^^^^^^^^^^^
+
+# This module defines :prop_tgt:`IMPORTED` target ``HIDAPI::hidapi`` (in all cases or
+# if no components specified), ``HIDAPI::hidapi-libusb`` (if you requested the libusb component),
+# and ``HIDAPI::hidapi-hidraw`` (if you requested the hidraw component),
+#
+# Result Variables
+# ^^^^^^^^^^^^^^^^
+#
+# ``HIDAPI_FOUND``
+#   True if HIDAPI or the requested components (if any) were found.
+#
+# We recommend using the imported targets instead of the following.
+#
+# ``HIDAPI_INCLUDE_DIRS``
+# ``HIDAPI_LIBRARIES``
+#
+# Original Author:
+# 2009-2010, 2019 Ryan Pavlik <[email protected]> <[email protected]>
+# http://academic.cleardefinition.com
+#
+# Copyright Iowa State University 2009-2010.
+# Copyright Collabora, Ltd. 2019.
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+cmake_policy(SET CMP0045 NEW)
+cmake_policy(SET CMP0053 NEW)
+cmake_policy(SET CMP0054 NEW)
+
+set(HIDAPI_ROOT_DIR
+    "${HIDAPI_ROOT_DIR}"
+    CACHE PATH "Root to search for HIDAPI")
+
+# Clean up components
+if("${HIDAPI_FIND_COMPONENTS}")
+    if(WIN32 OR APPLE)
+        # This makes no sense on Windows or Mac, which have native APIs
+        list(REMOVE "${HIDAPI_FIND_COMPONENTS}" libusb)
+    endif()
+
+    if(NOT ${CMAKE_SYSTEM} MATCHES "Linux")
+        # hidraw is only on linux
+        list(REMOVE "${HIDAPI_FIND_COMPONENTS}" hidraw)
+    endif()
+endif()
+# if(NOT "${HIDAPI_FIND_COMPONENTS}")
+#     # Default to any
+#     set("${HIDAPI_FIND_COMPONENTS}" any)
+# endif()
+
+# Ask pkg-config for hints
+find_package(PkgConfig QUIET)
+if(PKG_CONFIG_FOUND)
+    set(_old_prefix_path "${CMAKE_PREFIX_PATH}")
+    # So pkg-config uses HIDAPI_ROOT_DIR too.
+    if(HIDAPI_ROOT_DIR)
+        list(APPEND CMAKE_PREFIX_PATH ${HIDAPI_ROOT_DIR})
+    endif()
+    pkg_check_modules(PC_HIDAPI_LIBUSB QUIET hidapi-libusb)
+    pkg_check_modules(PC_HIDAPI_HIDRAW QUIET hidapi-hidraw)
+    # Restore
+    set(CMAKE_PREFIX_PATH "${_old_prefix_path}")
+endif()
+
+# Actually search
+find_library(
+    HIDAPI_UNDECORATED_LIBRARY
+    NAMES hidapi
+    PATHS "${HIDAPI_ROOT_DIR}")
+
+find_library(
+    HIDAPI_LIBUSB_LIBRARY
+    NAMES hidapi hidapi-libusb
+    PATHS "${HIDAPI_ROOT_DIR}"
+    HINTS ${PC_HIDAPI_LIBUSB_LIBRARY_DIRS})
+
+if(CMAKE_SYSTEM MATCHES "Linux")
+    find_library(
+        HIDAPI_HIDRAW_LIBRARY
+        NAMES hidapi-hidraw
+        HINTS ${PC_HIDAPI_HIDRAW_LIBRARY_DIRS})
+endif()
+
+find_path(
+    HIDAPI_INCLUDE_DIR
+    NAMES hidapi.h
+    PATHS "${HIDAPI_ROOT_DIR}"
+    PATH_SUFFIXES hidapi include include/hidapi
+    HINTS ${PC_HIDAPI_HIDRAW_INCLUDE_DIRS} ${PC_HIDAPI_LIBUSB_INCLUDE_DIRS})
+
+find_package(Threads QUIET)
+
+###
+# Compute the "I don't care which backend" library
+###
+set(HIDAPI_LIBRARY)
+
+# First, try to use a preferred backend if supplied
+if("${HIDAPI_FIND_COMPONENTS}" MATCHES "libusb"
+   AND HIDAPI_LIBUSB_LIBRARY
+   AND NOT HIDAPI_LIBRARY)
+    set(HIDAPI_LIBRARY ${HIDAPI_LIBUSB_LIBRARY})
+endif()
+if("${HIDAPI_FIND_COMPONENTS}" MATCHES "hidraw"
+   AND HIDAPI_HIDRAW_LIBRARY
+   AND NOT HIDAPI_LIBRARY)
+    set(HIDAPI_LIBRARY ${HIDAPI_HIDRAW_LIBRARY})
+endif()
+
+# Then, if we don't have a preferred one, settle for anything.
