diff --git a/.github/workflows/osx.yml b/.github/workflows/osx.yml new file mode 100644 index 000000000..ca351c3a8 --- /dev/null +++ b/.github/workflows/osx.yml @@ -0,0 +1,24 @@ +jobs: + stage_0_job_0: + name: moveit-ros-planning-interface + runs-on: macos-11 + strategy: + fail-fast: false + needs: [] + steps: + - name: Checkout code + uses: actions/checkout@v4 + - name: Build ros-noetic-moveit-ros-planning-interface + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-noetic-moveit-ros-planning-interface + run: | + export CI=azure + export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME + export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME}) + .scripts/build_osx.sh +name: build_osx +on: + push: + branches: + - buildbranch_osx diff --git a/activate.bat b/activate.bat new file mode 100644 index 000000000..48ff1d713 --- /dev/null +++ b/activate.bat @@ -0,0 +1,15 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@REM Don't do anything when we are in conda build. +@if defined SYS_PREFIX exit /b 0 + +@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins" + +@call "%CONDA_PREFIX%\Library\local_setup.bat" +@set PYTHONHOME= +@set "ROS_OS_OVERRIDE=conda:win64" +@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros" +@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library" +@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe" diff --git a/activate.ps1 b/activate.ps1 new file mode 100644 index 000000000..137e67aef --- /dev/null +++ b/activate.ps1 @@ -0,0 +1,16 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($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" diff --git a/activate.sh b/activate.sh new file mode 100644 index 000000000..aece97080 --- /dev/null +++ b/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= diff --git a/bld_ament_cmake.bat b/bld_ament_cmake.bat new file mode 100644 index 000000000..7aa6fc90a --- /dev/null +++ b/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 diff --git a/bld_ament_python.bat b/bld_ament_python.bat new file mode 100644 index 000000000..f6e3c9616 --- /dev/null +++ b/bld_ament_python.bat @@ -0,0 +1,25 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +pushd %SRC_DIR%\%PKG_NAME%\src\work +set "PKG_NAME_SHORT=%PKG_NAME:*ros-noetic-=%" +set "PKG_NAME_SHORT=%PKG_NAME_SHORT:-=_%" + +:: If there is a setup.cfg that contains install-scripts then use pip to install +findstr install[-_]scripts setup.cfg +if "%errorlevel%" == "0" ( + %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^ + --prefix=%LIBRARY_PREFIX% ^ + --install-lib=%SP_DIR% ^ + --install-scripts=%LIBRARY_PREFIX%\lib\%PKG_NAME_SHORT% +) else ( + %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^ + --prefix=%LIBRARY_PREFIX% ^ + --install-lib=%SP_DIR% ^ + --install-scripts=%LIBRARY_PREFIX%\bin +) + +if errorlevel 1 exit 1 diff --git a/bld_catkin.bat b/bld_catkin.bat new file mode 100644 index 000000000..f2d597637 --- /dev/null +++ b/bld_catkin.bat @@ -0,0 +1,80 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin +:: if ROS (1) is build as shared library . However, some packages are not +:: passing compilation flags from CMake to other build systems (such as qmake), +:: so we enable it explicitly via the CL environment variable, see +:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170 +set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1 + +set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1" +if "%PKG_NAME%" == "ros-noetic-catkin" ( + :: create catkin cookie to make it is a catkin workspace + type NUL > %LIBRARY_PREFIX%\.catkin + :: keep the workspace activation scripts (e.g., local_setup.bat) + set CATKIN_BUILD_BINARY_PACKAGE_ARGS= +) + +rd /s /q build +mkdir build +pushd build + +set SKIP_TESTING=ON + +cmake ^ + -G "Ninja" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^ + -DBUILD_SHARED_LIBS=ON ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBoost_USE_STATIC_LIBS=OFF ^ + %CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^ + -DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +if "%PKG_NAME%" == "ros-noetic-eigenpy" ( + cmake --build . --config Release --target all --parallel 1 + if errorlevel 1 exit 1 +) else ( + cmake --build . --config Release --target all + if errorlevel 1 exit 1 +) + +if "%SKIP_TESTING%" == "OFF" ( + cmake --build . --config Release --target run_tests + if errorlevel 1 exit 1 +) + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 + +if "%PKG_NAME%" == "ros-noetic-catkin" ( + :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. + :: This will allow them to be run on environment activation. + for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat + ) +) + +if "%PKG_NAME%" == "ros-noetic-ros-workspace" ( + :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. + :: This will allow them to be run on environment activation. + for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat + copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1 + ) +) diff --git a/bld_catkin_merge.bat b/bld_catkin_merge.bat new file mode 100644 index 000000000..f2c6cf722 --- /dev/null +++ b/bld_catkin_merge.bat @@ -0,0 +1,34 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin +:: if ROS (1) is build as shared library . However, some packages are not +:: passing compilation flags from CMake to other build systems (such as qmake), +:: so we enable it explicitly via the CL environment variable, see +:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170 +set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1 + +set CATKIN_MAKE_ISOLATED=src\ros-noetic-catkin\bin\catkin_make_isolated +set CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH:\=/% + +%PYTHON% %CATKIN_MAKE_ISOLATED% ^ + --install-space %LIBRARY_PREFIX% ^ + --use-ninja ^ + --install ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DBUILD_SHARED_LIBS=ON ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DCATKIN_SKIP_TESTING=ON +if errorlevel 1 exit 1 + +:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. +:: This will allow them to be run on environment activation. +for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat +) diff --git a/bld_colcon_merge.bat b/bld_colcon_merge.bat new file mode 100644 index 000000000..9d012eff4 --- /dev/null +++ b/bld_colcon_merge.bat @@ -0,0 +1,28 