Jan 2024 rebuild

.cirun.yml

@@ -7,3 +7,4 @@ runners:
     preemptible: false
     labels:
        - cirun-linux-aarch64
+

.github/testpr_environment.yml

@@ -3,11 +3,13 @@ channels:
   - robostack-staging
   - conda-forge
 dependencies:
-  - python 3.10.*
+  - python 3.11.*
   - pip
   - boa
+  - conda-build <3.28
   - rospkg
   - catkin_pkg >=0.4.16
-  - ruamel.yaml >=0.16.6
+  - ruamel.yaml >=0.16.6,<0.18
   - rosdistro >=0.8.0
   - empy >=3.3.4
+  - networkx

.github/workflows/main.yml

@@ -9,13 +9,13 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       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@v4
+    - uses: actions/setup-python@v5
       with:
-        python-version: '3.10' # 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

.github/workflows/testpr.yml

@@ -37,7 +37,7 @@ 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
@@ -66,7 +66,7 @@ jobs:
         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" boa
+        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: |

.scripts/build_linux.sh

@@ -35,7 +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 boa
+mamba install --yes --quiet pip conda-build=3.27 anaconda-client mamba boa
 
 # setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
 # export PATH="$HOME/miniconda/bin:$PATH"

.scripts/build_osx.sh

@@ -18,7 +18,7 @@ conda activate base
 conda config --set remote_max_retries 5
 
 echo -e "\n\nInstalling conda-forge-ci-setup=3 and conda-build."
-mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build pip boa quetz-client -c conda-forge
+mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build=3.27 pip boa quetz-client -c conda-forge
 
 set -e
 

.scripts/build_osx_arm64.sh

@@ -6,7 +6,7 @@ export FEEDSTOCK_ROOT=`pwd`
 
 echo -e "\n\nInstalling a fresh version of Miniforge."
 MINIFORGE_URL="https://github.com/conda-forge/miniforge/releases/latest/download"
-MINIFORGE_FILE="Mambaforge-MacOSX-x86_64.sh"
+MINIFORGE_FILE="Mambaforge-MacOSX-arm64.sh"
 curl -L -O --silent "${MINIFORGE_URL}/${MINIFORGE_FILE}"
 /bin/bash $MINIFORGE_FILE -b
 
@@ -18,7 +18,7 @@ conda activate base
 conda config --set remote_max_retries 5
 
 echo -e "\n\nInstalling conda-forge-ci-setup=3 and conda-build."
-mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build pip boa quetz-client -c conda-forge
+mamba install -n base --quiet --yes conda-forge-ci-setup=3 conda-build=3.27 pip boa quetz-client -c conda-forge
 
 set -e
 

.scripts/build_win.bat

@@ -29,7 +29,7 @@ set "FEEDSTOCK_ROOT=%cd%"
 mkdir %CONDA_BLD_PATH%
 call conda index %CONDA_BLD_PATH%
 
-call conda config --remove channels defaults
+rem call conda config --remove channels defaults
 call conda config --add channels conda-forge
 call conda config --add channels robostack-staging
 call conda config --add channels %CONDA_BLD_PATH%
@@ -40,9 +40,6 @@ reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t
 
 :: conda remove --force m2-git
 
-call mamba install boa
-if errorlevel 1 exit 1
-
 for %%X in (%CURRENT_RECIPES%) do (
     echo "BUILDING RECIPE %%X"
     cd %FEEDSTOCK_ROOT%\recipes\%%X\

additional_recipes/ros2-distro-mutex/recipe.yaml

@@ -1,12 +1,13 @@
 package:
   name: ros2-distro-mutex
-  version: 0.3.0
+  version: 0.5.0
 
 build:
   number: 0
   string: humble
   run_exports:
-    - "{{ pin_subpackage('ros2-distro-mutex', max_pin='x.x') }}"
+    weak:
+      - "{{ pin_subpackage('ros2-distro-mutex', max_pin='x.x') }}"
 
 requirements:
   # NOTE:
@@ -29,11 +30,11 @@ 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
+    - boost-cpp 1.82
+    - libboost-devel 1.82
+    - pcl 1.13.1
     - gazebo 11
     - libpqxx 6
-    - setuptools 61.0.0
 