+if(NOT HIDAPI_LIBRARY)
+    if(HIDAPI_LIBUSB_LIBRARY)
+        set(HIDAPI_LIBRARY ${HIDAPI_LIBUSB_LIBRARY})
+    elseif(HIDAPI_HIDRAW_LIBRARY)
+        set(HIDAPI_LIBRARY ${HIDAPI_HIDRAW_LIBRARY})
+    elseif(HIDAPI_UNDECORATED_LIBRARY)
+        set(HIDAPI_LIBRARY ${HIDAPI_UNDECORATED_LIBRARY})
+    endif()
+endif()
+
+###
+# Determine if the various requested components are found.
+###
+set(_hidapi_component_required_vars)
+
+foreach(_comp IN LISTS HIDAPI_FIND_COMPONENTS)
+    if("${_comp}" STREQUAL "any")
+        list(APPEND _hidapi_component_required_vars HIDAPI_INCLUDE_DIR
+                    HIDAPI_LIBRARY)
+        if(HIDAPI_INCLUDE_DIR AND EXISTS "${HIDAPI_LIBRARY}")
+            set(HIDAPI_any_FOUND TRUE)
+            mark_as_advanced(HIDAPI_INCLUDE_DIR)
+        else()
+            set(HIDAPI_any_FOUND FALSE)
+        endif()
+
+    elseif("${_comp}" STREQUAL "libusb")
+        list(APPEND _hidapi_component_required_vars HIDAPI_INCLUDE_DIR
+                    HIDAPI_LIBUSB_LIBRARY)
+        if(HIDAPI_INCLUDE_DIR AND EXISTS "${HIDAPI_LIBUSB_LIBRARY}")
+            set(HIDAPI_libusb_FOUND TRUE)
+            mark_as_advanced(HIDAPI_INCLUDE_DIR HIDAPI_LIBUSB_LIBRARY)
+        else()
+            set(HIDAPI_libusb_FOUND FALSE)
+        endif()
+
+    elseif("${_comp}" STREQUAL "hidraw")
+        list(APPEND _hidapi_component_required_vars HIDAPI_INCLUDE_DIR
+                    HIDAPI_HIDRAW_LIBRARY)
+        if(HIDAPI_INCLUDE_DIR AND EXISTS "${HIDAPI_HIDRAW_LIBRARY}")
+            set(HIDAPI_hidraw_FOUND TRUE)
+            mark_as_advanced(HIDAPI_INCLUDE_DIR HIDAPI_HIDRAW_LIBRARY)
+        else()
+            set(HIDAPI_hidraw_FOUND FALSE)
+        endif()
+
+    else()
+        message(WARNING "${_comp} is not a recognized HIDAPI component")
+        set(HIDAPI_${_comp}_FOUND FALSE)
+    endif()
+endforeach()
+unset(_comp)
+
+###
+# FPHSA call
+###
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(
+    HIDAPI REQUIRED_VARS ${_hidapi_component_required_vars} THREADS_FOUND
+    HANDLE_COMPONENTS)
+
+if(HIDAPI_FOUND)
+    set(HIDAPI_LIBRARIES "${HIDAPI_LIBRARY}")
+    set(HIDAPI_INCLUDE_DIRS "${HIDAPI_INCLUDE_DIR}")
+    if(NOT TARGET HIDAPI::hidapi)
+        add_library(HIDAPI::hidapi UNKNOWN IMPORTED)
+        set_target_properties(
+            HIDAPI::hidapi 
+	    PROPERTIES 
+            IMPORTED_LINK_INTERFACE_LANGUAGES "C"
+            IMPORTED_LOCATION ${HIDAPI_LIBRARY})
+        set_property(
+            TARGET HIDAPI::hidapi PROPERTY IMPORTED_LINK_INTERFACE_LIBRARIES
+                                           Threads::Threads)
+    endif()
+endif()
+
+if(HIDAPI_libusb_FOUND AND NOT TARGET HIDAPI::hidapi-libusb)
+    add_library(HIDAPI::hidapi-libusb UNKNOWN IMPORTED)
+    set_target_properties(
+        HIDAPI::hidapi-libusb
+        PROPERTIES IMPORTED_LINK_INTERFACE_LANGUAGES "C" IMPORTED_LOCATION
+                   ${HIDAPI_LIBUSB_LIBRARY})
+    set_property(TARGET HIDAPI::hidapi-libusb
+                 PROPERTY IMPORTED_LINK_INTERFACE_LIBRARIES Threads::Threads)
+endif()
+
+if(HIDAPI_hidraw_FOUND AND NOT TARGET HIDAPI::hidapi-hidraw)
+    add_library(HIDAPI::hidapi-hidraw UNKNOWN IMPORTED)
+    set_target_properties(
+        HIDAPI::hidapi-hidraw
+        PROPERTIES IMPORTED_LINK_INTERFACE_LANGUAGES "C" IMPORTED_LOCATION
+                   ${HIDAPI_HIDRAW_LIBRARY})
+    set_property(TARGET HIDAPI::hidapi-hidraw
+                 PROPERTY IMPORTED_LINK_INTERFACE_LIBRARIES Threads::Threads)
+endif()