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" + +colcon build ^ + --event-handlers console_cohesion+ ^ + --merge-install ^ + --install-base %LIBRARY_PREFIX% ^ + --cmake-args ^ + -G Ninja ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DBUILD_TESTING=OFF ^ + -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ + -DPYTHON_EXECUTABLE=%PYTHON% +if errorlevel 1 exit 1 + +:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. +:: This will allow them to be run on environment activation. +for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat +) diff --git a/build_ament_cmake.sh b/build_ament_cmake.sh new file mode 100644 index 000000000..01c63b554 --- /dev/null +++ b/build_ament_cmake.sh @@ -0,0 +1,68 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python ${ROS_PYTHON_VERSION}" +echo "Using site-package dir ${SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true +fi + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1" + export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1" +fi; + +# Needed for qt-gui-cpp .. +if [[ $target_platform =~ linux.* ]]; then + ln -s $GCC ${BUILD_PREFIX}/bin/gcc + ln -s $GXX ${BUILD_PREFIX}/bin/g++ +fi; + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DAMENT_PREFIX_PATH=$PREFIX \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_BUILD_TYPE=Release \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DPYTHON_INSTALL_DIR=$SP_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/build_ament_python.sh b/build_ament_python.sh new file mode 100644 index 000000000..b9d35ea19 --- /dev/null +++ b/build_ament_python.sh @@ -0,0 +1,17 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +pushd $SRC_DIR/$PKG_NAME/src/work + +# If there is a setup.cfg that contains install-scripts then we should not set it here +if [ -f setup.cfg ] && grep -q "install[-_]scripts" setup.cfg; then + # Remove e.g. ros-humble- from PKG_NAME + PKG_NAME_SHORT=${PKG_NAME#*ros-noetic-} + # Substitute "-" with "_" + PKG_NAME_SHORT=${PKG_NAME_SHORT//-/_} + INSTALL_SCRIPTS_ARG="--install-scripts=$PREFIX/lib/$PKG_NAME_SHORT" + echo "WARNING: setup.cfg not set, will set INSTALL_SCRIPTS_ARG to: $INSTALL_SCRIPTS_ARG" + $PYTHON setup.py install --prefix="$PREFIX" --install-lib="$SP_DIR" $INSTALL_SCRIPTS_ARG --single-version-externally-managed --record=files.txt +else + $PYTHON -m pip install . --no-deps -vvv +fi diff --git a/build_catkin.sh b/build_catkin.sh new file mode 100644 index 000000000..4dd855a8c --- /dev/null +++ b/build_catkin.sh @@ -0,0 +1,119 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +CATKIN_BUILD_BINARY_PACKAGE="ON" + +if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then + # create catkin cookie to make it is a catkin workspace + touch $PREFIX/.catkin + # keep the workspace activation scripts (e.g., local_setup.bat) + CATKIN_BUILD_BINARY_PACKAGE="OFF" +fi + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python $ROS_PYTHON_VERSION" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true + # way around bad CPU type issues + # rm $PREFIX/bin/doxygen || echo "doxygen not found" + # rm $PREFIX/bin/dia || echo "dia not found" + # rm $PREFIX/bin/dot || echo "dot not found" +fi + +# NOTE: there might be undefined references occurring +# in the Boost.system library, depending on the C++ versions +# used to compile Boost. We can avoid them by forcing the use of +# the header-only version of the library. +export CXXFLAGS="$CXXFLAGS -DBOOST_ERROR_CODE_HEADER_ONLY" + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="$CFLAGS -D__STDC_FORMAT_MACROS=1"; + export CXXFLAGS="$CXXFLAGS -D__STDC_FORMAT_MACROS=1"; + # I am too scared to turn this on for now ... + # export LDFLAGS="$LDFLAGS -lrt"; + # Some qt stuff uses g++ directly - fix these use cases + ln -s $GXX $BUILD_PREFIX/bin/g++ +fi + +export SKIP_TESTING=ON + +cmake ${CMAKE_ARGS} -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \ + -DCMAKE_FIND_FRAMEWORK=LAST \ + -DBUILD_SHARED_LIBS=ON \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPYTHON_INSTALL_DIR=$SP_DIR \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCATKIN_BUILD_BINARY_PACKAGE=$CATKIN_BUILD_BINARY_PACKAGE \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + -G "Ninja" \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target all + +if [[ "$SKIP_TESTING" == "OFF" ]]; then + cmake --build . --config Release --target run_tests +fi + +cmake --build . --config Release --target install + +if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then + # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d. + # This will allow them to be run on environment activation. + for CHANGE in "activate" "deactivate" + do + mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d" + cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh" + done +fi + +if [ "${PKG_NAME}" == "ros-noetic-environment" ]; then + for SCRIPT in "1.ros_distro.sh" "1.ros_etc_dir.sh" "1.ros_package_path.sh" "1.ros_python_version.sh" "1.ros_version.sh" + do + mkdir -p "${PREFIX}/etc/conda/activate.d" + cp "${PREFIX}/etc/catkin/profile.d/${SCRIPT}" "${PREFIX}/etc/conda/activate.d/${SCRIPT}" + done +fi + +if [ "${PKG_NAME}" == "ros-noetic-ros-workspace" ]; then + # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d. + # This will allow them to be run on environment activation. + for CHANGE in "activate" "deactivate" + do + mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d" + cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh" + done +fi diff --git a/buildorder.txt b/buildorder.txt new file mode 100644 index 000000000..91082c33e --- /dev/null +++ b/buildorder.txt @@ -0,0 +1 @@ +ros-noetic-moveit-ros-planning-interface \ No newline at end of file diff --git a/deactivate.bat b/deactivate.bat new file mode 100644 index 000000000..6de79ccaf --- /dev/null +++ b/deactivate.bat @@ -0,0 +1,18 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@set ROS_OS_OVERRIDE= +@set ROS_DISTRO= +@set ROS_ETC_DIR= +@set ROS_PACKAGE_PATH= +@set ROS_PYTHON_VERSION= +@set ROS_VERSION= +@set PYTHONHOME= +@set PYTHONPATH= +@set CMAKE_PREFIX_PATH= +@set AMENT_PREFIX_PATH= +@set COLCON_PREFIX_PATH= +@set QT_PLUGIN_PATH= +@set ROS_LOCALHOST_ONLY= +@set ament_python_executable= diff --git a/deactivate.ps1 b/deactivate.ps1 new file mode 100644 index 000000000..9db51e1c2 --- /dev/null +++ b/deactivate.ps1 @@ -0,0 +1,18 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($null -eq ${env:CONDA_PREFIX}) { Exit } + +$Env:ROS_OS_OVERRIDE='' +$Env:ROS_DISTRO='' +$Env:ROS_ETC_DIR='' +$Env:ROS_PACKAGE_PATH='' +$Env:ROS_PYTHON_VERSION='' +$Env:ROS_VERSION='' +$Env:PYTHONHOME='' +$Env:PYTHONPATH='' +$Env:CMAKE_PREFIX_PATH='' +$Env:AMENT_PREFIX_PATH='' +$Env:COLCON_PREFIX_PATH='' +$Env:QT_PLUGIN_PATH='' +$Env:ROS_LOCALHOST_ONLY='' +$Env:ament_python_executable='' diff --git a/deactivate.sh b/deactivate.sh new file mode 100644 index 000000000..87d4d8359 --- /dev/null +++ b/deactivate.sh @@ -0,0 +1,21 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if [ -z "${CONDA_PREFIX}" ]; then + exit 0 +fi + +unset ROS_DISTRO +unset ROS_ETC_DIR +unset ROS_PACKAGE_PATH +unset ROS_PYTHON_VERSION +unset CMAKE_PREFIX_PATH +unset AMENT_PREFIX_PATH +unset COLCON_PREFIX_PATH +unset ROS_VERSION +unset ROS_OS_OVERRIDE +# unset PYTHONPATH +# unset PYTHONHOME +# unset QT_PLUGIN_PATH +unset ROS_LOCALHOST_ONLY +unset ament_python_executable +unset RMW_IMPLEMENTATION diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/bld_catkin.bat b/recipes/ros-noetic-moveit-ros-planning-interface/bld_catkin.bat new file mode 100644 index 000000000..f2d597637 --- /dev/null +++ b/recipes/ros-noetic-moveit-ros-planning-interface/bld_catkin.bat @@ -0,0 +1,80 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal +set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%" + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin +:: if ROS (1) is build as shared library . However, some packages are not +:: passing compilation flags from CMake to other build systems (such as qmake), +:: so we enable it explicitly via the CL environment variable, see +:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170 +set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1 + +set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1" +if "%PKG_NAME%" == "ros-noetic-catkin" ( + :: create catkin cookie to make it is a catkin workspace + type NUL > %LIBRARY_PREFIX%\.catkin + :: keep the workspace activation scripts (e.g., local_setup.bat) + set CATKIN_BUILD_BINARY_PACKAGE_ARGS= +) + +rd /s /q build +mkdir build +pushd build + +set SKIP_TESTING=ON + +cmake ^ + -G "Ninja" ^ + -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^ + -DBUILD_SHARED_LIBS=ON ^ + -DPYTHON_EXECUTABLE=%PYTHON% ^ + -DPython_EXECUTABLE=%PYTHON% ^ + -DPython3_EXECUTABLE=%PYTHON% ^ + -DSETUPTOOLS_DEB_LAYOUT=OFF ^ + -DBoost_USE_STATIC_LIBS=OFF ^ + %CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^ + -DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +if "%PKG_NAME%" == "ros-noetic-eigenpy" ( + cmake --build . --config Release --target all --parallel 1 + if errorlevel 1 exit 1 +) else ( + cmake --build . --config Release --target all + if errorlevel 1 exit 1 +) + +if "%SKIP_TESTING%" == "OFF" ( + cmake --build . --config Release --target run_tests + if errorlevel 1 exit 1 +) + +cmake --build . --config Release --target install +if errorlevel 1 exit 1 + +if "%PKG_NAME%" == "ros-noetic-catkin" ( + :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. + :: This will allow them to be run on environment activation. + for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat + ) +) + +if "%PKG_NAME%" == "ros-noetic-ros-workspace" ( + :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d. + :: This will allow them to be run on environment activation. + for %%F in (activate deactivate) DO ( + if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d + copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat + copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1 + ) +) diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/build_catkin.sh b/recipes/ros-noetic-moveit-ros-planning-interface/build_catkin.sh new file mode 100644 index 000000000..4dd855a8c --- /dev/null +++ b/recipes/ros-noetic-moveit-ros-planning-interface/build_catkin.sh @@ -0,0 +1,119 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +CATKIN_BUILD_BINARY_PACKAGE="ON" + +if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then + # create catkin cookie to make it is a catkin workspace + touch $PREFIX/.catkin + # keep the workspace activation scripts (e.g., local_setup.bat) + CATKIN_BUILD_BINARY_PACKAGE="OFF" +fi + +rm -rf build +mkdir build +cd build + +# necessary for correctly linking SIP files (from python_qt_bindings) +export LINK=$CXX + +if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then + PYTHON_EXECUTABLE=$PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="10.15" +else + PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python + PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" +echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" + +export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` +echo "Using Python $ROS_PYTHON_VERSION" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then + find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true + find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true + # way around bad CPU type issues + # rm $PREFIX/bin/doxygen || echo "doxygen not found" + # rm $PREFIX/bin/dia || echo "dia not found" + # rm $PREFIX/bin/dot || echo "dot not found" +fi + +# NOTE: there might be undefined references occurring +# in the Boost.system library, depending on the C++ versions +# used to compile Boost. We can avoid them by forcing the use of +# the header-only version of the library. +export CXXFLAGS="$CXXFLAGS -DBOOST_ERROR_CODE_HEADER_ONLY" + +if [[ $target_platform =~ linux.