diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml new file mode 100644 index 00000000..8a3acbf3 --- /dev/null +++ b/.github/workflows/linux.yml @@ -0,0 +1,88 @@ +jobs: + stage_0_job_0: + name: mrt-cmake-modules lanelet2-core + runs-on: ubuntu-latest + strategy: + fail-fast: false + needs: [] + steps: + - name: Checkout code + uses: actions/checkout@v4 + - name: Build ros-humble-mrt-cmake-modules ros-humble-lanelet2-core + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-mrt-cmake-modules ros-humble-lanelet2-core + DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64 + run: | + export CI=azure + export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME + export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME}) + .scripts/build_linux.sh + stage_1_job_1: + name: lanelet2-io lanelet2-traffic-rules lanelet2-maps + runs-on: ubuntu-latest + strategy: + fail-fast: false + needs: + - stage_0_job_0 + steps: + - name: Checkout code + uses: actions/checkout@v4 + - name: Build ros-humble-lanelet2-io ros-humble-lanelet2-traffic-rules ros-humble-lanelet2-maps + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-lanelet2-io ros-humble-lanelet2-traffic-rules + ros-humble-lanelet2-maps + DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64 + run: | + export CI=azure + export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME + export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME}) + .scripts/build_linux.sh + stage_2_job_2: + name: lanelet2-projection lanelet2-routing lanelet2-matching lanelet2-validation + runs-on: ubuntu-latest + strategy: + fail-fast: false + needs: + - stage_1_job_1 + steps: + - name: Checkout code + uses: actions/checkout@v4 + - name: Build ros-humble-lanelet2-projection ros-humble-lanelet2-routing ros-humble-lanelet2-matching + ros-humble-lanelet2-validation + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-lanelet2-projection ros-humble-lanelet2-routing + ros-humble-lanelet2-matching ros-humble-lanelet2-validation + DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64 + run: | + export CI=azure + export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME + export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME}) + .scripts/build_linux.sh + stage_3_job_3: + name: lanelet2-python lanelet2-examples lanelet2 + runs-on: ubuntu-latest + strategy: + fail-fast: false + needs: + - stage_2_job_2 + steps: + - name: Checkout code + uses: actions/checkout@v4 + - name: Build ros-humble-lanelet2-python ros-humble-lanelet2-examples ros-humble-lanelet2 + env: + ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} + CURRENT_RECIPES: ros-humble-lanelet2-python ros-humble-lanelet2-examples ros-humble-lanelet2 + DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64 + run: | + export CI=azure + export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME + export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME}) + .scripts/build_linux.sh +name: build_linux +on: + push: + branches: + - buildbranch_linux diff --git a/activate.bat b/activate.bat new file mode 100755 index 00000000..48ff1d71 --- /dev/null +++ b/activate.bat @@ -0,0 +1,15 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@REM Don't do anything when we are in conda build. +@if defined SYS_PREFIX exit /b 0 + +@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins" + +@call "%CONDA_PREFIX%\Library\local_setup.bat" +@set PYTHONHOME= +@set "ROS_OS_OVERRIDE=conda:win64" +@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros" +@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library" +@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe" diff --git a/activate.ps1 b/activate.ps1 new file mode 100755 index 00000000..137e67ae --- /dev/null +++ b/activate.ps1 @@ -0,0 +1,16 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($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 100755 index 00000000..aece9708 --- /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 100755 index 00000000..823afff1 --- /dev/null +++ b/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/bld_ament_python.bat b/bld_ament_python.bat new file mode 100755 index 00000000..45dc369d --- /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-humble-=%" +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 100755 index 00000000..efd58be2 --- /dev/null +++ b/bld_catkin.bat @@ -0,0 +1,81 @@ +:: 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-humble-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" ^ + --compile-no-warning-as-error ^ + -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-humble-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-humble-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-humble-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 100755 index 00000000..bdff573b --- /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-humble-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 100755 index 00000000..b795d97d --- /dev/null +++ b/bld_colcon_merge.bat @@ -0,0 +1,38 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +setlocal + +:: MSVC is preferred. +set CC=cl.exe +set CXX=cl.exe + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +colcon build ^ + --event-handlers console_cohesion+ ^ + --merge-install ^ + --install-base %LIBRARY_PREFIX% ^ + --cmake-args ^ + --compile-no-warning-as-error ^ + -G Ninja ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DBUILD_TESTING=OFF ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + -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 100755 index 00000000..34df1a72 --- /dev/null +++ b/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +fi + +echo "USING PYTHON_EXECUTABLE=${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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$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 100755 index 00000000..c4440612 --- /dev/null +++ b/build_ament_python.sh @@ -0,0 +1,19 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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=${PKG_NAME#*ros-humble-} + # Substitute "-" with "_" + PKG_NAME_SHORT=${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 + $PYTHON -m pip install . --no-deps -vvv +fi diff --git a/build_catkin.sh b/build_catkin.sh new file mode 100755 index 00000000..b24cb341 --- /dev/null +++ b/build_catkin.sh @@ -0,0 +1,138 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +CATKIN_BUILD_BINARY_PACKAGE="ON" + +if [ "${PKG_NAME}" == "ros-humble-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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 $ROS_PYTHON_VERSION" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$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 + # 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 $BUILD_PREFIX/bin/g++ +fi + +export SKIP_TESTING=ON + +if [ "${PKG_NAME}" == "ros-noetic-euslisp" ] || [ "${PKG_NAME}" = "ros-noetic-jskeus" ] || [ "${PKG_NAME}" = "ros-noetic-roseus" ]; then + GENERATOR="Unix Makefiles" +else + GENERATOR="Ninja" +fi + +cmake ${CMAKE_ARGS} --compile-no-warning-as-error \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \ + -DCMAKE_FIND_FRAMEWORK=LAST \ + -DCMAKE_AUTOMOC_EXECUTABLE=$CMAKE_AUTOMOC_EXECUTABLE \ + -DBUILD_SHARED_LIBS=ON \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPYTHON_INSTALL_DIR=$FIXED_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 "$GENERATOR" \ + $SRC_DIR/$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-humble-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-humble-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-humble-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}_${CHANGE}.sh" + done +fi diff --git a/buildorder.txt b/buildorder.txt new file mode 100644 index 00000000..4e284ae0 --- /dev/null +++ b/buildorder.txt @@ -0,0 +1,12 @@ +ros-humble-mrt-cmake-modules +ros-humble-lanelet2-core +ros-humble-lanelet2-io +ros-humble-lanelet2-traffic-rules +ros-humble-lanelet2-maps +ros-humble-lanelet2-projection +ros-humble-lanelet2-routing +ros-humble-lanelet2-matching +ros-humble-lanelet2-validation +ros-humble-lanelet2-python +ros-humble-lanelet2-examples +ros-humble-lanelet2 \ No