Full Rebuild January 2024 with updated conda-forge pinnings (#418)

* Full Rebuild October 2023 * Remove foxglove_bridge for now * Update ros-noetic-microstrain-inertial-driver.patch * Update conda_forge_pinnings.yaml * Update conda_build_config.yaml * Delete patch/ros-noetic-geometric-shapes.win.patch * Delete patch/ros-noetic-moveit-core.patch * Update recipe.yaml * Update conda_forge_pinnings.yaml * remove pybind11-catkin patch * fix pybind11 build error * fix control-box-rst * Update ros-noetic-moveit-ros-planning.win.patch Remove changes upstreamed in moveit/moveit#2772 * Update ros-noetic-rosmon-core.patch * Create ros-noetic-sophus.path * Fix name of sophus patch and bump eigenpy * fix ros-noetic-moveit-ros-planning patch * Update additional_recipes * Temporarily build ros-noetic-eigenpy * Fix run_exports in eigenpy, hpp-fcl and pinocchio * Manually build hpp-fcl and pinocchio * Fixup pinoccio version * Really skip pinocchio (remove from select_by_deps) * See if boa segfault goes away with boa release instead of boa main on osx/win * Sync with humble * Fixes * Fixups * Fixing patches * Fixes for linux-aarch64 * Local linux-64 build * A few more packages, including rtabmap * Be more verbose about commented-out packages in vinca files. * Reviewer comments @traversaro --------- Co-authored-by: Hongzhuo Liang <[email protected]> Co-authored-by: Tobias Fischer <[email protected]> Co-authored-by: Martin Pecka <[email protected]>
RoboStack · Jan 29, 2024 · c93c9cc · c93c9cc
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diff --git a/.ci_support/conda_forge_pinnings.yaml b/.ci_support/conda_forge_pinnings.yaml
diff --git a/.cirun.yml b/.cirun.yml
@@ -2,9 +2,8 @@ runners:
   - name: aws-cpu-arm-runner
     cloud: aws
     instance_type: a1.4xlarge
-    # AMI for ubuntu/images/hvm-ssd/ubuntu-focal-20.04-arm64-server
+    # AMI for ubuntu/images/hvm-ssd/ubuntu-focal-20.04-arm64-server + docker
     machine_image: ami-00dace5a405a9887e
-    #machine_image: ami-0229f8cfc24033d05
     preemptible: false
     labels:
-      - cirun-linux-aarch64
+       - cirun-linux-aarch64
diff --git a/.github/testpr_environment.yml b/.github/testpr_environment.yml
@@ -3,11 +3,13 @@ channels:
   - robostack-staging
   - conda-forge
 dependencies:
-  - python 3.9.*
+  - python 3.11.*
   - pip
+  - boa
+  - conda-build <3.28
   - rospkg
   - catkin_pkg >=0.4.16
-  - ruamel.yaml >=0.16.6,<0.18.0
+  - ruamel.yaml >=0.16.6,<0.18
   - rosdistro >=0.8.0
   - empy >=3.3.4
-  - mamba
+  - networkx
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -1,27 +1,31 @@
+permissions:
+  actions: write
+  contents: write
+
 jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@master
+    - uses: actions/checkout@v3
       with:
         persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token
         fetch-depth: 0 # otherwise, you will failed to push refs to dest repo
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v4
       with:
-        python-version: '3.9' # Version range or exact version of a Python version to use, using SemVer's version range syntax
+        python-version: '3.11' # Version range or exact version of a Python version to use, using SemVer's version range syntax
     - name: Install vinca
       run: |
         pip install git+https://github.com/RoboStack/vinca.git
 