* ]]; then + export CFLAGS="$CFLAGS -D__STDC_FORMAT_MACROS=1"; + export CXXFLAGS="$CXXFLAGS -D__STDC_FORMAT_MACROS=1"; + # I am too scared to turn this on for now ... + # export LDFLAGS="$LDFLAGS -lrt"; + # Some qt stuff uses g++ directly - fix these use cases + ln -s $GXX $BUILD_PREFIX/bin/g++ +fi + +export SKIP_TESTING=ON + +cmake ${CMAKE_ARGS} -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \ + -DCMAKE_FIND_FRAMEWORK=LAST \ + -DBUILD_SHARED_LIBS=ON \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPYTHON_INSTALL_DIR=$SP_DIR \ + -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCATKIN_BUILD_BINARY_PACKAGE=$CATKIN_BUILD_BINARY_PACKAGE \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + -G "Ninja" \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target all + +if [[ "$SKIP_TESTING" == "OFF" ]]; then + cmake --build . --config Release --target run_tests +fi + +cmake --build . --config Release --target install + +if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then + # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d. + # This will allow them to be run on environment activation. + for CHANGE in "activate" "deactivate" + do + mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d" + cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh" + done +fi + +if [ "${PKG_NAME}" == "ros-noetic-environment" ]; then + for SCRIPT in "1.ros_distro.sh" "1.ros_etc_dir.sh" "1.ros_package_path.sh" "1.ros_python_version.sh" "1.ros_version.sh" + do + mkdir -p "${PREFIX}/etc/conda/activate.d" + cp "${PREFIX}/etc/catkin/profile.d/${SCRIPT}" "${PREFIX}/etc/conda/activate.d/${SCRIPT}" + done +fi + +if [ "${PKG_NAME}" == "ros-noetic-ros-workspace" ]; then + # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d. + # This will allow them to be run on environment activation. + for CHANGE in "activate" "deactivate" + do + mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d" + cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh" + done +fi diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/patch/ros-noetic-moveit-ros-planning-interface.patch b/recipes/ros-noetic-moveit-ros-planning-interface/patch/ros-noetic-moveit-ros-planning-interface.patch new file mode 100644 index 000000000..8c9897a2e --- /dev/null +++ b/recipes/ros-noetic-moveit-ros-planning-interface/patch/ros-noetic-moveit-ros-planning-interface.patch @@ -0,0 +1,181 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 73f1aa3ea4..67528cf75c 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -19,6 +19,9 @@ find_package(catkin REQUIRED COMPONENTS + ) + moveit_build_options() + ++find_package(PkgConfig REQUIRED) ++pkg_check_modules(EIGENPY REQUIRED eigenpy) ++ + find_package(PythonInterp REQUIRED) + find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED) + +@@ -77,8 +80,11 @@ include_directories(SYSTEM + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} ++ ${EIGENPY_INCLUDE_DIRS} + ${PYTHON_INCLUDE_DIRS}) + ++link_directories(${EIGENPY_LIBRARY_DIRS}) ++ + add_subdirectory(py_bindings_tools) + add_subdirectory(common_planning_interface_objects) + add_subdirectory(planning_scene_interface) +diff --git a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h +index 17de157197..fdae58ab37 100644 +--- a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h ++++ b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h +@@ -56,6 +56,20 @@ + #include + #include + ++#include ++ ++// Import/export for windows dll's and visibility for gcc shared libraries. ++ ++#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries ++ #ifdef moveit_move_group_interface_EXPORTS // we are building a shared lib/dll ++ #define MOVEIT_MOVE_GROUP_INTERFACE_DECL ROS_HELPER_EXPORT ++ #else // we are using shared lib/dll ++ #define MOVEIT_MOVE_GROUP_INTERFACE_DECL ROS_HELPER_IMPORT ++ #endif ++#else // ros is being built around static libraries ++ #define MOVEIT_MOVE_GROUP_INTERFACE_DECL ++#endif ++ + namespace moveit + { + /** \brief Simple interface to MoveIt components */ +@@ -70,7 +84,7 @@ MOVEIT_CLASS_FORWARD(MoveGroupInterface); // Defines MoveGroupInterfacePtr, Con + \brief Client class to conveniently use the ROS interfaces provided by the move_group node. + + This class includes many default settings to make things easy to use. */ +-class MoveGroupInterface ++class MOVEIT_MOVE_GROUP_INTERFACE_DECL MoveGroupInterface + { + public: + /** \brief Default ROS parameter name from where to read the robot's URDF. Set to 'robot_description' */ +diff --git a/move_group_interface/CMakeLists.txt b/move_group_interface/CMakeLists.txt +index d822174bf0..c95290d11c 100644 +--- a/move_group_interface/CMakeLists.txt ++++ b/move_group_interface/CMakeLists.txt +@@ -6,13 +6,20 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_object + add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS}) + + add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_move_group.cpp) +-target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} eigenpy::eigenpy ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools) ++target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} eigenpy::eigenpy ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${EIGENPY_LIBRARIES} moveit_py_bindings_tools) ++if(NOT APPLE) ++ target_link_libraries(${MOVEIT_LIB_NAME}_python ${PYTHON_LIBRARIES}) ++else() ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++endif() + add_dependencies(${MOVEIT_LIB_NAME}_python ${catkin_EXPORTED_TARGETS}) + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_move_group_interface PREFIX "") + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}") + if(WIN32) + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd) ++else() ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .so) + endif(WIN32) + + install(TARGETS ${MOVEIT_LIB_NAME} +diff --git a/py_bindings_tools/CMakeLists.txt b/py_bindings_tools/CMakeLists.txt +index 1f82d7e4dc..2f9112fb85 100644 +--- a/py_bindings_tools/CMakeLists.txt ++++ b/py_bindings_tools/CMakeLists.txt +@@ -1,8 +1,16 @@ + set(MOVEIT_LIB_NAME moveit_py_bindings_tools) + ++find_package(PythonInterp REQUIRED) ++find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED) ++ + add_library(${MOVEIT_LIB_NAME} src/roscpp_initializer.cpp) + set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") +-target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES}) ++target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) ++if(NOT APPLE) ++ target_link_libraries(${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES}) ++else() ++ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++endif(NOT APPLE) + + install(TARGETS ${MOVEIT_LIB_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +@@ -10,13 +16,20 @@ install(TARGETS ${MOVEIT_LIB_NAME} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + + add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_roscpp_initializer.cpp) +-target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) ++target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) ++if(NOT