newline at end of file diff --git a/deactivate.bat b/deactivate.bat new file mode 100755 index 00000000..6de79cca --- /dev/null +++ b/deactivate.bat @@ -0,0 +1,18 @@ +:: Generated by vinca http://github.com/RoboStack/vinca. +:: DO NOT EDIT! +@if not defined CONDA_PREFIX goto:eof + +@set ROS_OS_OVERRIDE= +@set ROS_DISTRO= +@set ROS_ETC_DIR= +@set ROS_PACKAGE_PATH= +@set ROS_PYTHON_VERSION= +@set ROS_VERSION= +@set PYTHONHOME= +@set PYTHONPATH= +@set CMAKE_PREFIX_PATH= +@set AMENT_PREFIX_PATH= +@set COLCON_PREFIX_PATH= +@set QT_PLUGIN_PATH= +@set ROS_LOCALHOST_ONLY= +@set ament_python_executable= diff --git a/deactivate.ps1 b/deactivate.ps1 new file mode 100755 index 00000000..9db51e1c --- /dev/null +++ b/deactivate.ps1 @@ -0,0 +1,18 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if ($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='' +$Env:ament_python_executable='' diff --git a/deactivate.sh b/deactivate.sh new file mode 100755 index 00000000..87d4d835 --- /dev/null +++ b/deactivate.sh @@ -0,0 +1,21 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! +if [ -z "${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-humble-lanelet2-core/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-core/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-core/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-core/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-core/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-core/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +fi + +echo "USING PYTHON_EXECUTABLE=${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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-core/patch/ros-humble-lanelet2-core.patch b/recipes/ros-humble-lanelet2-core/patch/ros-humble-lanelet2-core.patch new file mode 100644 index 00000000..e6938cbb --- /dev/null +++ b/recipes/ros-humble-lanelet2-core/patch/ros-humble-lanelet2-core.patch @@ -0,0 +1,345 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 37a3107f..a8620438 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0) + cmake_minimum_required(VERSION 3.5.1) + project(lanelet2_core) + ++if(WIN32 AND MSVC) ++ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() ++ + ################### + ## Find packages ## + ################### +diff --git a/include/lanelet2_core/geometry/Area.h b/include/lanelet2_core/geometry/Area.h +index 1e2bdeca..feb1e79a 100644 +--- a/include/lanelet2_core/geometry/Area.h ++++ b/include/lanelet2_core/geometry/Area.h +@@ -12,8 +12,8 @@ namespace geometry { + * @param point point to check + * @return true if the point is within or at the border, false otherwise + */ +-template +-IfAr inside(const AreaT& area, const BasicPoint2d& point); ++template = 0> ++bool inside(const AreaT& area, const BasicPoint2d& point); + + /** + * @brief calculates an up-right 2d bounding box +@@ -22,30 +22,30 @@ IfAr inside(const AreaT& area, const BasicPoint2d& point); + * + * Linear on number of points. + */ +-template +-IfAr boundingBox2d(const AreaT& area); ++template = 0> ++BoundingBox2d boundingBox2d(const AreaT& area); + + /** + * @brief calculates 3d bounding box + * @param area area to calculate it from. + * @return the bounding box + */ +-template +-IfAr boundingBox3d(const AreaT& area); ++template = 0> ++BoundingBox3d boundingBox3d(const AreaT& area); + + //! test whether two areas intersect in 2d. +-template +-IfAr intersects2d(const Area1T& area, const Area2T& otherArea); ++template = 0> ++bool intersects2d(const Area1T& area, const Area2T& otherArea); + + //! test whether two areas overlap in 2d (common area < 0). + //! This is an approximation that ignores the holes of the areas! +-template +-IfAr overlaps2d(const AreaT& area, const AreaT& otherArea); ++template = 0> ++bool overlaps2d(const AreaT& area, const AreaT& otherArea); + + //! test whether two areas overlap in 3d. + //! This is an approximation that uses the overlap of the outer bound +-template +-IfAr overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance); ++template = 0> ++bool overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance); + + //! test whether an area and a lanelet overlap in 2d + //! This is an approximation that uses the overlap of the outer bound +diff --git a/include/lanelet2_core/geometry/Lanelet.h b/include/lanelet2_core/geometry/Lanelet.h +index f046185c..77df47e7 100644 +--- a/include/lanelet2_core/geometry/Lanelet.h ++++ b/include/lanelet2_core/geometry/Lanelet.h +@@ -10,8 +10,8 @@ namespace geometry { + * @param point point to check + * @return true if the point is within or at the border, false otherwise + */ +-template +-IfLL inside(const LaneletT& lanelet, const BasicPoint2d& point); ++template = 0> ++bool inside(const LaneletT& lanelet, const BasicPoint2d& point); + + /** + * @brief approximates length by sampling points along left bound +@@ -68,16 +68,16 @@ double distanceToCenterline3d(const LaneletT& lanelet, const BasicPoint3d& point + * + * Linear on number of points. + */ +-template +-IfLL boundingBox2d(const LaneletT& lanelet); ++template = 0> ++BoundingBox2d boundingBox2d(const LaneletT& lanelet); + + /** + * @brief calculates 3d bounding box + * @param lanelet lanelet to calculate it from. + * @return the bounding box + */ +-template +-IfLL boundingBox3d(const LaneletT& lanelet); ++template = 0> ++BoundingBox3d boundingBox3d(const LaneletT& lanelet); + + /** + * @brief test whether two lanelets intersect in 2d. +@@ -89,8 +89,8 @@ IfLL boundingBox3d(const LaneletT& lanelet); + * This also returns true if the two lanelets only touch each other. Use + * overlaps if you do not want this. + */ +-template +-IfLL intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet); ++template = 0> ++bool intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet); + + /** + * @brief test whether two lanelets overlap in 2d. +diff --git a/include/lanelet2_core/geometry/Polygon.h b/include/lanelet2_core/geometry/Polygon.h +index 63c9a731..4a77599c 100644 +--- a/include/lanelet2_core/geometry/Polygon.h ++++ b/include/lanelet2_core/geometry/Polygon.h +@@ -245,14 +245,14 @@ IfPoly distanceToBorder3d(const Polygon3dT& poly1, const Pol + * + * @return The enclosing axis aligned bounding box of all points. + */ +-template +-IfPoly boundingBox3d(const Polygon3dT& polygon); ++template = 0> ++BoundingBox3d boundingBox3d(const Polygon3dT& polygon); + +-template +-IfPoly boundingBox2d(const Polygon2dT& polygon); ++template = 0> ++BoundingBox2d boundingBox2d(const Polygon2dT& polygon); + +-template +-IfPoly boundingBox3d(const Polygon3dT& polygon) { ++template > ++BoundingBox3d boundingBox3d(const Polygon3dT& polygon) { + static_assert(traits::is3D(), "Please call this function with a 3D type!"); + BoundingBox3d bb; + for (const auto& p : polygon) { +@@ -261,8 +261,8 @@ IfPoly boundingBox3d(const Polygon3dT& polygon) { + return bb; + } + +-template +-IfPoly boundingBox2d(const Polygon2dT& polygon) { ++template > ++BoundingBox2d boundingBox2d(const Polygon2dT& polygon) { + static_assert(traits::is2D(), "Please call this function with a 2D type!"); + BoundingBox2d bb; + for (const auto& p : polygon) { +diff --git a/include/lanelet2_core/geometry/impl/Area.h b/include/lanelet2_core/geometry/impl/Area.h +index 0edece94..4be56d0b 100644 +--- a/include/lanelet2_core/geometry/impl/Area.h ++++ b/include/lanelet2_core/geometry/impl/Area.h +@@ -16,36 +16,36 @@ struct GetGeometry> { + }; + } // namespace internal + +-template +-IfAr inside(const AreaT& area, const BasicPoint2d& point) { ++template > ++bool inside(const AreaT& area, const BasicPoint2d& point) { + return boost::geometry::covered_by(point, area.basicPolygonWithHoles2d()); + } + +-template +-IfAr boundingBox2d(const AreaT& area) { ++template > ++BoundingBox2d boundingBox2d(const AreaT& area) { + return boundingBox2d(traits::to2D(area.outerBoundPolygon())); + } + +-template +-IfAr boundingBox3d(const AreaT& area) { ++template > ++BoundingBox3d boundingBox3d(const AreaT& area) { + return boundingBox3d(area.outerBoundPolygon()); + } + +-template +-IfAr intersects2d(const Area1T& area, const Area2T& otherArea) { ++template > ++bool intersects2d(const Area1T& area, const