 about:
   home: https://github.com/robostack/ros-humble
@@ -45,3 +46,4 @@ about:
 extra:
   recipe-maintainers:
     - ros-forge
+

check_patches_clean_apply.py

@@ -0,0 +1,48 @@
+# Useful script when checking whether patches apply cleanly.
+# First, run `vinca` (without `-m` flag) to generate a recipe.yaml.
+# Then, run this script to generate a new pseudo list that only contains sources that have patches applied.
+# This you can then run through `boa` which will try and apply the patches.
+
+import yaml
+import shutil
+import os
+
+SCRIPT_DIR = './'
+
+shutil.move(SCRIPT_DIR + '/recipe.yaml', SCRIPT_DIR + '/recipe.yaml.bak')
+
+# Load the YAML file
+with open('recipe.yaml.bak', 'r') as file:
+    data = yaml.safe_load(file)
+
+prepend_data = {
+    'package': {
+        'name': 'ros-dummy',
+        'version': '2024.01.17'
+    }
+}
+
+append_data = {
+    'build': {
+        'number': 0
+    },
+    'about': {
+        'home': 'https://www.ros.org/',
+        'license': 'BSD-3-Clause',
+        'summary': 'Robot Operating System'
+    },
+    'extra': {
+        'recipe-maintainers': [
+            'ros-forge'
+        ]
+    }
+}
+
+# Filter out entries without 'patches'
+filtered_data = [entry for entry in data['source'] if 'patches' in entry]
+
+final_data = {**prepend_data, 'source': filtered_data, **append_data}
+
+# Write the filtered data back to a YAML file
+with open('recipe.yaml', 'w') as file:
+    yaml.dump(final_data, file, sort_keys=False)

conda_build_config.yaml

@@ -1,30 +1,23 @@
-assimp:
-  - 5.2.5
-hdf5:
-  - 1.12.2
 gazebo:
   - '11'
 libpqxx:
   - 6
 numpy:
-  - 1.21
-pcl:
-  - 1.12.1
+  - 1.23
 ogre:
   - 1.12.*
-qt:
-  - 5.15
-qt_main:
-  - 5.15
+setuptools:
+  - 69
 
 cdt_name:  # [linux]
   - cos7   # [linux]
 
 python:
-  - 3.10.* *_cpython
+  - 3.11.* *_cpython
 python_impl:
   - cpython
 
+# Project overrides
 macos_min_version:             # [osx and x86_64]
   - 10.14                      # [osx and x86_64]
 macos_machine:                 # [osx]

env/robostackenv.yaml

@@ -1,10 +1,9 @@
 name: robostackenv
 channels:
-- robostack-humble
 - robostack-staging
 - conda-forge
 dependencies:
-- python=3.10
+- python=3.11
 - conda-build
 - anaconda-client
 - mamba

patch/dependencies.yaml

@@ -1,9 +1,11 @@
+ament_package:
+  add_host: ['importlib_resources']
 foxglove_bridge:
   add_host: ["ros-humble-ament-cmake"]
 ros_ign_interfaces:
   add_host: ["ros-humble-rcl-interfaces"]
 cartographer_ros:
-  add_host: ["cartographer 2.*"]
+  add_host: ["cartographer 2.*", "libboost-devel"]
 libyaml_vendor:
   add_host: ["yaml-cpp", "yaml"]
   add_run: ["yaml-cpp", "yaml"]
@@ -34,9 +36,9 @@ rviz_ogre_vendor:
   add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml"]
   add_run: ["assimp"]
 pcl_conversions:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["REQUIRE_OPENGL", "libboost-devel"]
 pcl_ros:
-  add_host: ["REQUIRE_OPENGL"]
+  add_host: ["REQUIRE_OPENGL", "libboost-devel"]
 rviz_rendering:
   add_host: ["glew"]
 behaviortree_cpp_v3:
@@ -156,3 +158,5 @@ slam_toolbox:
 vision_msgs_rviz_plugins:
   add_build: [{sel(build_platform != target_platform): qt-main}]
   add_host: ["REQUIRE_OPENGL"]
+velodyne_pointcloud:
+  add_host: ["libboost-devel"]