APPLE) ++ target_link_libraries(${MOVEIT_LIB_NAME}_python ${PYTHON_LIBRARIES}) ++endif(NOT APPLE) + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_roscpp_initializer PREFIX "") + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}") + if(WIN32) + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd) + endif(WIN32) ++if(APPLE) ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .so) ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++endif(APPLE) + + install(TARGETS ${MOVEIT_LIB_NAME}_python + DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}) +diff --git a/planning_scene_interface/CMakeLists.txt b/planning_scene_interface/CMakeLists.txt +index 6a3b1a3f9b..d8c3055352 100644 +--- a/planning_scene_interface/CMakeLists.txt ++++ b/planning_scene_interface/CMakeLists.txt +@@ -6,11 +6,18 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_object + + add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_planning_scene_interface.cpp) + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") +-target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools) ++target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} moveit_py_bindings_tools) ++if(NOT APPLE) ++ target_link_libraries(${MOVEIT_LIB_NAME}_python ${PYTHON_LIBRARIES}) ++else() ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++endif() + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_planning_scene_interface PREFIX "") + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}") + if(WIN32) + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd) ++else() ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .so) + endif(WIN32) + + install(TARGETS ${MOVEIT_LIB_NAME} +diff --git a/robot_interface/CMakeLists.txt b/robot_interface/CMakeLists.txt +index 3944155fbf..2fcc7521dd 100644 +--- a/robot_interface/CMakeLists.txt ++++ b/robot_interface/CMakeLists.txt +@@ -1,13 +1,21 @@ + set(MOVEIT_LIB_NAME moveit_robot_interface) + + add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_robot_interface.cpp) +-target_link_libraries(${MOVEIT_LIB_NAME}_python ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ++target_link_libraries(${MOVEIT_LIB_NAME}_python ${catkin_LIBRARIES} ${Boost_LIBRARIES} + moveit_common_planning_interface_objects moveit_py_bindings_tools) ++if(NOT APPLE) ++ target_link_libraries(${MOVEIT_LIB_NAME}_python ${PYTHON_LIBRARIES}) ++else() ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") ++endif(NOT APPLE) ++ + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_robot_interface PREFIX "") + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}") + if(WIN32) + set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd) ++else() ++ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .so) + endif(WIN32) + + install(TARGETS ${MOVEIT_LIB_NAME}_python diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/recipe.yaml b/recipes/ros-noetic-moveit-ros-planning-interface/recipe.yaml new file mode 100644 index 000000000..f4b1d814f --- /dev/null +++ b/recipes/ros-noetic-moveit-ros-planning-interface/recipe.yaml @@ -0,0 +1,87 @@ +package: + name: ros-noetic-moveit-ros-planning-interface + version: 1.1.13 +source: + git_url: https://github.com/ros-gbp/moveit-release.git + git_rev: release/noetic/moveit_ros_planning_interface/1.1.13-2 + folder: ros-noetic-moveit-ros-planning-interface/src/work + patches: + - patch/ros-noetic-moveit-ros-planning-interface.patch + +build: + script: + sel(win): bld_catkin.bat + sel(unix): build_catkin.sh + number: 20 +about: + home: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - "{{ compiler('cxx') }}" + - "{{ compiler('c') }}" + - sel(linux64): sysroot_linux-64 2.17 + - ninja + - setuptools + - sel(unix): make + - sel(unix): coreutils + - sel(osx): tapi + - sel(build_platform != target_platform): pkg-config + - cmake + - cython + - sel(build_platform != target_platform): python + - sel(build_platform != target_platform): cross-python_{{ target_platform }} + - sel(build_platform != target_platform): numpy + host: + - catkin_pkg + - eigen + - numpy + - pip + - sel(build_platform == target_platform): pkg-config + - python + - ros-distro-mutex 0.5 noetic + - ros-noetic-actionlib + - ros-noetic-catkin + - ros-noetic-eigenpy + - ros-noetic-geometry-msgs + - ros-noetic-moveit-msgs + - ros-noetic-moveit-resources-fanuc-moveit-config + - ros-noetic-moveit-resources-panda-moveit-config + - ros-noetic-moveit-ros-manipulation + - ros-noetic-moveit-ros-move-group + - ros-noetic-moveit-ros-planning + - ros-noetic-moveit-ros-warehouse + - ros-noetic-rosconsole + - ros-noetic-roscpp + - ros-noetic-rospy + - ros-noetic-rostest + - ros-noetic-tf2 + - ros-noetic-tf2-eigen + - ros-noetic-tf2-geometry-msgs + - ros-noetic-tf2-ros + run: + - python + - ros-distro-mutex 0.5 noetic + - ros-noetic-actionlib + - ros-noetic-eigenpy + - ros-noetic-geometry-msgs + - ros-noetic-moveit-msgs + - ros-noetic-moveit-ros-manipulation + - ros-noetic-moveit-ros-move-group + - ros-noetic-moveit-ros-planning + - ros-noetic-moveit-ros-warehouse + - ros-noetic-rosconsole + - ros-noetic-roscpp + - ros-noetic-rospy + - ros-noetic-tf2 + - ros-noetic-tf2-eigen + - ros-noetic-tf2-geometry-msgs + - ros-noetic-tf2-ros + - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/vinca.yaml b/vinca.yaml new file mode 100644 index 000000000..d5e9ff017 --- /dev/null +++ b/vinca.yaml @@ -0,0 +1,891 @@ +ros_distro: noetic +mutex_package: ros-distro-mutex 0.5 noetic + +# mapping for package keys +conda_index: + - robostack.yaml + - packages-ignore.yaml + +build_number: 20 + +# Ignore all dependencies of selected packages +skip_all_deps: false + +# If full rebuild, the build number of the existing package has +# to match the selected build number for skipping +full_rebuild: true + +packages_skip_by_deps: + # - rviz + # - diagnostic_updater + - eigenpy + - hpp-fcl + - pinocchio + +packages_remove_from_deps: + - stage-ros + - stage + +skip_existing: + # - https://conda.anaconda.org/robostack/ + - https://conda.anaconda.org/robostack-staging/ + +# This list contains lots of commented-out package names. That is okay. +# Not all packages need to be rebuilt with every pull request. +# Do not be afraid if you see a package commented out after some time - it just means it is not being built now. +# For sure