-    - name: Generate recipes for Linux
+    - name: Generate recipes for linux-64
       run: |
         git clean -fdx
         cp vinca_linux_64.yaml vinca.yaml
         vinca --multiple --platform linux-64
-    - name: Generate azure pipelines for Linux
+    - name: Generate azure pipelines for linux-64
       run: |
         vinca-gha --platform linux-64 --trigger-branch buildbranch_linux -d ./recipes --additional-recipes
-    - name: Commit files
+    - name: Commit files for linux-64
       run: |
         if [[ -f "linux.yml" ]]; then
             mv linux.yml .github/workflows/
@@ -38,16 +42,16 @@ jobs:
     # Generate recipes for osx
     - name: Reset repo
       run: |
-        git reset --hard origin/master
-    - name: Generate recipes for macOS
+        git reset --hard origin/main
+    - name: Generate recipes for osx-64
       run: |
         git clean -fdx
         cp vinca_osx.yaml vinca.yaml
         vinca --multiple --platform osx-64
-    - name: Generate azure pipelines for macOS
+    - name: Generate azure pipelines for osx-64
       run: |
         vinca-gha --platform osx-64 --trigger-branch buildbranch_osx -d ./recipes --additional-recipes
-    - name: Commit files
+    - name: Commit files for osx-64
       run: |
         if [[ -f "osx.yml" ]]; then
             mv osx.yml .github/workflows/
@@ -64,16 +68,16 @@ jobs:
     # Generate recipes for osx-arm64
     - name: Reset repo
       run: |
-        git reset --hard origin/master
-    - name: Generate recipes for macOS (arm64)
+        git reset --hard origin/main
+    - name: Generate recipes for osx-arm64
       run: |
         git clean -fdx
         cp vinca_osx_arm64.yaml vinca.yaml
         vinca --multiple --platform osx-arm64
-    - name: Generate azure pipelines for macOS (arm64)
+    - name: Generate azure pipelines for osx-arm64
       run: |
         vinca-gha --platform osx-arm64 --trigger-branch buildbranch_osx_arm64 -d ./recipes --additional-recipes
-    - name: Commit files
+    - name: Commit files for osx-arm64
       run: |
         if [[ -f "osx_arm64.yml" ]]; then
             mv osx_arm64.yml .github/workflows/
@@ -90,16 +94,16 @@ jobs:
     # Generate recipes for Windows
     - name: Reset repo
       run: |
-        git reset --hard origin/master
-    - name: Generate recipes for Windows
+        git reset --hard origin/main
+    - name: Generate recipes for win-64
       run: |
         git clean -fdx
         cp vinca_win.yaml vinca.yaml
         vinca --multiple --platform win-64
-    - name: Generate azure pipelines for Windows
+    - name: Generate azure pipelines for win-64
       run: |
         vinca-gha --platform win-64 --trigger-branch buildbranch_win -d ./recipes --additional-recipes
-    - name: Commit files for Windows
+    - name: Commit files for win-64
       run: |
         if [[ -f "win.yml" ]]; then
             mv win.yml .github/workflows/
@@ -116,16 +120,16 @@ jobs:
     # Generate recipes for Linux ARM64
     - name: Reset repo
       run: |
-        git reset --hard origin/master
-    - name: Generate recipes for Linux ARM64
+        git reset --hard origin/main
+    - name: Generate recipes for linux-aarch64
       run: |
         git clean -fdx
         cp vinca_linux_aarch64.yaml vinca.yaml
         vinca --multiple --platform linux-aarch64
-    - name: Generate azure pipelines for Linux ARM64
+    - name: Generate azure pipelines for linux-aarch64
       run: |
-        vinca-gha --platform linux-aarch64 --trigger-branch buildbranch_linux_aarch64 -d ./recipes --additional-recipes -b 2
-    - name: Commit files
+        vinca-gha --platform linux-aarch64 --trigger-branch buildbranch_linux_aarch64 -d ./recipes --additional-recipes --batch_size 1
+    - name: Commit files for linux-aarch64
       run: |
         if [[ -f "linux_aarch64.yml" ]]; then
             mv linux_aarch64.yml .github/workflows/build_linux_aarch64.yml

diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
@@ -2,7 +2,7 @@ on:
   pull_request:
     paths:
       - '*.yaml'
-      
+
 env:
   ROS_VERSION: 1
 
