Initial commit

2025-12-15 13:44:39 +00:00 · 2025-04-17 15:19:47 +08:00
parent a47a3f5c3a
commit c78ac482d8
262 changed files with 39871 additions and 0 deletions
--- a/recipes/conda_build_config.yaml
+++ b/recipes/conda_build_config.yaml
@@ -0,0 +1,47 @@
+gazebo:
+  - '11'
+libpqxx:
+  - 6
+numpy:
+  - 1.26.*
+  
+cdt_name:  # [linux]
+  - cos7   # [linux]
+
+python:
+ - 3.11.* *_cpython
+python_impl:
+  - cpython
+
+# Project overrides
+macos_min_version:             # [osx and x86_64]
+  - 10.14                      # [osx and x86_64]
+macos_machine:                 # [osx]
+  - x86_64-apple-darwin13.4.0  # [osx and x86_64]
+  - arm64-apple-darwin20.0.0   # [osx and arm64]
+MACOSX_DEPLOYMENT_TARGET:      # [osx]
+  - 11.0                       # [osx and arm64]
+  - 10.14                      # [osx and x86_64]
+CONDA_BUILD_SYSROOT:
+  - /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk  # [osx and arm64]
+
+
+# fix build metadata, needed for mapviz and moveit-core
+replacements:
+  all_replacements:
+    - tag: 'pkg-config build metadata'
+      glob_patterns:
+        - '*.pc'
+      regex_re: '(?:-L|-I)?\"?([^;\s]+\/sysroot\/)'
+      replacement_re: '$(CONDA_BUILD_SYSROOT_S)'
+      regex_rg: '([^;\s"]+/sysroot/)'
+    - tag: 'CMake build metadata'
+      glob_patterns:
+        - '*.cmake'
+      regex_re: '([^;\s"]+/sysroot)'
+      replacement_re: '$ENV{CONDA_BUILD_SYSROOT}'
+    - tag: 'CMake build metadata OSX'
+      glob_patterns:
+        - '*.cmake'
+      regex_re: '([^;\s"]+/MacOSX\d*\.?\d*\.sdk)'
+      replacement_re: '$ENV{CONDA_BUILD_SYSROOT}'
--- a/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat
+++ b/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat
@@ -0,0 +1,41 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+
+:: try to fix long paths issues by using default generator
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+set PYTHON="%PREFIX%\python.exe"
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    --compile-no-warning-as-error ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
--- a/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh
+++ b/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh
@@ -0,0 +1,71 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python ${ROS_PYTHON_VERSION}"
+# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
+FIXED_SP_DIR=$(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
+fi
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
+    export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
+fi;
+
+# Needed for qt-gui-cpp ..
+if [[ $target_platform =~ linux.* ]]; then
+  ln -s $GCC ${BUILD_PREFIX}/bin/gcc
+  ln -s $GXX ${BUILD_PREFIX}/bin/g++
+fi;
+
+cmake \
+    -G "Ninja" \
+    -DCMAKE_INSTALL_PREFIX=$PREFIX \
+    -DCMAKE_PREFIX_PATH=$PREFIX \
+    -DAMENT_PREFIX_PATH=$PREFIX \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+    -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    --compile-no-warning-as-error \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
--- a/recipes/ros-humble-unilabos-msgs/recipe.yaml
+++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml
@@ -0,0 +1,61 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.8.0
+source:
+  path: ../../unilabos_msgs
+  folder: ros-humble-unilabos-msgs/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(win): vs2022_win-64
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ament-cmake
+    - robostack-staging::ros-humble-ament-lint-auto
+    - robostack-staging::ros-humble-ament-lint-common
+    - robostack-staging::ros-humble-ros-environment
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-generators
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.6.*
+  run:
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-runtime
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.6.*
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
--- a/recipes/unilabos/clean_build_dir.py
+++ b/recipes/unilabos/clean_build_dir.py
@@ -0,0 +1,15 @@
+import os
+import shutil
+for item in os.listdir("../.."):
+    if item.startswith("."):
+        continue
+    if item.endswith(".bat"):
+        continue
+    if item in ("setup.py", "unilabos", "config"):
+        continue
+    print("****", item)
+    if os.path.isfile(item) or os.path.islink(item):
+        os.remove(item)
+    elif os.path.isdir(item):
+        shutil.rmtree(item)
+print(os.listdir("../.."))
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -0,0 +1,23 @@
+package:
+  name: unilabos
+  version: "0.8.0"
+
+source:
+  path: ../..
+
+build:
+  noarch: python
+  script: |
+    {{ PYTHON }} -m pip install . --no-deps --ignore-installed -vv
+#    {{ PYTHON }} clean_build_dir.py
+
+requirements:
+  host:
+    - python
+    - pip
+  run:
+    - python
+
+test:
+  imports:
+    - unilabos