update conda-pack-build.yml

(cherry picked from commit 172599adcf)

.github/workflows/conda-pack-build.yml

@@ -0,0 +1,300 @@
+name: Build Conda-Pack Environment
+
+on:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: '选择要构建的分支'
+        required: true
+        default: 'dev'
+        type: string
+      platforms:
+        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
+        required: false
+        default: 'win-64'
+        type: string
+
+jobs:
+  build-conda-pack:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            platform: linux-64
+            env_file: unilabos-linux-64.yaml
+            script_ext: sh
+          - os: macos-13 # Intel
+            platform: osx-64
+            env_file: unilabos-osx-64.yaml
+            script_ext: sh
+          - os: macos-latest # ARM64
+            platform: osx-arm64
+            env_file: unilabos-osx-arm64.yaml
+            script_ext: sh
+          - os: windows-latest
+            platform: win-64
+            env_file: unilabos-win64.yaml
+            script_ext: bat
+
+    runs-on: ${{ matrix.os }}
+
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+      - name: Check if platform should be built
+        id: should_build
+        run: |
+          if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          else
+            echo "should_build=false" >> $GITHUB_OUTPUT
+          fi
+
+      - uses: actions/checkout@v4
+        if: steps.should_build.outputs.should_build == 'true'
+        with:
+          ref: ${{ github.event.inputs.branch }}
+          fetch-depth: 0
+
+      - name: Setup Miniconda
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          miniforge-version: latest
+          python-version: '3.11.11'
+          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channel-priority: strict
+          activate-environment: unilab
+          auto-activate-base: true
+          auto-update-conda: false
+          show-channel-urls: true
+
+      - name: Install conda-pack
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          conda install -c conda-forge conda-pack -y
+
+      - name: Install unilabos and dependencies
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Installing unilabos and dependencies to unilab environment..."
+          conda install uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+
+      - name: Get latest ros-humble-unilabos-msgs version
+        if: steps.should_build.outputs.should_build == 'true'
+        id: msgs_version
+        run: |
+          INSTALLED_VERSION=$(conda list ros-humble-unilabos-msgs | grep ros-humble-unilabos-msgs | awk '{print $2}')
+          echo "installed_version=$INSTALLED_VERSION" >> $GITHUB_OUTPUT
+          echo "Installed ros-humble-unilabos-msgs version: $INSTALLED_VERSION"
+
+      - name: Check for newer ros-humble-unilabos-msgs
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Checking for available ros-humble-unilabos-msgs versions..."
+          conda search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge --info || echo "Search completed"
+
+          echo "Updating ros-humble-unilabos-msgs to latest version..."
+          conda update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+
+      - name: Install latest unilabos from source
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Uninstalling existing unilabos..."
+          pip uninstall unilabos -y || echo "unilabos not installed via pip"
+
+          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
+          pip install .
+
+          echo "Verifying installation..."
+          pip show unilabos
+
+      - name: Display environment info
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "=== Environment Information ==="
+          conda env list
+          echo ""
+          echo "=== Installed Packages ==="
+          conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
+          echo ""
+          echo "=== Python Packages ==="
+          pip list | grep unilabos || pip list
+
+      - name: Verify environment integrity
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Verifying Python version..."
+          python -c "import sys; print(f'Python version: {sys.version}')"
+
+          echo "Verifying unilabos import..."
+          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
+
+          echo "Checking critical packages..."
+          python -c "import rclpy; print('ROS2 rclpy: OK')"
+
+          echo "Running comprehensive verification script..."
+          python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
+
+          echo "Environment verification complete!"
+
+      - name: Pack conda environment
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Packing unilab environment with conda-pack..."
+          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+
+          echo "Pack file created:"
+          ls -lh unilab-env-${{ matrix.platform }}.tar.gz
+
+      - name: Prepare distribution package (scripts + environment)
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "=========================================="
+          echo "Creating distribution package..."