@@ -37,60 +37,65 @@ jobs:
             platform: osx-arm64
     steps:
     - uses: actions/checkout@master
-    - name: install mamba
+    - name: install micromamba
       uses: mamba-org/setup-micromamba@main
       with:
         environment-file: .github/testpr_environment.yml
         condarc: |
           channels:
             - robostack-staging
             - conda-forge
+
     - shell: bash -l {0}
-      if: contains(matrix.os, 'linux-aarch64')
+      if: matrix.platform == 'linux-aarch64'
       run: |
         echo "::group::Configure binfmt_misc"
         docker run --rm --privileged multiarch/qemu-user-static:register --reset --credential yes
         export FEEDSTOCK_NAME="$(basename $GITHUB_REPOSITORY)"
         export GIT_BRANCH="$(basename $GITHUB_REF)"
         echo "::endgroup::"
 
+    - name: Install libgl1-mesa-dev (only for linux-aarch64)
+      if: matrix.platform == 'linux-aarch64'
+      shell: bash -l {0}
+      run: |
+        sudo apt-get install -y libgl1-mesa-dev libglu1-mesa-dev libx11-dev libxi-dev libxmu-dev
+
     - shell: bash -l {0}
       run: |
         conda config --show channels | grep defaults && conda config --remove channels defaults
         conda info
         conda config --show
-        mamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4"
-        mamba install -y boa --only-deps
-    - name: install vinca and boa main
+        micromamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4" boa
+    - name: install vinca and boa master
       shell: bash -l {0}
       run: |
         # use no-deps for now, otherwise problems with ruamel.
         pip install git+https://github.com/RoboStack/vinca.git --no-deps
-        # for now we need boa main
-        pip install git+https://github.com/mamba-org/boa@main
     # For some reason, the Strawberry perl's pkg-config is found
     # instead of the conda's one, so let's delete the /c/Strawberry directory
     - name: Debug pkg-config problem
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
         rm -rf /c/Strawberry
+
     - name: Check what files have changed
       id: filecheck
       shell: bash -l {0}
       run: |
-        git fetch origin master
+        git fetch origin main
         # continue on error
         set +e
-        git diff --exit-code --name-only origin/master -- vinca_linux_64.yaml > /dev/null
+        git diff --exit-code --name-only origin/main -- vinca_linux_64.yaml > /dev/null
         echo "::set-output name=LINUX_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/master -- vinca_linux_aarch64.yaml > /dev/null
+        git diff --exit-code --name-only origin/main -- vinca_linux_aarch64.yaml > /dev/null
         echo "::set-output name=LINUX_AARCH_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/master -- vinca_osx.yaml > /dev/null
+        git diff --exit-code --name-only origin/main -- vinca_osx.yaml > /dev/null
         echo "::set-output name=OSX_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/master -- vinca_osx_arm64.yaml > /dev/null
+        git diff --exit-code --name-only origin/main -- vinca_osx_arm64.yaml > /dev/null
         echo "::set-output name=OSX_ARM_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/master -- vinca_win.yaml > /dev/null
+        git diff --exit-code --name-only origin/main -- vinca_win.yaml > /dev/null
         echo "::set-output name=WIN_YAML_CHANGED::${?}"
     - name: Generate recipes for Linux
       shell: bash -l {0}
@@ -147,10 +152,10 @@ jobs:
         echo "::set-output name=RECIPE_CREATED::${?}"
     - name: Build recipes for Linux
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64'
       run: |
         boa build additional_recipes/ros-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
         boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64'
     - name: Build recipes for Linux-ARM64
       shell: bash -l {0}
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-aarch64'

