From 10ffa728f9326394df2453f3c7c3a3bec36237b6 Mon Sep 17 00:00:00 2001 From: Tobias Fischer Date: Wed, 8 Jan 2025 10:05:01 +1000 Subject: [PATCH] Full local linux-64 rebuild --- patch/ros-noetic-cras-cpp-common.patch | 13 -- patch/ros-noetic-image-transport-codecs.patch | 22 ---- patch/ros-noetic-jsk-recognition-utils.patch | 114 ++++++++++-------- pixi.lock | 45 ++++--- pixi.toml | 2 +- robostack.yaml | 5 +- vinca_linux_64.yaml | 3 +- 7 files changed, 90 insertions(+), 114 deletions(-) delete mode 100644 patch/ros-noetic-cras-cpp-common.patch delete mode 100644 patch/ros-noetic-image-transport-codecs.patch diff --git a/patch/ros-noetic-cras-cpp-common.patch b/patch/ros-noetic-cras-cpp-common.patch deleted file mode 100644 index d11fea3e1..000000000 --- a/patch/ros-noetic-cras-cpp-common.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/src/log_utils/nodelet.cpp b/src/log_utils/nodelet.cpp -index fbea061..0e5e54f 100644 ---- a/src/log_utils/nodelet.cpp -+++ b/src/log_utils/nodelet.cpp -@@ -20,7 +20,7 @@ const static std::string NOT_SET {"getNameFn is not set!"}; // NOLINT - NodeletLogHelper::NodeletLogHelper(const GetNameFn& getNameFn) : getNameFn(getNameFn) - { - if (!this->getNameFn) -- this->getNameFn = [](){ return NOT_SET; }; -+ this->getNameFn = []() -> const std::string& { return NOT_SET; }; - } - - void NodeletLogHelper::initializeLogLocationImpl( diff --git a/patch/ros-noetic-image-transport-codecs.patch b/patch/ros-noetic-image-transport-codecs.patch deleted file mode 100644 index b6416bd37..000000000 --- a/patch/ros-noetic-image-transport-codecs.patch +++ /dev/null @@ -1,22 +0,0 @@ -diff --git a/src/codecs/compressed_depth_codec.cpp b/src/codecs/compressed_depth_codec.cpp -index 4e79ee0..57da643 100644 ---- a/src/codecs/compressed_depth_codec.cpp -+++ b/src/codecs/compressed_depth_codec.cpp -@@ -378,7 +378,7 @@ cv::Mat CompressedDepthCodec::decodeRVL(const std::vector& compressed) - if (rows == 0 || cols == 0) - { - CRAS_ERROR_THROTTLE(1.0, "Received malformed RVL-encoded image. Size %ix%i contains zero.", cols, rows); -- return {0, 0, CV_16UC1}; -+ return cv::Mat(0, 0, CV_16UC1); - } - - // Sanity check - the best compression ratio is 4x; we leave some buffer, so we check whether the output image would -@@ -389,7 +389,7 @@ cv::Mat CompressedDepthCodec::decodeRVL(const std::vector& compressed) - if (numPixels > std::numeric_limits::max() || numPixels > static_cast(compressed.size()) * 5) - { - CRAS_ERROR_THROTTLE(1.0, "Received malformed RVL-encoded image. It reports size %ux%u.", cols, rows); -- return {0, 0, CV_16UC1}; -+ return cv::Mat(0, 0, CV_16UC1); - } - - cv::Mat decompressed(rows, cols, CV_16UC1); diff --git a/patch/ros-noetic-jsk-recognition-utils.patch b/patch/ros-noetic-jsk-recognition-utils.patch index 99c25b5f3..7e0ef58b8 100644 --- a/patch/ros-noetic-jsk-recognition-utils.patch +++ b/patch/ros-noetic-jsk-recognition-utils.patch @@ -1,3 +1,65 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 55c405fd0..a53d0f349 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -39,7 +39,8 @@ configure_file( + # ------------------------------------------------------------------------------------ + + # download and install font data +-add_custom_target(${PROJECT_NAME}_install_font_data ALL COMMAND python$ENV{ROS_PYTHON_VERSION} ${PROJECT_SOURCE_DIR}/scripts/install_font_data.py) ++find_package (Python COMPONENTS Interpreter Development NumPy) ++add_custom_target(${PROJECT_NAME}_install_font_data ALL COMMAND ${Python_EXECUTABLE} ${PROJECT_SOURCE_DIR}/scripts/install_font_data.py) + + catkin_python_setup() + +@@ -62,6 +63,7 @@ add_subdirectory(python/${PROJECT_NAME}) + + find_package(OpenCV REQUIRED core imgproc) + find_package(PCL REQUIRED) ++find_package(GLEW REQUIRED) + find_package(PkgConfig) + pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) + IF(${yaml_cpp_VERSION} VERSION_LESS "0.5.0") +@@ -72,11 +74,10 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU") + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs") + endif() + include_directories( +- include ${catkin_INCLUDE_DIRS} ++ include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} + ) +-link_libraries(${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} yaml-cpp) + +-add_library(jsk_recognition_utils SHARED ++add_library(jsk_recognition_utils + src/grid_index.cpp + src/grid_map.cpp + src/grid_line.cpp +@@ -102,6 +103,8 @@ add_library(jsk_recognition_utils SHARED + src/time_util.cpp + ) + ++target_link_libraries(jsk_recognition_utils ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} ${yaml_cpp_LIBRARIES} ${GLEW_LIBRARIES}) ++ + if (CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + if("$ENV{ROS_DISTRO}" STRGREATER "indigo") # kinetic and later uses qt5 +diff --git a/cmake/FindCython.cmake b/cmake/FindCython.cmake +index f44f1f707..d7fb4205f 100644 +--- a/cmake/FindCython.cmake ++++ b/cmake/FindCython.cmake +@@ -24,9 +24,9 @@ + + # Use the Cython executable that lives next to the Python executable + # if it is a local installation. +-find_package( PythonInterp ) +-if( PYTHONINTERP_FOUND ) +- get_filename_component( _python_path ${PYTHON_EXECUTABLE} PATH ) ++find_package (Python COMPONENTS Interpreter Development NumPy) ++if( Python_Interpreter_FOUND ) ++ get_filename_component( _python_path ${Python_EXECUTABLE} PATH ) + find_program( CYTHON_EXECUTABLE + NAMES cython cython.bat cython3 + HINTS ${_python_path} diff --git a/cmake/UseCython.cmake b/cmake/UseCython.cmake index f432c890c..0a11631e5 100644 --- a/cmake/UseCython.cmake @@ -614,58 +676,6 @@ index f432c890c..0a11631e5 100644 + set(pxd_location "" CACHE INTERNAL "") +endfunction() \ No newline at end of file -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 55c405fd0..06a4adbbc 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -62,6 +62,7 @@ add_subdirectory(python/${PROJECT_NAME}) - - find_package(OpenCV REQUIRED core imgproc) - find_package(PCL REQUIRED) -+find_package(GLEW REQUIRED) - find_package(PkgConfig) - pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) - IF(${yaml_cpp_VERSION} VERSION_LESS "0.5.0") -@@ -72,11 +73,10 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU") - set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs") - endif() - include_directories( -- include ${catkin_INCLUDE_DIRS} -+ include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} - ) --link_libraries(${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} yaml-cpp) - --add_library(jsk_recognition_utils SHARED -+add_library(jsk_recognition_utils - src/grid_index.cpp - src/grid_map.cpp - src/grid_line.cpp -@@ -102,6 +102,8 @@ add_library(jsk_recognition_utils SHARED - src/time_util.cpp - ) - -+target_link_libraries(jsk_recognition_utils ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} ${yaml_cpp_LIBRARIES} ${GLEW_LIBRARIES}) -+ - if (CATKIN_ENABLE_TESTING) - find_package(rostest REQUIRED) - if("$ENV{ROS_DISTRO}" STRGREATER "indigo") # kinetic and later uses qt5 -diff --git a/cmake/FindCython.cmake b/cmake/FindCython.cmake -index f44f1f707..d7fb4205f 100644 ---- a/cmake/FindCython.cmake -+++ b/cmake/FindCython.cmake -@@ -24,9 +24,9 @@ - - # Use the Cython executable that lives next to the Python executable - # if it is a local installation. --find_package( PythonInterp ) --if( PYTHONINTERP_FOUND ) -- get_filename_component( _python_path ${PYTHON_EXECUTABLE} PATH ) -+find_package (Python COMPONENTS Interpreter Development NumPy) -+if( Python_Interpreter_FOUND ) -+ get_filename_component( _python_path ${Python_EXECUTABLE} PATH ) - find_program( CYTHON_EXECUTABLE - NAMES cython cython.bat cython3 - HINTS ${_python_path} diff --git a/python/jsk_recognition_utils/CMakeLists.txt b/python/jsk_recognition_utils/CMakeLists.txt index d3feba4f5..496ca09dc 100644 --- a/python/jsk_recognition_utils/CMakeLists.txt diff --git a/pixi.lock b/pixi.lock index f6ce2726b..f1a231595 100644 --- a/pixi.lock +++ b/pixi.lock @@ -25,7 +25,7 @@ environments: - 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- conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.4.5-pyhd8ed1ab_1.conda + - conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.5.2-pyhd8ed1ab_0.conda - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-4.23.0-pyhd8ed1ab_1.conda - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-specifications-2024.10.1-pyhd8ed1ab_1.conda - conda: https://repo.prefix.dev/conda-forge/noarch/jupyter_core-5.7.2-pyh31011fe_1.conda @@ -667,7 +667,7 @@ environments: - conda: https://repo.prefix.dev/conda-forge/noarch/hpack-4.0.0-pyhd8ed1ab_1.conda - conda: https://repo.prefix.dev/conda-forge/noarch/hyperframe-6.0.1-pyhd8ed1ab_1.conda - conda: https://repo.prefix.dev/conda-forge/noarch/idna-3.10-pyhd8ed1ab_1.conda - - conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.4.5-pyhd8ed1ab_1.conda + - conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.5.2-pyhd8ed1ab_0.conda - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-4.23.0-pyhd8ed1ab_1.conda - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-specifications-2024.10.1-pyhd8ed1ab_1.conda - conda: https://repo.prefix.dev/conda-forge/noarch/jupyter_core-5.7.2-pyh5737063_1.conda @@ -1199,20 +1199,19 @@ packages: - pkg:pypi/idna?source=hash-mapping size: 49765 timestamp: 1733211921194 -- conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.4.5-pyhd8ed1ab_1.conda - sha256: 461199e429a3db01f0a673f8beaac5e0be75b88895952fb9183f2ab01c5c3c24 - md5: 15798fa69312d433af690c8c42b3fb36 +- conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.5.2-pyhd8ed1ab_0.conda + sha256: acc1d991837c0afb67c75b77fdc72b4bf022aac71fedd8b9ea45918ac9b08a80 + md5: c85c76dc67d75619a92f51dfbce06992 depends: - python >=3.9 - zipp >=3.1.0 constrains: - - importlib-resources >=6.4.5,<6.4.6.0a0 + - importlib-resources >=6.5.2,<6.5.3.0a0 license: Apache-2.0 - license_family: APACHE purls: - pkg:pypi/importlib-resources?source=hash-mapping - size: 32701 - timestamp: 1733231441973 + size: 33781 + timestamp: 1736252433366 - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-4.23.0-pyhd8ed1ab_1.conda sha256: be992a99e589146f229c58fe5083e0b60551d774511c494f91fe011931bd7893 md5: a3cead9264b331b32fe8f0aabc967522 @@ -2803,7 +2802,7 @@ packages: purls: [] size: 754247 timestamp: 1731710681163 -- pypi: git+https://github.com/RoboStack/vinca.git@931bc388e3b43412ca4977ce77deb9ada3542cc5 +- pypi: git+https://github.com/RoboStack/vinca.git@71fd33aafd53729f6140811fa2535b34f929e034 name: vinca version: 0.0.2 requires_dist: diff --git a/pixi.toml b/pixi.toml index eb9fec6e3..c141f9d54 100644 --- a/pixi.toml +++ b/pixi.toml @@ -27,7 +27,7 @@ git = "*" [feature.beta.pypi-dependencies] # This is tipically the latest commit on rattler-build-humble branch -vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "931bc388e3b43412ca4977ce77deb9ada3542cc5" } +vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "71fd33aafd53729f6140811fa2535b34f929e034" } # Uncomment this line to work with a local vinca for faster iteration, but remember to comment it back # (and regenerate the pixi.lock) once you push the modified commit to the repo #vinca = { path = "../vinca", editable = true } diff --git a/robostack.yaml b/robostack.yaml index 86ef9cbed..be65ec059 100644 --- a/robostack.yaml +++ b/robostack.yaml @@ -81,7 +81,10 @@ draco: eigen: robostack: [eigen] emacs: - robostack: [emacs] +# Wait until https://github.com/conda-forge/gtk3-feedstock/pull/74 is resolved +# and emacs is rebuilt for harfbuzz=10 +# robostack: [emacs] + robostack: [] festival: robostack: linux: [festival, festvox-kallpc16k] diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml index 3b02a53c6..d18bd039b 100644 --- a/vinca_linux_64.yaml +++ b/vinca_linux_64.yaml @@ -45,8 +45,7 @@ skip_existing: # For sure it will be uncommented and built with next full rebuild. Full rebuilds happen occasionally (few times a year). # The list of all maintained packages is at https://robostack.github.io/noetic.html . packages_select_by_deps: - # needs harfbuzz10 migration of gtk3 and emacs - # - jsk-visualization + - jsk-visualization - octomap-ros - octomap-mapping