+          echo "Platform: ${{ matrix.platform }}"
+          echo "=========================================="
+          mkdir -p dist-package
+
+          # Copy packed environment
+          echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
+          cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/
+
+          # Copy installation script (platform specific)
+          if [ "${{ matrix.platform }}" == "win-64" ]; then
+            echo "Adding: install_unilab.bat"
+            cp scripts/install_unilab.bat dist-package/
+          else
+            echo "Adding: install_unilab.sh"
+            cp scripts/install_unilab.sh dist-package/
+            chmod +x dist-package/install_unilab.sh
+          fi
+
+          # Copy verification script
+          echo "Adding: verify_installation.py"
+          cp scripts/verify_installation.py dist-package/
+
+          # Create README
+          echo "Creating: README.txt"
+          cat > dist-package/README.txt << 'EOFREADME'
+          UniLabOS Conda-Pack Environment
+          ================================
+
+          This package contains a pre-built UniLabOS environment.
+
+          Installation Instructions:
+          --------------------------
+
+          Windows:
+            1. Extract unilab-pack-win-64.zip
+            2. Double-click install_unilab.bat (or run in cmd)
+            3. Follow the prompts
+
+          macOS/Linux:
+            1. Extract unilab-pack-{platform}.tar.gz
+            2. Run: bash install_unilab.sh
+            3. Follow the prompts
+
+          The installation script will:
+            - Automatically find your conda installation
+            - Extract the environment to conda's envs/unilab directory
+            - Run conda-unpack to finalize setup
+
+          After installation:
+            conda activate unilab
+            python verify_installation.py
+
+          Package Contents:
+            - install_unilab script (automatic installation)
+            - unilab-env-{platform}.tar.gz (packed environment)
+            - verify_installation.py (verification tool)
+            - README.txt (this file)
+
+          Branch: ${{ github.event.inputs.branch }}
+          Platform: ${{ matrix.platform }}
+          Python: 3.11.11
+          Build Date: $(date -u +"%Y-%m-%d %H:%M:%S UTC")
+          EOFREADME
+
+          echo ""
+          echo "Distribution package contents:"
+          ls -lh dist-package/
+          echo ""
+
+      - name: Create final distribution archive (ZIP/TAR.GZ)
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "=========================================="
+          if [ "${{ matrix.platform }}" == "win-64" ]; then
+            echo "Creating Windows ZIP archive..."
+            echo "Archive: unilab-pack-win-64.zip"
+            echo "Contents: install_unilab.bat + unilab-env-win-64.tar.gz + extras"
+            cd dist-package
+            powershell -Command "Compress-Archive -Path * -DestinationPath ../unilab-pack-${{ matrix.platform }}.zip -Force"
+            cd ..
+          else
+            echo "Creating Unix/Linux TAR.GZ archive..."
+            echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
+            echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
+            tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
+          fi
+          echo "=========================================="
+
+          echo ""
+          echo "Final package created:"
+          ls -lh unilab-pack-*
+          echo ""
+
+          if [ "${{ matrix.platform }}" == "win-64" ]; then
+            echo "Users can now:"
+            echo "  1. Download unilab-pack-win-64.zip"
+            echo "  2. Extract it"
+            echo "  3. Run install_unilab.bat"
+          else
+            echo "Users can now:"
+            echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
+            echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+            echo "  3. Run: bash install_unilab.sh"
+          fi
+          echo ""
+
+      - name: Upload distribution package
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: actions/upload-artifact@v4
+        with:
+          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          path: unilab-pack-*
+          retention-days: 90
+          if-no-files-found: error
+
+      - name: Display package info
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "=========================================="
+          echo "Build Summary"
+          echo "=========================================="
+          echo "Platform: ${{ matrix.platform }}"
+          echo "Branch: ${{ github.event.inputs.branch }}"
+          echo "Python version: 3.11.11"
+          echo ""
+          echo "Package contents:"
+          if [ "${{ matrix.platform }}" == "win-64" ]; then
+            echo "  - unilab-pack-${{ matrix.platform }}.zip"
+          else
+            echo "  - unilab-pack-${{ matrix.platform }}.tar.gz"
+          fi
+          echo "  - unilab-env-${{ matrix.platform }}.tar.gz (packed environment)"
+          echo "  - install_unilab script"
+          echo "  - verify_installation.py"
+          echo "  - README.txt"
+          echo ""
+          echo "Package size:"
+          ls -lh unilab-pack-* 2>/dev/null || ls -lh unilab-env-${{ matrix.platform }}.tar.gz
+          echo ""
+          echo "Download the artifact and run the install script!"