Area2T& otherArea) { + if (area == otherArea) { + return true; + } + return intersects(area.basicPolygonWithHoles2d(), otherArea.basicPolygonWithHoles2d()); + } + +-template +-IfAr overlaps2d(const AreaT& area, const AreaT& otherArea) { ++template > ++bool overlaps2d(const AreaT& area, const AreaT& otherArea) { + return overlaps2d(traits::to2D(area.outerBoundPolygon()), traits::to2D(otherArea.outerBoundPolygon())); + } + +-template +-IfAr overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance) { ++template > ++bool overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance) { + return overlaps3d(area.outerBoundPolygon(), otherArea.outerBoundPolygon(), heightTolerance); + } + +diff --git a/include/lanelet2_core/geometry/impl/Lanelet.h b/include/lanelet2_core/geometry/impl/Lanelet.h +index 39a82a04..cdc4b512 100644 +--- a/include/lanelet2_core/geometry/impl/Lanelet.h ++++ b/include/lanelet2_core/geometry/impl/Lanelet.h +@@ -21,8 +21,8 @@ struct GetGeometry> { + }; + } // namespace internal + +-template +-IfLL inside(const LaneletT& lanelet, const BasicPoint2d& point) { ++template > ++bool inside(const LaneletT& lanelet, const BasicPoint2d& point) { + return boost::geometry::covered_by(point, lanelet.polygon2d()); + } + +@@ -36,22 +36,22 @@ double distanceToCenterline3d(const LaneletT& lanelet, const BasicPoint3d& point + return distance(lanelet.centerline3d(), point); + } + +-template +-IfLL boundingBox2d(const LaneletT& lanelet) { ++template > ++BoundingBox2d boundingBox2d(const LaneletT& lanelet) { + BoundingBox2d bb = boundingBox2d(lanelet.leftBound2d()); + bb.extend(boundingBox2d(lanelet.rightBound2d())); + return bb; + } + +-template +-IfLL boundingBox3d(const LaneletT& lanelet) { ++template > ++BoundingBox3d boundingBox3d(const LaneletT& lanelet) { + BoundingBox3d bb = boundingBox3d(lanelet.leftBound3d()); + bb.extend(boundingBox3d(lanelet.rightBound3d())); + return bb; + } + +-template +-IfLL intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet) { ++template > ++bool intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet) { + if (lanelet.constData() == otherLanelet.constData()) { + return true; + } +diff --git a/include/lanelet2_core/geometry/impl/LineString.h b/include/lanelet2_core/geometry/impl/LineString.h +index a6461cfc..990286b9 100644 +--- a/include/lanelet2_core/geometry/impl/LineString.h ++++ b/include/lanelet2_core/geometry/impl/LineString.h +@@ -799,8 +799,9 @@ IfLS> projectedPoint3d(cons + return internal::projectedPoint3d(traits::toHybrid(l1), traits::toHybrid(l2)); + } + +-template +-IfLS2 distance3d(const LineString3d1T& l1, const LineString3d2T& l2) { ++template = 0> ++double distance3d(const LineString3d1T& l1, const LineString3d2T& l2) { + auto projPoint = internal::projectedPoint3d(traits::toHybrid(traits::to3D(l1)), traits::toHybrid(traits::to3D(l2))); + return (projPoint.first - projPoint.second).norm(); + } +diff --git a/include/lanelet2_core/primitives/Polygon.h b/include/lanelet2_core/primitives/Polygon.h +index a458cb49..6c9dfab6 100644 +--- a/include/lanelet2_core/primitives/Polygon.h ++++ b/include/lanelet2_core/primitives/Polygon.h +@@ -394,8 +394,9 @@ inline BasicPolygon2d to2D(const BasicPolygon3d& primitive) { + return p2d; + } + +-template +-std::enable_if_t(), BasicPolygon2d> toBasicPolygon2d(const PolygonT& t) { ++template (), int> = 0> ++BasicPolygon2d toBasicPolygon2d(const PolygonT& t) { + return traits::to2D(t).basicPolygon(); + } + +@@ -411,8 +412,9 @@ inline BasicPolygon2d toBasicPolygon2d(const BasicPolygon3d& t) + + inline BasicPolygon2d toBasicPolygon2d(BasicPolygon2d&& t) { return std::move(t); } + +-template +-std::enable_if_t(), BasicPolygon3d> toBasicPolygon3d(const PolygonT& t) { ++template (), int> = 0> ++BasicPolygon3d toBasicPolygon3d(const PolygonT& t) { + return traits::to3D(t).basicPolygon(); + } + +diff --git a/include/lanelet2_core/utility/HybridMap.h b/include/lanelet2_core/utility/HybridMap.h +index 9ba57a4e..85c63d0b 100644 +--- a/include/lanelet2_core/utility/HybridMap.h ++++ b/include/lanelet2_core/utility/HybridMap.h +@@ -65,7 +65,7 @@ void replaceIterator(Vector& v, const Iterator& replace, const Iterator& by) { + */ + template + class HybridMap { +- using Array = detail::ArrayView; ++ using Array = lanelet::detail::ArrayView; + + public: + using Map = std::map; +@@ -82,19 +82,19 @@ class HybridMap { + HybridMap() noexcept = default; + HybridMap(HybridMap&& rhs) noexcept : m_(std::move(rhs.m_)), v_{std::move(rhs.v_)} { + // move invalidates no iterators except end +- detail::replaceIterator(v_, rhs.m_.end(), m_.end()); ++ lanelet::detail::replaceIterator(v_, rhs.m_.end(), m_.end()); + } + HybridMap& operator=(HybridMap&& rhs) noexcept { + m_ = std::move(rhs.m_); + v_ = std::move(rhs.v_); + // move invalidates no iterators except end +- detail::replaceIterator(v_, rhs.m_.end(), m_.end()); ++ lanelet::detail::replaceIterator(v_, rhs.m_.end(), m_.end()); + return *this; + } +- HybridMap(const HybridMap& rhs) : m_{rhs.m_}, v_{detail::copyIterators(rhs.v_, rhs.m_, m_)} {} ++ HybridMap(const HybridMap& rhs) : m_{rhs.m_}, v_{lanelet::detail::copyIterators(rhs.v_, rhs.m_, m_)} {} + HybridMap& operator=(const HybridMap& rhs) { + m_ = rhs.m_; +- v_ = detail::copyIterators(rhs.v_, rhs.m_, m_); ++ v_ = lanelet::detail::copyIterators(rhs.v_, rhs.m_, m_); + return *this; + } + HybridMap(const std::initializer_list>& list) { +diff --git a/src/LaneletMap.cpp b/src/LaneletMap.cpp +index ad53b2f2..0d53f953 100644 +--- a/src/LaneletMap.cpp ++++ b/src/LaneletMap.cpp +@@ -312,7 +312,7 @@ struct PrimitiveLayer::Tree { + using TreeNode = std::pair; + using RTree = bgi::rtree>; + static TreeNode treeNode(const Point3d& p) { return {Point2d(p).basicPoint(), p}; } +- explicit Tree(const PrimitiveLayer::Map& primitives) { ++ explicit Tree(const PrimitiveLayer::Map& primitives) { + std::vector nodes; + nodes.reserve(primitives.size()); + std::transform(primitives.begin(), primitives.end(), std::back_inserter(nodes), diff --git a/recipes/ros-humble-lanelet2-core/recipe.yaml b/recipes/ros-humble-lanelet2-core/recipe.yaml new file mode 100644 index 00000000..26189873 --- /dev/null +++ b/recipes/ros-humble-lanelet2-core/recipe.yaml @@ -0,0 +1,95 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-core + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_core/1.2.2-1 + target_directory: ros-humble-lanelet2-core/src/work + patches: + - patch/ros-humble-lanelet2-core.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - eigen + - gtest + - libboost-devel + - libboost-python-devel + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - eigen + - libboost-devel + - libboost-python-devel + - python + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-examples/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-examples/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-examples/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-examples/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-examples/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-examples/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +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=$PYTHON_INSTALL_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_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-examples/patch/ros-humble-lanelet2-examples.patch b/recipes/ros-humble-lanelet2-examples/patch/ros-humble-lanelet2-examples.patch new file mode 100644 index 00000000..b6a5e82a --- /dev/null +++ b/recipes/ros-humble-lanelet2-examples/patch/ros-humble-lanelet2-examples.patch @@ -0,0 +1,41 @@ +diff --git a/src/04_reading_and_writing/main.cpp b/src/04_reading_and_writing/main.cpp +index a1776914..0d39f6ee 100644 +--- a/src/04_reading_and_writing/main.cpp ++++ b/src/04_reading_and_writing/main.cpp +@@ -4,7 +4,12 @@ + #include + #include + ++#ifdef _WIN32 ++#include ++#include ++#else + #include ++#endif + + #pragma GCC diagnostic ignored "-Wunused-but-set-variable" + +@@ -15,12 +20,23 @@ namespace { + std::string exampleMapPath = std::string(PKG_DIR) + "/../lanelet2_maps/res/mapping_example.osm"; + + std::string tempfile(const std::string& name) { ++#ifdef _WIN32 ++ char tmpDir[] = "C:\\tmp\\lanelet2_example_XXXXXX"; ++ if (_mktemp_s(tmpDir, sizeof(tmpDir)) != 0) { ++ throw std::runtime_error("Failed to create a unique temporary directory name"); ++ } ++ if (_mkdir(tmpDir) != 0) { ++ throw std::runtime_error("Failed to create temporary directory"); ++ } ++ return std::string(tmpDir) + '\\' + name; ++#else + char tmpDir[] = "/tmp/lanelet2_example_XXXXXX"; + auto* file = mkdtemp(tmpDir); + if (file == nullptr) { + throw lanelet::IOError("Failed to open a temporary file for writing"); + } + return std::string(file) + '/' + name; ++#endif + } + } // namespace + diff --git a/recipes/ros-humble-lanelet2-examples/recipe.yaml b/recipes/ros-humble-lanelet2-examples/recipe.yaml new file mode 100644 index 00000000..9d0354d3 --- /dev/null +++ b/recipes/ros-humble-lanelet2-examples/recipe.yaml @@ -0,0 +1,104 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-examples + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_examples/1.2.2-1 + target_directory: ros-humble-lanelet2-examples/src/work + patches: + - patch/ros-humble-lanelet2-examples.