diff --git a/.gitignore b/.gitignore
@@ -2,5 +2,6 @@ vinca.yaml
 recipes/
 *.bat
 *.sh
+*.ps1
 *.json
 .DS_Store
diff --git a/.scripts/build_linux.sh b/.scripts/build_linux.sh
@@ -35,10 +35,7 @@ conda config --remove channels defaults
 # conda config --set channel_priority strict
 
 mamba update conda --yes --quiet -c conda-forge
-mamba install --yes --quiet pip conda-build anaconda-client mamba
-mamba install --yes --quiet boa --only-deps
-mamba remove --yes --quiet boa || true
-pip install git+https://github.com/mamba-org/boa@main --no-deps
+mamba install --yes --quiet pip conda-build anaconda-client mamba boa
 
 # setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
 # export PATH="$HOME/miniconda/bin:$PATH"

diff --git a/additional_recipes/ros-distro-mutex/recipe.yaml b/additional_recipes/ros-distro-mutex/recipe.yaml
@@ -1,9 +1,9 @@
 package:
   name: ros-distro-mutex
-  version: 0.4.0
+  version: 0.5.0
 
 build:
-  number: 3
+  number: 4
   string: noetic
   run_exports:
     - "{{ pin_subpackage('ros-distro-mutex', max_pin='x.x') }}"
@@ -29,11 +29,9 @@ requirements:
   # if the upstream package does not have run_exports
   # please change it in the conda_build_config.yaml!
   run_constrained:
-    - boost-cpp 1.78
-    - pcl 1.12
     - gazebo 11
     - ogre 1.10.12
-    - libpqxx 6
+    - libpqxx 7.8
 
 about:
   home: https://github.com/robostack/ros-noetic

diff --git a/additional_recipes/ros-noetic-eigenpy/recipe.yaml b/additional_recipes/ros-noetic-eigenpy/recipe.yaml
@@ -1,20 +1,17 @@
 package:
-  name: ros-noetic-eigenpy
-  version: "2.8.1"
+  name: ros-noetic-eigenpy-recipe
+  version: "3.1.0"
 
 build:
-  number: 20
+  number: 21
 
-requirements:
-  run:
-    - eigenpy 2.8.1
-
-
-about:
-  home: https://github.com/conda-forge/eigenpy-feedstock
-  license: BSD-2-Clause
-  summary: |
-    Bindings between Numpy and Eigen using Boost.Python
-extra:
-  recipe-maintainers:
-    - ros-forge
+outputs:
+  - package:
+      name: ros-noetic-eigenpy
+      version: "3.1.0"
+    build:
+      run_exports:
+        - "{{ pin_subpackage('ros-noetic-eigenpy', max_pin='x.x.x') }}"
+    requirements:
+      run:
+        - eigenpy 3.1.0
diff --git a/additional_recipes/ros-noetic-hpp-fcl/recipe.yaml b/additional_recipes/ros-noetic-hpp-fcl/recipe.yaml
@@ -0,0 +1,17 @@
+package:
+  name: ros-noetic-hpp-fcl-recipe
+  version: "2.3.6"
+
+build:
+  number: 21
+
+outputs:
+  - package:
+      name: ros-noetic-hpp-fcl
+      version: "2.3.6"
+    build:
+      run_exports:
+        - "{{ pin_subpackage('ros-noetic-hpp-fcl', max_pin='x.x.x') }}"
+    requirements:
+      run:
+        - hpp-fcl 2.3.6
diff --git a/additional_recipes/ros-noetic-pinocchio/recipe.yaml b/additional_recipes/ros-noetic-pinocchio/recipe.yaml
@@ -0,0 +1,17 @@
+package:
+  name: ros-noetic-pinocchio-recipe
+  version: "2.6.20"
+
+build:
+  number: 21
+
+outputs:
+  - package:
+      name: ros-noetic-pinocchio
+      version: "2.6.20"
+    build:
+      run_exports:
+        - "{{ pin_subpackage('ros-noetic-pinocchio', max_pin='x.x.x') }}"
+    requirements:
+      run:
+        - pinocchio 2.6.20