+          echo "=========================================="

scripts/install_unilab.bat

@@ -0,0 +1,136 @@
+@echo off
+setlocal enabledelayedexpansion
+
+echo ================================================
+echo UniLabOS Environment Installation Script
+echo ================================================
+echo.
+
+REM Get the directory where this script is located
+set "SCRIPT_DIR=%~dp0"
+cd /d "%SCRIPT_DIR%"
+
+REM Find conda installation using 'where conda'
+echo Searching for conda installation...
+for /f "tokens=*" %%i in ('where conda 2^>nul') do (
+    set "CONDA_PATH=%%i"
+    goto :found_conda
+)
+
+echo ERROR: Could not find conda installation!
+echo Please make sure conda/mamba is installed and in your PATH.
+echo.
+pause
+exit /b 1
+
+:found_conda
+REM Extract base directory from conda path
+REM Path looks like: C:\Users\10230\miniforge3\Library\bin\conda.bat
+REM or: C:\Users\10230\miniforge3\Scripts\conda.exe
+for %%i in ("%CONDA_PATH%") do set "CONDA_FILE=%%~nxi"
+for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
+
+REM Go up two levels to get base directory
+for %%i in ("%CONDA_BASE%..") do set "CONDA_BASE=%%~fi"
+if "%CONDA_FILE%"=="conda.bat" (
+    for %%i in ("%CONDA_BASE%..") do set "CONDA_BASE=%%~fi"
+)
+
+echo Found conda at: %CONDA_BASE%
+echo.
+
+REM Set target environment path
+set "ENV_NAME=unilab"
+set "ENV_PATH=%CONDA_BASE%\envs\%ENV_NAME%"
+
+REM Check if environment already exists
+if exist "%ENV_PATH%" (
+    echo WARNING: Environment '%ENV_NAME%' already exists at %ENV_PATH%
+    echo.
+    set /p "OVERWRITE=Do you want to overwrite it? (y/n): "
+    if /i not "!OVERWRITE!"=="y" (
+        echo Installation cancelled.
+        pause
+        exit /b 0
+    )
+    echo Removing existing environment...
+    rmdir /s /q "%ENV_PATH%"
+)
+
+REM Find the packed environment file
+set "PACK_FILE="
+for %%f in (unilab-env*.tar.gz) do (
+    set "PACK_FILE=%%f"
+    goto :found_pack
+)
+
+:found_pack
+if "%PACK_FILE%"=="" (
+    echo ERROR: Could not find unilab-env*.tar.gz file!
+    echo Please make sure the packed environment file is in the same directory as this script.
+    echo.
+    pause
+    exit /b 1
+)
+
+echo Found packed environment: %PACK_FILE%
+echo.
+
+REM Extract the packed environment
+echo Extracting environment to %ENV_PATH%...
+mkdir "%ENV_PATH%"
+
+REM Extract using tar (available in Windows 10+)
+tar -xzf "%PACK_FILE%" -C "%ENV_PATH%"
+if errorlevel 1 (
+    echo ERROR: Failed to extract environment!
+    echo Make sure you have Windows 10 or later with tar support.
+    pause
+    exit /b 1
+)
+
+echo.
+echo Unpacking conda environment...
+echo Changing to environment directory: %ENV_PATH%
+cd /d "%ENV_PATH%"
+
+REM Run conda-unpack from the environment directory
+if exist "Scripts\conda-unpack.exe" (
+    echo Running: .\Scripts\conda-unpack.exe
+    .\Scripts\conda-unpack.exe
+) else if exist "Scripts\activate.bat" (
+    echo Running: .\Scripts\activate.bat followed by conda-unpack
+    call .\Scripts\activate.bat
+    conda-unpack
+) else (
+    echo ERROR: Could not find Scripts\conda-unpack.exe or Scripts\activate.bat!