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - gtest + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-core + - ros-humble-lanelet2-io + - ros-humble-lanelet2-matching + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-python + - ros-humble-lanelet2-routing + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - python + - ros-humble-lanelet2-core + - ros-humble-lanelet2-io + - ros-humble-lanelet2-matching + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-python + - ros-humble-lanelet2-routing + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros-humble-ros2cli + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-io/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-io/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-io/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-io/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-io/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-io/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-io/patch/ros-humble-lanelet2-io.patch b/recipes/ros-humble-lanelet2-io/patch/ros-humble-lanelet2-io.patch new file mode 100644 index 00000000..cf2a08af --- /dev/null +++ b/recipes/ros-humble-lanelet2-io/patch/ros-humble-lanelet2-io.patch @@ -0,0 +1,26 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index e4828bf4..1ea63296 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0) + cmake_minimum_required(VERSION 3.5.1) + project(lanelet2_io) + ++if(WIN32 AND MSVC) ++ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() ++ + ################### + ## Find packages ## + ################### +@@ -52,6 +56,10 @@ mrt_add_library(${PROJECT_NAME} + SOURCES ${PROJECT_SOURCE_FILES_SRC} + ) + ++target_compile_definitions(${PROJECT_NAME} ++ PUBLIC "$<$:_USE_MATH_DEFINES>" ++ ) ++ + ############# + ## Install ## + ############# diff --git a/recipes/ros-humble-lanelet2-io/recipe.yaml b/recipes/ros-humble-lanelet2-io/recipe.yaml new file mode 100644 index 00000000..b63d5bd8 --- /dev/null +++ b/recipes/ros-humble-lanelet2-io/recipe.yaml @@ -0,0 +1,97 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-io + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_io/1.2.2-1 + target_directory: ros-humble-lanelet2-io/src/work + patches: + - patch/ros-humble-lanelet2-io.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - gtest + - libboost-devel + - libboost-python-devel + - numpy + - pip + - pugixml + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-core + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - libboost-devel + - libboost-python-devel + - pugixml + - python + - ros-humble-lanelet2-core + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-maps/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-maps/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-maps/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-maps/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-maps/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-maps/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +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=$PYTHON_INSTALL_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_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-maps/recipe.yaml b/recipes/ros-humble-lanelet2-maps/recipe.yaml new file mode 100644 index 00000000..e71250c6 --- /dev/null +++ b/recipes/ros-humble-lanelet2-maps/recipe.yaml @@ -0,0 +1,87 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-maps + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_maps/1.2.2-1 + target_directory: ros-humble-lanelet2-maps/src/work + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - python + - ros-humble-lanelet2-core + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-matching/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-matching/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-matching/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-matching/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-matching/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-matching/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-matching/patch/ros-humble-lanelet2-matching.patch b/recipes/ros-humble-lanelet2-matching/patch/ros-humble-lanelet2-matching.patch new file mode 100644 index 00000000..3b28113c --- /dev/null +++ b/recipes/ros-humble-lanelet2-matching/patch/ros-humble-lanelet2-matching.patch @@ -0,0 +1,26 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 54c5dcee..ad73dd2f 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0) + cmake_minimum_required(VERSION 3.5.1) + project(lanelet2_matching) + ++if(WIN32 AND MSVC) ++ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() ++ + ################### + ## Find packages ## + ################### +@@ -52,6 +56,10 @@ mrt_add_library(${PROJECT_NAME} + SOURCES ${PROJECT_SOURCE_FILES_SRC} + ) + ++target_compile_definitions(${PROJECT_NAME} ++ PUBLIC "$<$:_USE_MATH_DEFINES>" ++ ) ++ + ############# + ## Install ## + ############# diff --git a/recipes/ros-humble-lanelet2-matching/recipe.yaml b/recipes/ros-humble-lanelet2-matching/recipe.yaml new file mode 100644 index 00000000..2951d262 --- /dev/null +++ b/recipes/ros-humble-lanelet2-matching/recipe.yaml @@ -0,0 +1,96 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-matching + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_matching/1.2.2-1 + target_directory: ros-humble-lanelet2-matching/src/work + patches: + - patch/ros-humble-lanelet2-matching.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - gtest + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-core + - ros-humble-lanelet2-io + - ros-humble-lanelet2-maps + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - python + - ros-humble-lanelet2-core + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-projection/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-projection/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-projection/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-projection/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-projection/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-projection/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +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=$PYTHON_INSTALL_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_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-projection/patch/ros-humble-lanelet2-projection.patch b/recipes/ros-humble-lanelet2-projection/patch/ros-humble-lanelet2-projection.patch new file mode 100644 index 00000000..2e299d0c --- /dev/null +++ b/recipes/ros-humble-lanelet2-projection/patch/ros-humble-lanelet2-projection.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 648ff82a..c3a3393d 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0) + cmake_minimum_required(VERSION 3.5.1) + project(lanelet2_projection) + ++if(WIN32 AND MSVC) ++ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() ++ + ################### + ## Find packages ## + ################### diff --git a/recipes/ros-humble-lanelet2-projection/recipe.yaml b/recipes/ros-humble-lanelet2-projection/recipe.yaml new file mode 100644 index 00000000..b83b2075 --- /dev/null +++ b/recipes/ros-humble-lanelet2-projection/recipe.yaml @@ -0,0 +1,93 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-projection + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_projection/1.2.2-1 + target_directory: ros-humble-lanelet2-projection/src/work + patches: + - patch/ros-humble-lanelet2-projection.