patch/ros-humble-ament-package.patch

@@ -20,3 +20,68 @@ index 292e518..0000000
 -  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
 -fi
 -unset _IS_DARWIN
+diff --git a/ament_package/templates.py b/ament_package/templates.py
+index 885b972..463453c 100644
+--- a/ament_package/templates.py
++++ b/ament_package/templates.py
+@@ -17,15 +17,21 @@ import re
+
+ try:
+     import importlib.resources as importlib_resources
+-except ModuleNotFoundError:
++    assert importlib_resources.files, "importlib reousrces too old to support files, please install importlib_resources"
++except (ModuleNotFoundError, AttributeError):
+     import importlib_resources
+
+ IS_WINDOWS = os.name == 'nt'
+
++# importlib
++# DeprecationWarning: path is deprecated. Use files() instead.
++# Refer to https://importlib-resources.readthedocs.io/en/latest/using.html#migrating-from-legacy 
++# for migration advice.
+
+ def get_environment_hook_template_path(name):
+-    with importlib_resources.path('ament_package.template.environment_hook', name) as path:
+-        return str(path)
++    # with importlib_resources.path('ament_package.template.environment_hook', name) as path:
++    path =  importlib_resources.files('ament_package.template.environment_hook').joinpath(name)
++    return str(path)
+
+
+ def get_package_level_template_names(all_platforms=False):
+@@ -41,8 +47,9 @@ def get_package_level_template_names(all_platforms=False):
+
+
+ def get_package_level_template_path(name):
+-    with importlib_resources.path('ament_package.template.package_level', name) as path:
+-        return str(path)
++    # with importlib_resources.path('ament_package.template.package_level', name) as path:
++    path = importlib_resources.files('ament_package.template.package_level').joinpath(name)
++    return str(path)
+
+
+ def get_prefix_level_template_names(*, all_platforms=False):
+@@ -61,8 +68,9 @@ def get_prefix_level_template_names(*, all_platforms=False):
+
+
+ def get_prefix_level_template_path(name):
+-    with importlib_resources.path('ament_package.template.prefix_level', name) as path:
+-        return str(path)
++    # with importlib_resources.path('ament_package.template.prefix_level', name) as path:
++    path = importlib_resources.files('ament_package.template.prefix_level').joinpath(name)
++    return str(path)
+
+
+ def get_isolated_prefix_level_template_names(*, all_platforms=False):
+@@ -81,8 +89,9 @@ def get_isolated_prefix_level_template_names(*, all_platforms=False):
+
+
+ def get_isolated_prefix_level_template_path(name):
+-    with importlib_resources.path('ament_package.template.isolated_prefix_level', name) as path:
+-        return str(path)
++    #with importlib_resources.path('ament_package.template.isolated_prefix_level', name) as path:
++    path = importlib_resources.files('ament_package.template.isolated_prefix_level').joinpath(name)
++    return str(path)
+
+
+ def configure_file(template_file, environment):

patch/ros-humble-apriltag-ros.patch

@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c906851..b48600f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,8 +5,10 @@ project(apriltag_ros)
+ set(CMAKE_CXX_STANDARD 14)
+
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+-  add_compile_options(-Werror -Wall -Wextra -Wpedantic)
+-  add_link_options("-Wl,-z,relro,-z,now,-z,defs")
++  if(NOT APPLE)
++    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
++    add_link_options("-Wl,-z,relro,-z,now,-z,defs")
++  endif()
+ endif()
+
+ option(ASAN "use AddressSanitizer to detect memory issues" OFF)

patch/ros-humble-bno055.patch

@@ -0,0 +1,13 @@
+diff --git a/setup.py b/setup.py
+index 552531f..0774755 100644
+--- a/setup.py
++++ b/setup.py
+@@ -7,7 +7,7 @@ package_name = 'bno055'
+
+ setup(
+     name=package_name,
+-    version='0.4.1.',
++    version='0.4.1',
+     # find sub-packages automatically in order to allow sub-modules, etc. to be imported:
+     # packages=[package_name],
+     packages=find_packages(exclude=['test']),