+    echo Current directory: %CD%
+    echo Expected location: %ENV_PATH%\Scripts\
+    pause
+    exit /b 1
+)
+
+if errorlevel 1 (
+    echo ERROR: conda-unpack failed!
+    pause
+    exit /b 1
+)
+
+echo.
+echo ================================================
+echo Installation completed successfully!
+echo ================================================
+echo.
+echo To activate the environment, run:
+echo   conda activate %ENV_NAME%
+echo.
+echo or
+echo.
+echo   call %ENV_PATH%\Scripts\activate.bat
+echo.
+echo You can verify the installation by running:
+echo   cd /d "%SCRIPT_DIR%"
+echo   python verify_installation.py
+echo.
+pause
+

scripts/install_unilab.sh

@@ -0,0 +1,115 @@
+#!/bin/bash
+set -e
+
+echo "================================================"
+echo "UniLabOS Environment Installation Script"
+echo "================================================"
+echo ""
+
+# Get the directory where this script is located
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+cd "$SCRIPT_DIR"
+
+# Find conda installation
+echo "Searching for conda installation..."
+CONDA_BASE=""
+
+# Try to find conda in PATH
+if command -v conda &> /dev/null; then
+    CONDA_BASE=$(conda info --base)
+    echo "Found conda at: $CONDA_BASE"
+elif [ -d "$HOME/miniforge3" ]; then
+    CONDA_BASE="$HOME/miniforge3"
+    echo "Found conda at: $CONDA_BASE"
+elif [ -d "$HOME/miniconda3" ]; then
+    CONDA_BASE="$HOME/miniconda3"
+    echo "Found conda at: $CONDA_BASE"
+elif [ -d "$HOME/anaconda3" ]; then
+    CONDA_BASE="$HOME/anaconda3"
+    echo "Found conda at: $CONDA_BASE"
+elif [ -d "/opt/conda" ]; then
+    CONDA_BASE="/opt/conda"
+    echo "Found conda at: $CONDA_BASE"
+else
+    echo "ERROR: Could not find conda installation!"
+    echo "Please make sure conda/mamba is installed."
+    exit 1
+fi
+
+echo ""
+
+# Initialize conda for this shell
+if [ -f "$CONDA_BASE/etc/profile.d/conda.sh" ]; then
+    source "$CONDA_BASE/etc/profile.d/conda.sh"
+fi
+
+# Set target environment path
+ENV_NAME="unilab"
+ENV_PATH="$CONDA_BASE/envs/$ENV_NAME"
+
+# Check if environment already exists
+if [ -d "$ENV_PATH" ]; then
+    echo "WARNING: Environment '$ENV_NAME' already exists at $ENV_PATH"
+    read -p "Do you want to overwrite it? (y/n): " OVERWRITE
+    if [ "$OVERWRITE" != "y" ] && [ "$OVERWRITE" != "Y" ]; then
+        echo "Installation cancelled."
+        exit 0
+    fi
+    echo "Removing existing environment..."
+    rm -rf "$ENV_PATH"
+fi
+
+# Find the packed environment file
+PACK_FILE=$(ls unilab-env*.tar.gz 2>/dev/null | head -n 1)
+
+if [ -z "$PACK_FILE" ]; then
+    echo "ERROR: Could not find unilab-env*.tar.gz file!"
+    echo "Please make sure the packed environment file is in the same directory as this script."
+    exit 1
+fi
+
+echo "Found packed environment: $PACK_FILE"
+echo ""
+
+# Extract the packed environment
+echo "Extracting environment to $ENV_PATH..."
+mkdir -p "$ENV_PATH"
+tar -xzf "$PACK_FILE" -C "$ENV_PATH"
+
+echo ""
+echo "Unpacking conda environment..."
+echo "Changing to environment directory: $ENV_PATH"
+cd "$ENV_PATH"
+
+# Run conda-unpack from the environment directory
+if [ -f "bin/conda-unpack" ]; then
+    echo "Running: ./bin/conda-unpack"
+    ./bin/conda-unpack
+elif [ -f "bin/activate" ]; then
+    echo "Running: source bin/activate followed by conda-unpack"
+    source bin/activate
+    conda-unpack
+else
+    echo "ERROR: Could not find bin/conda-unpack or bin/activate!"