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - geographiclib-cpp + - gtest + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-io + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - geographiclib-cpp + - python + - ros-humble-lanelet2-io + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-python/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-python/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-python/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-python/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-python/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-python/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-python/patch/ros-humble-lanelet2-python.patch b/recipes/ros-humble-lanelet2-python/patch/ros-humble-lanelet2-python.patch new file mode 100644 index 00000000..c3a792e3 --- /dev/null +++ b/recipes/ros-humble-lanelet2-python/patch/ros-humble-lanelet2-python.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 00e06d76..b5c9bba9 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -52,6 +52,10 @@ mrt_add_library(${PROJECT_NAME} + SOURCES ${PROJECT_SOURCE_FILES_SRC} + ) + ++target_compile_options(${PROJECT_NAME} INTERFACE ++ $<$:/bigobj> ++) ++ + ############# + ## Install ## + ############# diff --git a/recipes/ros-humble-lanelet2-python/recipe.yaml b/recipes/ros-humble-lanelet2-python/recipe.yaml new file mode 100644 index 00000000..e0f6562f --- /dev/null +++ b/recipes/ros-humble-lanelet2-python/recipe.yaml @@ -0,0 +1,103 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-python + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_python/1.2.2-1 + target_directory: ros-humble-lanelet2-python/src/work + patches: + - patch/ros-humble-lanelet2-python.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - gtest + - libboost-python-devel + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-core + - ros-humble-lanelet2-io + - ros-humble-lanelet2-matching + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-routing + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - libboost-python-devel + - python + - ros-humble-lanelet2-core + - ros-humble-lanelet2-io + - ros-humble-lanelet2-matching + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-routing + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-routing/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-routing/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-routing/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-routing/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-routing/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-routing/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +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=$PYTHON_INSTALL_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_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-routing/patch/ros-humble-lanelet2-routing.patch b/recipes/ros-humble-lanelet2-routing/patch/ros-humble-lanelet2-routing.patch new file mode 100644 index 00000000..97835e5b --- /dev/null +++ b/recipes/ros-humble-lanelet2-routing/patch/ros-humble-lanelet2-routing.patch @@ -0,0 +1,31 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index a1f08032..2b3291c3 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0) + cmake_minimum_required(VERSION 3.5.1) + project(lanelet2_routing) + ++if(WIN32 AND MSVC) ++ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() ++ + ################### + ## Find packages ## + ################### +diff --git a/src/RouteBuilder.cpp b/src/RouteBuilder.cpp +index 9eee0943..4ad61cbc 100644 +--- a/src/RouteBuilder.cpp ++++ b/src/RouteBuilder.cpp +@@ -237,9 +237,9 @@ class PathsOutOfRouteFinder { + constexpr auto Adjacent = + RelationType::Left | RelationType::Right | RelationType::AdjacentLeft | RelationType::AdjacentRight; + return std::any_of(inEdges.first, inEdges.second, +- [&](auto e) { return hasRelation(g, e) && has(*llts_, boost::source(e, g)); }) || ++ [&](auto e) { return hasRelation(g, e) && has(*llts_, boost::source(e, g)); }) || + std::any_of(outEdges.first, outEdges.second, +- [&](auto e) { return hasRelation(g, e) && has(*llts_, boost::target(e, g)); }); ++ [&](auto e) { return hasRelation(g, e) && has(*llts_, boost::target(e, g)); }); + }; + return std::all_of(path.begin(), path.end(), isAdjacentToRoute); + } diff --git a/recipes/ros-humble-lanelet2-routing/recipe.yaml b/recipes/ros-humble-lanelet2-routing/recipe.yaml new file mode 100644 index 00000000..d80dcb41 --- /dev/null +++ b/recipes/ros-humble-lanelet2-routing/recipe.yaml @@ -0,0 +1,97 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-routing + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_routing/1.2.2-1 + target_directory: ros-humble-lanelet2-routing/src/work + patches: + - patch/ros-humble-lanelet2-routing.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - gtest + - libboost-devel + - libboost-python-devel + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-core + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - libboost-devel + - libboost-python-devel + - python + - ros-humble-lanelet2-core + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-traffic-rules/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-traffic-rules/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-traffic-rules/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-traffic-rules/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-traffic-rules/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-traffic-rules/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-traffic-rules/patch/ros-humble-lanelet2-traffic-rules.patch b/recipes/ros-humble-lanelet2-traffic-rules/patch/ros-humble-lanelet2-traffic-rules.patch new file mode 100644 index 00000000..70bfc502 --- /dev/null +++ b/recipes/ros-humble-lanelet2-traffic-rules/patch/ros-humble-lanelet2-traffic-rules.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 283286e6..a875a4a5 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0) + cmake_minimum_required(VERSION 3.5.1) + project(lanelet2_traffic_rules) + ++if(WIN32 AND MSVC) ++ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() ++ + ################### + ## Find packages ## + ################### diff --git a/recipes/ros-humble-lanelet2-traffic-rules/recipe.yaml b/recipes/ros-humble-lanelet2-traffic-rules/recipe.yaml new file mode 100644 index 00000000..55e936fa --- /dev/null +++ b/recipes/ros-humble-lanelet2-traffic-rules/recipe.yaml @@ -0,0 +1,91 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-traffic-rules + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_traffic_rules/1.2.2-1 + target_directory: ros-humble-lanelet2-traffic-rules/src/work + patches: + - patch/ros-humble-lanelet2-traffic-rules.