it will be uncommented and built with next full rebuild. Full rebuilds happen occasionally (few times a year). +# The list of all maintained packages is at https://robostack.github.io/noetic.html . +packages_select_by_deps: + - rospack + - microstrain-inertial-driver + - microstrain-inertial-msgs + - octomap-ros + - ackermann-msgs + - fake-localization + - realsense2-description + + - rviz + - python-qt-binding + - qt-gui-cpp + - actionlib + - ros-babel-fish + - ros-babel-fish-test-msgs + - moveit_visual_tools + - rviz_visual_tools + - rgbd-launch + + - plotjuggler + - plotjuggler_ros + + - python-qt-binding + - qt-gui + - qt-gui-cpp + - ros-control + - ros-controllers + - imu-sensor-controller + - ackermann-steering-controller + - rqt-gui + - rqt-ez-publisher + - pcl-ros + - pcl-conversions + - velodyne-description + - effort-controllers + - velocity-controllers + - turtlebot3-teleop + - force-torque-sensor-controller + - gripper-action-controller + - rqt-gui-cpp + - rqt-gui-py + - joint-trajectory-controller + - velodyne-simulator + - velodyne-gazebo-plugins + + - kdl-parser-py + - imu-tools + - rqt-controller-manager + - dynamixel-sdk + - hector-map-tools + - hector-nav-msgs + - hector-trajectory-server + - radar-msgs + - geometry2 + - tf2 + - tf2_bullet + - tf2_eigen + - tf2_geometry_msgs + - tf2_kdl + - tf2_msgs + - tf2_py + - tf2_ros + - tf2_sensor_msgs + - tf2_tools + - gps-common + - rosbridge_suite + + + # ## Only limited number of packages to reduce maintainer burden + - catkin + - rviz + - desktop + - desktop_full + - perception + - simulators + - moveit + - robot_localization + - amcl + - map-server + - move-base + - gmapping + - turtlebot3 + - turtlebot3-simulations + - teb-local-planner + + - gazebo-dev + - gazebo-ros + - hector-gazebo-plugins + - gazebo-ros-control + - gazebo-plugins + - lms1xx + - controller-manager + - interactive_marker_twist_server + - diff-drive-controller + - joint-state-controller + - joy + - robot-localization + - teleop-twist-joy + - twist-mux + - pointgrey-camera-description + - nmea-msgs + - geometry-msgs + - nmea-navsat-driver + - rosserial-server + - imu-filter-madgwick + - rosserial-python + - tf2_web_republisher + - libfranka + - franka + - franka-gripper + - franka-hw + - franka-msgs + - franka-description + - franka-control + - franka_example_controllers + - franka_ros + - combined-robot-hw + - panda-moveit-config + - moveit-ros-visualization + - moveit-ros-planning-interface + - niryo_one_simulation + - turtlebot3 + - turtlebot3-fake + - librealsense2 + - realsense2_camera + - ur-msgs + - rosdoc-lite + - ros_numpy + + - sound-play + - pid + + ## PREVIOUSLY SUPPORTED PACKAGES, NOW NOT PACKAGED ANYMORE UNTIL REQUESTED + ## + # TODO OSX + ## + + # - mavros-msgs + # - mavros + # - libmavconn + # - mavros-extras + # - mavlink + + + # - grid_map # fails with tbb-error, probably need to use cmake instead of pkg-config. See grid-map-osx branch + # - pybind11_catkin # need to be unvendored + + # Fix after rebuild + # - ur_client_library + # - tsid + # - mavros + # - tesseract-collision + # - tesseract-common + # - tesseract-geometry + # - tesseract-scene-graph + # - tesseract-srdf + # - tesseract-support + # - robot-calibration + # - mbf-costmap-nav + # - mbf-simple-nav + # - mbf-abstract-nav + + # - openslam-gmapping + # - turtlesim + # - rviz + # - arbotix-controllers + # - arbotix-sensors + # - audibot + # - autoware-msgs + # - cartesian-trajectory-controller + # - cartesian-trajectory-interpolation + # - cob-base-controller-utils + # - cob-frame-tracker + # - cob-gazebo-plugins + # - cob-gazebo-ros-control + # - cob-lookat-action + # - cob-mapping-slam + # - cob-model-identifier + # - cob-navigation-global + # - cob-navigation-slam + # - cob-omni-drive-controller + # - cob-tricycle-controller + # - collada-parser + # - collada-urdf + # - costmap-queue + # - dataspeed-pds-rqt + # - dataspeed-pds-scripts + # - dual-quaternions-ros + # - dynamic-graph-tutorial + # - ecl-config + # - ecl-console + # - ecl-converters-lite + # - ecl-errors + # - ecl-exceptions + # - ecl-filesystem + # - ecl-io + # - ecl-ipc + # - ecl-lite + # - ecl-sigslots-lite + # - ecl-time + # - ecl-time-lite + # - ecl-tools + # - ethercat-trigger-controllers + # - fetch-calibration + # - fetch-drivers + # - fetch-ikfast-plugin + # - fetch-open-auto-dock + # - fkie-master-sync + # - flexbe-mirror + # - flexbe-onboard + # - flexbe-states + # - flexbe-testing + # - flexbe-widget + # - gazebo-ros-control-select-joints + # - geographic-info + # - gpp-plugin + # - grid-map-loader + # - grid-map-ros + # - grid-map-rviz-plugin + # - grid-map-visualization + # - handeye + # - hector-geotiff-plugins + # - imu-monitor + # - industrial-trajectory-filters + # - industrial-utils + # - ixblue-ins + # - joint-trajectory-action-tools + # - joint-trajectory-generator + # - laser-cb-detector + # - leo + # - magical-ros2-conversion-tool + # - mir-gazebo + # - monocam-settler + # - move-base-flex + # - moveit-resources-prbt-ikfast-manipulator-plugin + # - nav-2d-utils + # - open-manipulator-gazebo + # - open-manipulator-p-gazebo + # - open-manipulator-p-simulations + # - open-manipulator-simulations + # - osm-cartography + # - p2os-driver + # - p2os-urdf + # - pass-through-controllers + # - pincher-arm-bringup + # - pincher-arm-ikfast-plugin + # - pincher-arm-moveit-demos + # - pr2-arm-kinematics + # - pr2-arm-move-ik + # - pr2-calibration-controllers + # - pr2-common + # - pr2-controller-interface + # - pr2-controller-manager + # - pr2-gripper-action + # - pr2-head-action + # - pr2-kinematics + # - pr2-mannequin-mode + # - pr2-mechanism + # - pr2-mechanism-controllers + # - pr2-mechanism-diagnostics + # - pr2-mechanism-model + # - pr2-tuckarm + # - rc-reason-clients + # - robot-controllers + # - robot-mechanism-controllers + # - ros-control-boilerplate + # - ros-emacs-utils + # - ros-realtime + # - roslisp-repl + # - rosrt + # - route-network + # - sbpl-recovery + # - scaled-joint-trajectory-controller + # - sot-core + # - sot-tools + # - swri-opencv-util + # - swri-profiler + # - swri-profiler-tools + # - swri-roscpp + # - teleop-tools + # - test-osm + # - toposens-description + # - trac-ik + # - trac-ik-examples + # - trac-ik-kinematics-plugin + # - trac-ik-lib + # - trac-ik-python + # - track-odometry + # - trajectory-tracker + # - turtlebot3-autorace-driving + # - turtlebot3-simulations + # - ublox + # - ublox-gps + # - ublox-msgs + # - unique-identifier + # - urdf-geometry-parser + # - usb-cam-controllers + # - variant + # - variant-topic-tools + # - virtual-force-publisher + # - volta-base + # - volta-control + # - volta-description + # - volta-localization + # - volta-msgs + # - volta-navigation + # - volta-rules + # - wifi-ddwrt + # - wireless-watcher + # - wu-ros-tools + # - abb-rapid-sm-addin-msgs + # - arbotix-python + # - audibot-gazebo + # - automotive-autonomy-msgs + # - autoware-external-msgs + # - calibration-estimation + # - can-dbc-parser + # - cob-3d-mapping-msgs + # - cob-calibration-data + # - cob-collision-velocity-filter + # - cob-common + # - cob-dashboard + # - cob-default-robot-config + # - cob-environments + # - cob-gazebo-objects + # - cob-gazebo-worlds + # - cob-grasp-generation + # - cob-linear-nav + # - cob-navigation-local + # - cob-substitute + # - cob-trajectory-controller + # - combined-robot-hw-tests + # - costmap-cspace + # - criutils + # - dataspeed-can-msg-filters + # - driver-common + # - dual-quaternions + # - dwb-msgs + # - dynamic-graph-python + # - dynamixel-sdk-examples + # - dynamixel-workbench-msgs + # - ecl-build + # - ecl-command-line + # - ecl-eigen + # - ecl-mpl + # - executive-smach-visualization + # - fetch-driver-msgs + # - fingertip-pressure + # - fkie-master-discovery + # - flexbe-core + # - flexbe-input + # - geodesy + # - geometry2 + # - gpp-prune-path + # - gpp-update-map + # - graceful-controller-ros + # - grid-map-costmap-2d + # - grid-map-cv + # - grid-map-octomap + # - hector-compressed-map-transport + # - hector-geotiff + # - hector-map-server + # - hector-trajectory-server + # - imu-from-ios-sensorlog + # - industrial-deprecated + # - iris-lama-ros + # - ixblue-ins-driver + # - jderobot-drones + # - joint-states-settler + # - joint-trajectory-action + # - joy-teleop + # - joystick-interrupt + # - jsk-common-msgs + # - jsk-recognition-msgs + # - label-manager + # - laser-filtering + # - leo-teleop + # - leo-viz + # - lockfree + # - locomotor-msgs + # - map-organizer + # - marti-nav-msgs + # - mesh-msgs-transform + # - mir-driver + # - nav-core2 + # - neonavigation-msgs + # - obj-to-pointcloud + # - ocean-battery-driver + # - omron-os32c-driver + # - open-manipulator-msgs + # - opw-kinematics + # - pilz-status-indicator-rqt + # - pilz-testutils + # - pincher-arm-moveit-config + # - power-monitor + # - pr2-app-manager + # - pr2-computer-monitor + # - pr2-dashboard-aggregator + # - pr2-position-scripts + # - pr2-self-test-msgs + # - pr2-teleop + # - pr2-tuck-arms-action + # - py-trees-ros + # - qt-gui-core + # - rc-reason-msgs + # - robot-controllers-interface + # - robotis-manipulator + # - rosbag-pandas + # - rosbag-snapshot + # - roscompile + # - rqt-py-trees + # - sbpl-lattice-planner + # - single-joint-position-action + # - slime-ros + # - speed-scaling-state-controller + # - swri-console-util + # - abb-egm-msgs + # - abb-rapid-msgs + # - abb-robot-msgs + # - ackermann-msgs + # - actionlib-tools + # - allocators + # - app-manager + # - apriltag + # - arbotix-firmware + # - arbotix-msgs + # - assimp-devel + # - assisted-teleop + # - async-comm + # - async-web-server-cpp + # - audibot-description + # - audio-common-msgs + # - automotive-navigation-msgs + # - automotive-platform-msgs + # - autoware-can-msgs + # - autoware-config-msgs + # - autoware-lanelet2-msgs + # - autoware-map-msgs + # - autoware-system-msgs + # - auv-msgs + # - backward-ros + # - baldor + # - behaviortree-cpp-v3 + # - boost-sml + # - bosch-locator-bridge + # - bota-signal-handler + # - calibration-msgs + # - can-msgs + # - capabilities + # - carla-msgs + # - cartesian-control-msgs + # - cartesian-interface + # - cartesian-msgs + # - catkin-virtualenv + # - cob-actions + # - cob-android-msgs + # - cob-android-resource-server + # - cob-android-settings + # - cob-base-velocity-smoother + # - cob-control-mode-adapter + # - cob-control-msgs + # - cob-default-env-config + # - cob-description + # - cob-docker-control + # - cob-footprint-observer + # - cob-gazebo-tools + # - cob-hardware-emulation + # - cob-interactive-teleop + # - cob-light + # - cob-mecanum-controller + # - cob-moveit-config + # - cob-msgs + # - cob-navigation-config + # - cob-object-detection-msgs + # - cob-perception-msgs + # - cob-reflector-referencing + # - cob-safety-controller + # - cob-scan-unifier + # - cob-sick-lms1xx + # - cob-srvs + # - cob-supported-robots + # - cob-utilities + # - cob-vision-utils + # - color-util + # - computer-status-msgs + # - control-box-rst + # - controller-manager-tests + # - convex-decomposition + # - costmap-cspace-msgs + # - csm + # - darknet-ros-msgs + # - dataspeed-pds-msgs + # - dataspeed-ulc-msgs + # - dbw-fca-description + # - dbw-fca-msgs + # - dbw-mkz-description + # - dbw-mkz-msgs + # - dbw-polaris-description + # - dbw-polaris-msgs + # - ddynamic-reconfigure-python + # - delphi-esr-msgs + # - delphi-mrr-msgs + # - delphi-srr-msgs + # - derived-object-msgs + # - dialogflow-task-executive + # - dnn-detect + # - driver-base + # - drone-assets + # - drone-wrapper + # - dynamic-edt-3d + # - dynamic-graph + # - dynamic-tf-publisher + # - dynamixel-sdk + # - easy-markers + # - ecl-license + # - eiquadprog + # - exotica-val-description + # - explore-lite + # - fadecandy-msgs + # - fetch-auto-dock-msgs + # - fetch-description + # - fetch-maps + # - fetch-teleop + # - fetch-tools + # - find-object-2d + # - fkie-message-filters + # - fkie-multimaster-msgs + # - flexbe-msgs + # - four-wheel-steering-msgs + # - foxglove-msgs + # - gazebo-video-monitor-msgs + # - gdrive-ros + # - generic-throttle + # - genmypy + # - goal-passer + # - gpp-interface + # - graceful-controller + # - grasping-msgs + # - grid-map-core + # - grid-map-msgs + # - hector-gazebo-worlds + # - hector-imu-attitude-to-tf + # - hector-imu-tools + # - hector-map-tools + # - hector-mapping + # - hector-marker-drawing + # - hector-nav-msgs + # - hector-xacro-tools + # - image-cb-detector + # - image-exposure-msgs + # - imu-processors + # - industrial-msgs + # - industrial-robot-status-interface + # - interval-intersection + # - ipa-3d-fov-visualization + # - iris-lama + # - ivcon + # - ixblue-ins-msgs + # - ixblue-stdbin-decoder + # - jderobot-assets + # - joy-listener + # - jsk-footstep-msgs + # - jsk-gui-msgs + # - jsk-hark-msgs + # - jsk-network-tools + # - jsk-tilt-laser + # - kalman-filter + # - kartech-linear-actuator-msgs + # - key-teleop + # - kobuki-msgs + # - laser-filters-jsk-patch + # - led-msgs + # - leo-description + # - lgsvl-msgs + # # - libdlib + # - log-view + # - lpg-planner + # - map-laser + # - map-organizer-msgs + # - marker-msgs + # - marti-can-msgs + # - marti-common-msgs + # - marti-data-structures + # - marti-dbw-msgs + # - marti-perception-msgs + # - marti-sensor-msgs + # - marti-status-msgs + # - marti-visualization-msgs + # - mcl-3dl-msgs + # - mesh-msgs + # - message-to-tf + # - mini-maxwell + # - mir-actions + # - mir-description + # - mir-msgs + # - mobile-robot-simulator + # - mobileye-560-660-msgs + # - mocap-optitrack + # - mouse-teleop + # - move-base-sequence + # - moveit-python + # - moveit-resources + # - moveit-runtime + # - mpc-local-planner-msgs + # - mqtt-bridge + # - mrpt-msgs + # - mrt-cmake-modules + # - multirobot-map-merge + # - multisense-description + # - nav-2d-msgs + # - nav-grid + # - ncd-parser + # - neo-local-planner + # - neobotix-usboard-msgs + # - neonavigation-common + # - network-interface + # - nonpersistent-voxel-layer + # - novatel-oem7-msgs + # - ntpd-driver + # - odva-ethernetip + # - openzen-sensor + # - p2os-doc + # - p2os-msgs + # - p2os-teleop + # - pacmod-msgs + # - paho-mqtt-c + # - parameter-pa + # - people-msgs + # - pgm-learner + # - phidgets-msgs + # - picovoice-msgs + # - pid + # - pilz-industrial-motion-testutils + # - pilz-msgs + # - pilz-utils + # - pincher-arm-description + # - pinocchio + # - planner-cspace-msgs + # - polar-scan-matcher + # - pose-base-controller + # - pose-follower + # - posedetection-msgs + # - power-msgs + # - pr2-common-action-msgs + # - pr2-controllers-msgs + # - pr2-description + # - pr2-hardware-interface + # - pr2-machine + # - pr2-mechanism-msgs + # - pr2-msgs + # - prosilica-gige-sdk + # - py-trees + # - py-trees-msgs + # - pyquaternion + # - qt-gui-app + # - raw-description + # - razor-imu-9dof + # - rc-common-msgs + # - rc-visard-description + # - remote-rosbag-record + # - robot-calibration-msgs + # - robot-controllers-msgs + # - roboticsgroup-upatras-gazebo-plugins + # - rokubimini + # - rokubimini-description + # - rokubimini-msgs + # - ros-babel-fish-test-msgs + # - ros-industrial-cmake-boilerplate + # - ros-introspection + # - ros-pytest + # - ros-type-introspection + # - rosatomic + # - rosbag-snapshot-msgs + # - rosbaglive + # - rosdiagnostic + # - rosemacs + # - rosfmt + # - rosmon-msgs + # - rosparam-shortcuts + # - rospatlite + # - rosping + # - rospy-message-converter + # - rosserial-chibios + # - rosserial-embeddedlinux + # - rosserial-mbed + # - rosserial-tivac + # - rosserial-vex-cortex + # - rosserial-vex-v5 + # - rosserial-windows + # - rosserial-xbee + # - rostwitter + # - rqt + # - rqt-controller-manager + # - rqt-drone-teleop + - rqt-ez-publisher + # - rqt-ground-robot-teleop + # - rqt-joint-trajectory-controller + # - rx-service-tools + # - safety-limiter-msgs + # - sbpl + # - schunk-description + # - sdc21x0 + # - septentrio-gnss-driver + # - service-tools + # - settlerlib + # - sick-safetyscanners + # - sick-tim + # - slam-gmapping + # - slam-toolbox-rviz + # - slic + # - slider-publisher + # - slime-wrapper + # - smach-viewer + # - sob-layer + # - soem + # - sophus + # - sound-play + # - speech-recognition-msgs + # - speed-scaling-interface + # - swri-console + # - swri-dbw-interface + # - swri-math-util + # - swri-prefix-tools + # - swri-profiler-msgs + # - swri-rospy + # - swri-string-util + # - swri-system-util + # - swri-yaml-util + # - tablet-socket-msgs + # - taskflow + # - teleop-legged-robots + # - teleop-tools-msgs + # - teleop-twist-keyboard + # - tf2-bullet + # - tf2-tools + # - timestamp-tools + # - toposens-msgs + # - trajectory-tracker-msgs + # - turtlebot3-autorace-camera + # - turtlebot3-autorace-core + # - turtlebot3-autorace-detect + # - turtlebot3-autorace-msgs + # - turtlebot3-gazebo + # - twist-recovery + # - ublox-serialization + # - unique-id + # - urg-stamped + # - usb-cam-hardware-interface + # - variant-msgs + # - vector-map-msgs + # - velodyne-pcl + # - view-controller-msgs + # - vision-msgs + # - vrpn + # - webots-ros + # - wge100-camera-firmware + # - willow-maps + # - wireless-msgs + # - xpp-msgs + # - xpp-states + # - xv-11-laser-driver + + # ## + # # DONE OSX + # ## + # - moveit-msgs + # - rviz + # - moveit_core + # - moveit_kinematics + # - robot_state_publisher + # - tf_conversions + # - kdl_parser_py + # - rosserial + # - rosserial-arduino + # - rosserial-python + # - rosserial-msgs + # - rviz + # - tf2_web_republisher + # - franka_ros + # - franka_example_controllers + # - libfranka + # - franka_visualization + # - franka_hw + # - franka_gripper + # - franka_ros + # - franka_msgs + # - franka_description + # - franka_control + # - fcl + # - eigenpy + # - kdl_parser_py + # - catkin + # - rospack + # - pluginlib + # - qt_gui_cpp + # - velodyne_simulator + # - rviz + # - hector_gazebo_plugins + # - navigation + # - catkin + # - desktop + # - desktop_full + # - slam_karto + # - class_loader + # - robot + # - executive_smach + # - geometry_tutorials + # - interactive_marker_tutorials + # - joint_state_publisher_gui + # - nodelet_core + # - robot_state_publisher + # - diagnostic_analysis + # - diagnostic_common_diagnostics + # - ros_control + # - ros_controllers + # - rviz_visual_tools + # - perception + # - perception_pcl + # - joy + # - imu_tools + # - velodyne + # - robot_localization + # - urg_node + # - moveit + # - slam_toolbox + # - turtlebot3 + # - cnpy + # - turtlebot3_fake + # - gmapping + # - interactive_marker_twist_server + # - teleop_twist_joy + # - twist_mux + # - pointgrey_camera_description + # - lms1xx + # - nmea_msgs + # - rosserial + # - nmea_navsat_driver + # - rosserial_server + # - robot_upstart + # - nmea_comms + + ## + # NOT RELEASED ON NOETIC... + ## + # - niryo_one_simulation + + ## + # PROBLEMS: + ## + # - rtabmap_ros # openni is missing, and need to find names for + # {'libfreenect-dev', 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