+    echo "Current directory: $(pwd)"
+    echo "Expected location: $ENV_PATH/bin/"
+    exit 1
+fi
+
+echo ""
+echo "================================================"
+echo "Installation completed successfully!"
+echo "================================================"
+echo ""
+echo "To activate the environment, run:"
+echo "  conda activate $ENV_NAME"
+echo ""
+echo "or"
+echo ""
+echo "  source $ENV_PATH/bin/activate"
+echo ""
+echo "You can verify the installation by running:"
+echo "  cd $SCRIPT_DIR"
+echo "  python verify_installation.py"
+echo ""
+

scripts/verify_installation.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+"""
+UniLabOS Installation Verification Script
+=========================================
+
+This script verifies that UniLabOS and its dependencies are correctly installed.
+Run this script after installing the conda-pack environment to ensure everything works.
+
+Usage:
+    python verify_installation.py
+
+    Or in the conda environment:
+    conda activate unilab
+    python verify_installation.py
+"""
+
+import sys
+import importlib
+
+
+def check_package(package_name: str, display_name: str = None) -> bool:
+    """
+    Check if a package can be imported.
+
+    Args:
+        package_name: Name of the package to import
+        display_name: Display name (defaults to package_name)
+
+    Returns:
+        bool: True if package is available
+    """
+    if display_name is None:
+        display_name = package_name
+
+    try:
+        importlib.import_module(package_name)
+        print(f"  ✓ {display_name}")
+        return True
+    except ImportError:
+        print(f"  ✗ {display_name}")
+        return False
+
+
+def check_python_version() -> bool:
+    """Check Python version."""
+    version = sys.version_info
+    version_str = f"{version.major}.{version.minor}.{version.micro}"
+
+    if version.major == 3 and version.minor >= 11:
+        print(f"  ✓ Python {version_str}")
+        return True
+    else:
+        print(f"  ✗ Python {version_str} (requires Python 3.8+)")
+        return False
+
+
+def main():
+    """Run all verification checks."""
+    print("=" * 60)
+    print("UniLabOS Installation Verification")
+    print("=" * 60)
+    print()
+
+    all_passed = True
+
+    # Check Python version
+    print("Checking Python version...")
+    if not check_python_version():
+        all_passed = False
+    print()
+
+    # Check ROS2 rclpy
+    print("Checking ROS2 rclpy...")
+    if not check_package("rclpy", "ROS2 rclpy"):
+        all_passed = False
+    print()
+
+    # Run environment checker from unilabos
+    print("Checking UniLabOS and dependencies...")
+    try:
+        from unilabos.utils.environment_check import EnvironmentChecker
+
+        print("  ✓ UniLabOS installed")
+
+        checker = EnvironmentChecker()
+        env_check_passed = checker.check_all_packages()
+
+        if env_check_passed:
+            print("  ✓ All required packages available")
+        else:
+            print(f"  ✗ Missing {len(checker.missing_packages)} package(s):")
+            for import_name, _ in checker.missing_packages:
+                print(f"    - {import_name}")
+            all_passed = False
+    except ImportError:
+        print("  ✗ UniLabOS not installed")
+        all_passed = False
+    except Exception as e:
+        print(f"  ✗ Environment check failed: {str(e)}")
+        all_passed = False
+    print()
+
+    # Summary
+    print("=" * 60)
+    print("Verification Summary")
+    print("=" * 60)
+
+    if all_passed:
+        print("\n✓ All checks passed! Your UniLabOS installation is ready.")
+        print("\nNext steps:")
+        print("  1. Review the documentation: docs/user_guide/launch.md")
+        print("  2. Try the examples: docs/boot_examples/")
+        print("  3. Configure your devices: unilabos_data/startup_config.json")
+        return 0
+    else:
+        print("\n✗ Some checks failed. Please review the errors above.")
+        print("\nTroubleshooting:")
+        print("  1. Ensure you're in the correct conda environment: conda activate unilab")
+        print("  2. Check the installation documentation: docs/user_guide/installation.md")
+        print("  3. Try reinstalling: pip install -e .")
+        return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())