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - gtest + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-core + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - python + - ros-humble-lanelet2-core + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2-validation/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2-validation/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2-validation/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2-validation/build_ament_cmake.sh b/recipes/ros-humble-lanelet2-validation/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2-validation/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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 + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +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=$PYTHON_INSTALL_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_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2-validation/patch/ros-humble-lanelet2-validation.patch b/recipes/ros-humble-lanelet2-validation/patch/ros-humble-lanelet2-validation.patch new file mode 100644 index 00000000..05dd0665 --- /dev/null +++ b/recipes/ros-humble-lanelet2-validation/patch/ros-humble-lanelet2-validation.patch @@ -0,0 +1,15 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 6eb87afe..277437ae 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0) + cmake_minimum_required(VERSION 3.5.1) + project(lanelet2_validation) + ++if(WIN32 AND MSVC) ++ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) ++endif() ++ + ################### + ## Find packages ## + ################### diff --git a/recipes/ros-humble-lanelet2-validation/recipe.yaml b/recipes/ros-humble-lanelet2-validation/recipe.yaml new file mode 100644 index 00000000..be00c43a --- /dev/null +++ b/recipes/ros-humble-lanelet2-validation/recipe.yaml @@ -0,0 +1,100 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2-validation + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2_validation/1.2.2-1 + target_directory: ros-humble-lanelet2-validation/src/work + patches: + - patch/ros-humble-lanelet2-validation.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - gtest + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-lanelet2-core + - ros-humble-lanelet2-io + - ros-humble-lanelet2-maps + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-routing + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - python + - ros-humble-lanelet2-core + - ros-humble-lanelet2-io + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-routing + - ros-humble-lanelet2-traffic-rules + - ros-humble-mrt-cmake-modules + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-lanelet2/bld_ament_cmake.bat b/recipes/ros-humble-lanelet2/bld_ament_cmake.bat new file mode 100755 index 00000000..823afff1 --- /dev/null +++ b/recipes/ros-humble-lanelet2/bld_ament_cmake.bat @@ -0,0 +1,52 @@ +:: 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" +:: We use the Visual Studio generator as a workaround for +:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467 +:: Once those are solved, we can switch back to use Ninja +set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" + +:: PYTHON_INSTALL_DIR should be a relative path, see +:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX, +:: but it is not trivial to do this in Command Prompt scripting, so let's do it via +:: python + +:: This line is scary, but it basically assigns the output of the command inside (` and `) +:: to the variable specified after DO SET +:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...` +FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i + +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 ^ + --compile-no-warning-as-error ^ + -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^ + %SRC_DIR%\%PKG_NAME%\src\work +if errorlevel 1 exit 1 + +:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja, +:: see the comment before setting the CMAKE_GENERATOR env variable +cmake --build . --config Release --parallel %CPU_COUNT% --target install +if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-lanelet2/build_ament_cmake.sh b/recipes/ros-humble-lanelet2/build_ament_cmake.sh new file mode 100755 index 00000000..34df1a72 --- /dev/null +++ b/recipes/ros-humble-lanelet2/build_ament_cmake.sh @@ -0,0 +1,84 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 +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; + +# PYTHON_INSTALL_DIR should be a relative path, see +# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md +# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX, +# but it is not trivial to do this in bash scripting, so let's do it via python +export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"` +echo "Using site_packages: $PYTHON_INSTALL_DIR" + +cmake \ + -G "Ninja" \ + -DCMAKE_INSTALL_PREFIX=$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=$PYTHON_INSTALL_DIR \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DCATKIN_SKIP_TESTING=$SKIP_TESTING \ + -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \ + -DBUILD_SHARED_LIBS=ON \ + -DBUILD_TESTING=OFF \ + -DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \ + -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ + --compile-no-warning-as-error \ + $SRC_DIR/$PKG_NAME/src/work + +cmake --build . --config Release --target install diff --git a/recipes/ros-humble-lanelet2/patch/ros-humble-lanelet2.patch b/recipes/ros-humble-lanelet2/patch/ros-humble-lanelet2.patch new file mode 100644 index 00000000..5b081632 --- /dev/null +++ b/recipes/ros-humble-lanelet2/patch/ros-humble-lanelet2.patch @@ -0,0 +1,16 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index b26ed0b..b630d07 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,9 +1,9 @@ + cmake_minimum_required(VERSION 2.8.3) + project(lanelet2) +-if($ENV{ROS_VERSION} EQUAL 1) ++if(2 EQUAL 1) + find_package(catkin REQUIRED) + install(FILES package.xml DESTINATION share/lanelet2) +-elseif($ENV{ROS_VERSION} EQUAL 2) ++elseif(2 EQUAL 2) + if(POLICY CMP0057) + cmake_policy(SET CMP0057 NEW) + endif() diff --git a/recipes/ros-humble-lanelet2/recipe.yaml b/recipes/ros-humble-lanelet2/recipe.yaml new file mode 100644 index 00000000..780c796a --- /dev/null +++ b/recipes/ros-humble-lanelet2/recipe.yaml @@ -0,0 +1,96 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-lanelet2 + version: 1.2.2 +source: + git: https://github.com/ros2-gbp/lanelet2-release.git + tag: release/humble/lanelet2/1.2.2-1 + target_directory: ros-humble-lanelet2/src/work + patches: + - patch/ros-humble-lanelet2.patch + +build: + script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - numpy + - pip + - python + - ros-humble-ament-cmake-core + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + run: + - python + - ros-humble-lanelet2-core + - ros-humble-lanelet2-examples + - ros-humble-lanelet2-io + - ros-humble-lanelet2-maps + - ros-humble-lanelet2-matching + - ros-humble-lanelet2-projection + - ros-humble-lanelet2-python + - ros-humble-lanelet2-routing + - ros-humble-lanelet2-traffic-rules + - ros-humble-lanelet2-validation + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-mrt-cmake-modules/bld_catkin.bat b/recipes/ros-humble-mrt-cmake-modules/bld_catkin.bat new file mode 100755 index 00000000..efd58be2 --- /dev/null +++ b/recipes/ros-humble-mrt-cmake-modules/bld_catkin.bat @@ -0,0 +1,81 @@ +:: 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-humble-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" ^ + --compile-no-warning-as-error ^ + -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-humble-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-humble-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-humble-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-humble-mrt-cmake-modules/build_catkin.sh b/recipes/ros-humble-mrt-cmake-modules/build_catkin.sh new file mode 100755 index 00000000..b24cb341 --- /dev/null +++ b/recipes/ros-humble-mrt-cmake-modules/build_catkin.sh @@ -0,0 +1,138 @@ +# Generated by vinca http://github.com/RoboStack/vinca. +# DO NOT EDIT! + +set -eo pipefail + +CATKIN_BUILD_BINARY_PACKAGE="ON" + +if [ "${PKG_NAME}" == "ros-humble-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=$BUILD_PREFIX/bin/pkg-config + OSX_DEPLOYMENT_TARGET="11.0" +fi + +if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then + export QT_HOST_PATH="$BUILD_PREFIX" +else + export QT_HOST_PATH="$PREFIX" +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 $ROS_PYTHON_VERSION" +# Fix up SP_DIR which for some reason might contain a path to a wrong Python version +FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +echo "Using site-package dir ${FIXED_SP_DIR}" + +# see https://github.com/conda-forge/cross-python-feedstock/issues/24 +if [[ "$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 + # 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 $BUILD_PREFIX/bin/g++ +fi + +export SKIP_TESTING=ON + +if [ "${PKG_NAME}" == "ros-noetic-euslisp" ] || [ "${PKG_NAME}" = "ros-noetic-jskeus" ] || [ "${PKG_NAME}" = "ros-noetic-roseus" ]; then + GENERATOR="Unix Makefiles" +else + GENERATOR="Ninja" +fi + +cmake ${CMAKE_ARGS} --compile-no-warning-as-error \ + -DCMAKE_INSTALL_PREFIX=$PREFIX \ + -DCMAKE_PREFIX_PATH=$PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_LIBDIR=lib \ + -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \ + -DCMAKE_FIND_FRAMEWORK=LAST \ + -DCMAKE_AUTOMOC_EXECUTABLE=$CMAKE_AUTOMOC_EXECUTABLE \ + -DBUILD_SHARED_LIBS=ON \ + -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \ + -DPython3_FIND_STRATEGY=LOCATION \ + -DPYTHON_INSTALL_DIR=$FIXED_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 "$GENERATOR" \ + $SRC_DIR/$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-humble-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-humble-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-humble-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-humble-mrt-cmake-modules/patch/ros-humble-mrt-cmake-modules.patch b/recipes/ros-humble-mrt-cmake-modules/patch/ros-humble-mrt-cmake-modules.patch new file mode 100644 index 00000000..ea30f88b --- /dev/null +++ b/recipes/ros-humble-mrt-cmake-modules/patch/ros-humble-mrt-cmake-modules.patch @@ -0,0 +1,26 @@ +diff --git a/cmake/Modules/FindBoostPython.cmake b/cmake/Modules/FindBoostPython.cmake +index 409cfaf..a3d9984 100644 +--- a/cmake/Modules/FindBoostPython.cmake ++++ b/cmake/Modules/FindBoostPython.cmake +@@ -8,7 +8,7 @@ + if(PYTHON_VERSION) + set(_python_version ${PYTHON_VERSION}) + else() +- set(_python_version 2.7) ++ set(_python_version 3) + endif() + if(_python_version VERSION_EQUAL 3 AND CMAKE_VERSION VERSION_GREATER 3.15) + # we also need the subversion +diff --git a/CMakeLists.txt b/CMakeLists.txt +index aa99d8d..8327d4e 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,7 +1,7 @@ + cmake_minimum_required(VERSION 3.0.2) + project(mrt_cmake_modules) + +-if($ENV{ROS_VERSION} EQUAL 1) ++if(2 EQUAL 1) + find_package(catkin REQUIRED) + catkin_package(CFG_EXTRAS mrt_cmake_modules-extras.cmake) + else() diff --git a/recipes/ros-humble-mrt-cmake-modules/recipe.yaml b/recipes/ros-humble-mrt-cmake-modules/recipe.yaml new file mode 100644 index 00000000..349d2af6 --- /dev/null +++ b/recipes/ros-humble-mrt-cmake-modules/recipe.yaml @@ -0,0 +1,99 @@ +# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json + +package: + name: ros-humble-mrt-cmake-modules + version: 1.0.11 +source: + git: https://github.com/ros2-gbp/mrt_cmake_modules-release.git + tag: release/humble/mrt_cmake_modules/1.0.11-1 + target_directory: ros-humble-mrt-cmake-modules/src/work + patches: + - patch/ros-humble-mrt-cmake-modules.patch + +build: + script: ${{ '$RECIPE_DIR/build_catkin.sh' if unix else '%RECIPE_DIR%\\bld_catkin.bat' }} + number: 7 + post_process: + - files: + - '*.pc' + regex: (?:-L|-I)?"?([^;\s]+/sysroot/) + replacement: $$(CONDA_BUILD_SYSROOT_S) + - files: + - '*.cmake' + regex: ([^;\s"]+/sysroot) + replacement: $$ENV{CONDA_BUILD_SYSROOT} + - files: + - '*.cmake' + regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk) + replacement: $$ENV{CONDA_BUILD_SYSROOT} +about: + homepage: https://www.ros.org/ + license: BSD-3-Clause + summary: | + Robot Operating System + +extra: + recipe-maintainers: + - ros-forge + +requirements: + build: + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - ${{ stdlib('c') }} + - ninja + - python + - setuptools + - git + - if: unix + then: + - patch + - make + - coreutils + - if: win + then: + - m2-patch + - if: osx + then: + - tapi + - if: build_platform != target_platform + then: + - pkg-config + - cmake + - cython + - if: build_platform != target_platform + then: + - python + - cross-python_${{ target_platform }} + - numpy + host: + - if: build_platform == target_platform + then: + - pkg-config + - catkin_pkg + - lcov + - numpy + - pip + - python + - pyyaml + - ros-humble-ament-cmake-core + - ros-humble-gtest-vendor + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - rospkg + - setuptools + run: + - catkin_pkg + - lcov + - python + - pyyaml + - ros-humble-gtest-vendor + - ros-humble-ros-environment + - ros-humble-ros-workspace + - ros2-distro-mutex 0.6.* humble_* + - rospkg + - setuptools + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/vinca.yaml b/vinca.yaml new file mode 100644 index 00000000..48b17fee --- /dev/null +++ b/vinca.yaml @@ -0,0 +1,543 @@ +ros_distro: humble + +# mapping for package keys +conda_index: + - robostack.yaml + - packages-ignore.yaml + +build_number: 7 + +mutex_package: ros2-distro-mutex 0.6.* humble_* + +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: + # - nav2-rotation-shim-controller + # - rviz + # - diagnostic_updater + - cartographer + - octomap + - urdfdom-py + +packages_remove_from_deps: + - cartographer + - warehouse_ros_mongo + # - stage-ros + # - python_qt_binding + # - joint_state_publisher_gui + # - stage + +skip_existing: + - https://conda.anaconda.org/robostack-staging/ + +packages_select_by_deps: + # only subset of packages to reduce maintainer load + + # build 7 reselect + - ros_workspace + - ros_core + - ament-cmake-nose + - ros_base + - perception + - rosidl-generator-dds-idl + - simulation + - desktop + - desktop_full + # - qt-qui-cpp # needs to be compiled locally + + # rqt + - rqt + - rqt_image_overlay + - rqt-robot-dashboard + - rqt-robot-monitor + - rqt-robot-steering + + - moveit + - moveit_visual_tools + - moveit_servo + - moveit2_tutorials + - moveit-planners-chomp + - rqt-moveit + # - moveit2_tutorials # this does not exist anymore + - pilz-industrial-motion-planner + - moveit_runtime + - moveit_ros_perception + + - topic_tools + + - navigation2 + + # ros control + - ros2_control + - ros2_controllers + - joint-state-publisher # probably this should not be here as there is some strange porting to ros2 + - control-toolbox + - realtime_tools + - control_msgs + - teleop_tools + - gazebo-ros2-control + - gazebo_ros2_control_demos + + # - joystick_drivers + - joy + - joy_linux + - sdl2_vendor + - spacenav + # - wiimote # needs bluetooth and is not in conda-forge + # - wiimote_msgs + + # other control + - robot_controllers + - bond_core + + # *** learning and tutorials *** + - turtlebot3 + - turtlebot3_simulations + - urdf_tutorial + - geometry_tutorials + + # gazebo + - gazebo-ros-pkgs + - ros_ign + - ros_gz + + # *** Vendor packages *** + - graph_msgs # PickNik Robotics + - apriltag # AprilRobotics + - apriltag_ros # Christian Rauch + - ur_robot_driver # Universal Robots + - ur_calibration # Universal Robots, requested in https://github.com/RoboStack/ros-humble/issues/217 + - ur # Universal Robots, requested in https://github.com/RoboStack/ros-humble/issues/234, https://github.com/RoboStack/ros-humble/issues/227 and https://github.com/RoboStack/ros-humble/issues/222 + - ublox # Kumar Robotics + - ublox_dgnss # Aussie Robots + - ublox_dgnss_node + - ublox_ubx_interfaces + - robot_localization # Charles River Analytics, Inc. + - stubborn_buddies # Open RMF + - ament_cmake_catch2 # Open RMF + - ament_cmake_vendor_package # Requested in https://github.com/RoboStack/ros-humble/pull/210 + + # - transport_drivers + - asio_cmake_module + - io_context + - serial_driver + - udp_driver + + - apex_test_tools + - apex_containers # Apex AI + - velodyne + - velodyne_simulator # Dataspeed Inc. + + - visp + - bno055 # flynneva + - aws_robomaker_small_warehouse_world # AWS Robotics + - avt_vimba_camera # Allied Vision Technologies + - system_modes # Micro-ROS + - tf_transformations # DLu + - slam-toolbox # Steve Macenski + - foxglove_bridge # foxglove + - geographic_info # ros-geographic-info + - rosbridge_suite # RobotWebTools + - marker-msgs # TUW Robotics + - librealsense2 # IntelRealSense + - realsense2-camera # IntelRealSense + - realsense2-description # IntelRealSense + - webots_ros2 # Cyberbotics + - libg2o + - gtsam # Borglab + - motion_capture_tracking # IMRC Lab + - moveit_resources + + # requested in https://github.com/RoboStack/ros-humble/issues/228 + - event_camera_codecs + - event_camera_renderer + + # requested in https://github.com/RoboStack/ros-humble/pull/205 + - rosbag2_storage_mcap + + - plotjuggler + - plotjuggler_ros + - plotjuggler_msgs + + - visp + + - turtle_tf2_py + - turtle_tf2_cpp + + - grid_map + + - lanelet2 + + # ----- end of package support ----- + + # - rtabmap + # - control-box-rst + + + # - zmqpp_vendor + + # - fogros2 + # - foxglove_msgs + # - four_wheel_steering_msgs + # - geometry_tutorials + # - gps_tools + # - gps_umd + # - gpsd_client + + # - gscam + + # - v4l2_camera + # - usb_cam + + # - zbar_ros + # - vitis_common + # - urg_node + # - ur_bringup + # - ublox_dgnss_node + # - ublox_ubx_interfaces + # - twist_mux + + # - ros2acceleration + # - ros2launch_security + # - ros2launch_security_examples + # - ros2nodl + # - ros2trace + + # - rosapi + # - rosbag2_storage_mcap + # - rosbag2_performance_benchmarking + + # - rosbridge_suite + + # - can_msgs + # - cartographer_rviz + # - cascade_lifecycle_msgs + # - chomp_motion_planner + # - color_names + # - cudnn_cmake_module + + # - rmf_demos + # - rmf_traffic_msgs + # - rmf_demos_maps + # - rmf_demos_tasks + + # - adaptive_component + # - async_web_server_cpp + # - boost_geometry_util + + # - ros2_ouster + # - ros2_socketcan + # - ros2trace_analysis + # - rplidar_ros + # - rot_conv + # - rt_manipulators + # - rt_manipulators_examples + + # - acado_vendor + # - automotive_autonomy_msgs + # - automotive_navigation_msgs + # - automotive_platform_msgs + # - autoware_auto_msgs + + # - dolly + + # - rviz_imu_plugin + # - sdformat_test_files + # - sdformat_urdf + # - self_test + # - serial_driver + # - simple_launch + # - slider_publisher + # - soccer_interfaces + # - topic_statistics_demo + + # needs babeltools and lttng-python on conda-forge + # - smacc2 + + # Not yet working + # - tvm_vendor + # - zenoh_bridge_dds + # - velodyne_simulator + # - wiimote + # - depthai + # - turtlebot3 + + # - behaviortree_cpp_v3 + # - ros_workspace + # - ros1_bridge + + # Used to work, now needs fixes + # - webots-ros2 + # - webots-ros2-abb + # - webots-ros2-core + # - webots-ros2-demos + # - webots-ros2-epuck + # - webots-ros2-examples + # - webots-ros2-importer + # - webots-ros2-msgs + # - webots-ros2-tesla + # - webots-ros2-tiago + # - webots-ros2-turtlebot + # - webots-ros2-tutorials + # - webots-ros2-universal-robot + # - webots-ros2-ur-e-description + # - webots_ros2 + + # needs a rebuild of ros-noetic first + # - ros1-rosbag-storage-vendor + + # build locally but not on CI; for now uploaded from local + # - popf + # - ros-ign-bridge + # - ros-ign-image + + # working + # - sbg_driver + # - ruckig + # - rosbridge-msgs + # - rosbridge-library + # - ros2launch-security + # - picknik-ament-copyright + # - nodl-to-policy + # - geometry-tutorials + # - sdformat-urdf + # - cartographer-ros + # - plansys2-bt-actions + # - plansys2-terminal + # - nav2-system-tests + # - plansys2-bringup + # - octovis + # - gps-umd + # - usb-cam + # - tvm-vendor + # - ros2-socketcan + # - mrpt2 + # - ublox-dgnss + # - fmi-adapter-examples + # - spacenav + # - ros-ign + # - menge-vendor + # - openvslam + # - ackermann-msgs + # - four-wheel-steering-msgs + # - ign-rviz + # - ign-rviz-common + # - ign-rviz-plugins + # - libphidget22 + # - nao-lola + # - phidgets-accelerometer + # - phidgets-analog-inputs + # - phidgets-api + # - phidgets-digital-inputs + # - phidgets-digital-outputs + # - phidgets-drivers + # - phidgets-gyroscope + # - phidgets-high-speed-encoder + # - phidgets-ik + # - phidgets-magnetometer + # - phidgets-motors + # - phidgets-spatial + # - phidgets-temperature + # - ros-ign-bridge + # - ros-ign-gazebo + # - ros-ign-image + # - ros-ign-interfaces + # - soccer-marker-generation + # - vision-msgs + # - acado-vendor + # - ament-clang-format + # - ament_clang_tidy + # - ament-cmake-catch2 + # - ament_cmake_clang_tidy + # - ament-cmake-clang-format + # - ament_cmake_mypy + # - ament_cmake_nose + # - ament_cmake_pclint + # - ament_cmake_pycodestyle + # - ament_cmake_pyflakes + # - ament_download + # - ament_pclint + # - ament_pyflakes + # - ament-nodl + # - ament-pclint + # - ament-pycodestyle + # - ament-pyflakes + # - apex-containers + # - apex-test-tools + # - apriltag + # - async-web-server-cpp + # - autoware-auto-msgs + # - backward-ros + # - bno055 + # - can-msgs + # - cartographer-ros-msgs + # - cascade-lifecycle-msgs + # - color-names + # - compressed-depth-image-transport + # - compressed-image-transport + # - depth-image-proc + # - diagnostic-aggregator + # - diagnostic-updater + # - domain-bridge + # - dynamic-edt-3d + # - dynamixel-sdk + # - dynamixel-sdk-custom-interfaces + # - dynamixel-sdk-examples + # - examples-rclcpp-cbg-executor + # - examples-rclpy-guard-conditions + # - examples-rclpy-pointcloud-publisher + # - examples-tf2-py + # - filters + # - geographic-info + # - geographic-msgs + # - gps-msgs + # - gps-tools + # - grbl-msgs + # - grbl-ros + # - gurumdds-cmake-module + # - hls-lfcd-lds-driver + # - ifm3d-core + # - image-common + # - image-proc + # - image-publisher + # - image-rotate + # - joy-linux + # - joy-teleop + # - key-teleop + # - laser-proc + # - launch-system-modes + # - lgsvl-msgs + # - libmavconn + # - marti-can-msgs + # - marti-common-msgs + # - marti-dbw-msgs + # - marti-nav-msgs + # - marti-perception-msgs + # - marti-sensor-msgs + # - marti-status-msgs + # - marti-visualization-msgs + # - mavlink + # - mavros + # - mavros-msgs + # - mouse-teleop + # - nao-button-sim + # - nao-command-msgs + # - nao-sensor-msgs + # - nav2-bringup + # - nav2-gazebo-spawner + # - nmea-msgs + # - nodl-python + # - ntpd-driver + # - osqp-vendor + # - ouster-msgs + # - pcl-ros + # - perception-pcl + # - phidgets-msgs + # - plansys2-core + # - plansys2-lifecycle-manager + # - plansys2-msgs + # - plansys2-pddl-parser + # - plotjuggler-msgs + # - point-cloud-msg-wrapper + # - qpoases-vendor + # - qt-gui-app + # - qt-gui-core + # - quaternion-operation + # - radar-msgs + # - rc-common-msgs + # - rcdiscover + # - rc-genicam-api + # - rclc + # - rclc-examples + # - rclc-lifecycle + # - rclc-parameter + # - rclcpp-cascade-lifecycle + # - rcl-logging-log4cxx + # - rcl-logging-noop + # - rc-reason-clients + # - rc-reason-msgs + # - rcss3d-agent + # - realtime-tools + # - rmf-battery + # - rmf-building-map-msgs + # - rmf-building-map-tools + # - rmf-charger-msgs + # - rmf-cmake-uncrustify + # - rmf-dispenser-msgs + # - rmf-door-msgs + # - rmf-fleet-msgs + # - rmf-ingestor-msgs + # - rmf-lift-msgs + # - rmf-task-msgs + # - rmf-traffic + # - rmf-traffic-editor + # - rmf-traffic-editor-assets + # - rmf-traffic-editor-test-maps + # - rmf-traffic-msgs + # - rmf-utils + # - rmf-visualization-msgs + # - rmf-workcell-msgs + # - rmw-gurumdds-cpp + # - rmw-gurumdds-shared-cpp + # - ros2nodl + # - ros2-ouster + # - ros2trace + # - ros2trace-analysis + # - rosbag2-performance-benchmarking + # - rosidl-generator-dds-idl + # - rplidar-ros + # - run-move-group + # # - run-moveit-cpp + # - sdformat-test-files + # - self-test + # - sensor-msgs-py + # - serial-driver + # - soccer-vision-msgs + # - stereo-image-proc + # - stubborn-buddies + # - stubborn-buddies-msgs + # - system-modes + # - system-modes-examples + # - system-modes-msgs + # - teleop-tools + # - teleop-tools-msgs + # - test-apex-test-tools + # - test-bond + # - test-launch-system-modes + # - tf-transformations + # - topic-statistics-demo + # - tracetools-analysis + # - tracetools-launch + # - tracetools-read + # - tracetools-test + # - tracetools-trace + # - ublox + # - ublox-gps + # - ublox-msgs + # - ublox-serialization + # - ublox-ubx-interfaces + # - ublox-ubx-msgs + # - udp-driver + # - udp-msgs + # - urg-c + # - urg-node + # - urg-node-msgs + # - v4l2-camera + # - vision-opencv + # - wiimote-msgs + + # Don't work yet + # - run_moveit_cpp + # - wiimote + # - rc-dynamics-api + # - rosbag2-bag-v2-plugins + + # this needs libdwarf and libiberty + # I think we need to build libdwarf first ... + # - osrf_testing_tools_cpp + +patch_dir: patch diff --git a/vinca_0f028e77a4.json b/vinca_0f028e77a4.json new file mode 100644 index 00000000..4e3c76aa --- /dev/null +++ b/vinca_0f028e77a4.json @@ -0,0 +1 @@ +{"packages":{"ros-humble-nav2-collision-monitor-1.1.3-py39h63710d1_1.tar.bz2":{"build_number":1,"has_prefix":true,"machine":"x86_64","platform":"linux","depends":["libgcc-ng >=12","libgcc-ng >=12","libstdcxx-ng >=12","python","python_abi 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