Add Mac OSX support (#969)

tesseract-robotics · Dec 13, 2023 · ff7d2ac · ff7d2ac
1 parent ff72c05
commit ff7d2ac
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diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml
@@ -0,0 +1,91 @@
+name: Mac OSX
+
+on:
+  push:
+    branches:
+      - master
+      - 'dev**'
+  pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/mac.yml'
+      - '**.repos'
+  schedule:
+    - cron: '0 5 * * *'
+  release:
+    types:
+      - released
+
+env:
+  VCPKG_PKGS: >- 
+    boost-dll boost-program-options
+    boost-serialization boost-filesystem
+    tinyxml2 console-bridge assimp
+    urdfdom octomap orocos-kdl pcl
+    gtest benchmark flann jsoncpp
+    yaml-cpp eigen3
+    openblas
+    fcl ompl taskflow
+    bullet3[multithreading,double-precision,rtti]
+    ccd[double-precision] gperftools
+
+jobs:
+  build-macos:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        path: ws/src/tesseract
+    - uses: actions/setup-python@v4
+      id: setup-python
+      with:
+        python-version: '3.12'
+    - name: brew
+      run: |
+        brew install libomp cmake automake autoconf libtool gcc ninja
+    - name: vcpkg build
+      uses: johnwason/vcpkg-action@v5
+      with:
+        pkgs: >-
+          ${{ env.VCPKG_PKGS }}
+        triplet: x64-osx-dynamic-release
+        extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/ws/src/tesseract/.github/workflows/vcpkg_triplets
+        token: ${{ github.token }}
+        cache-key: osx-x64-vcpkg
+        revision: master
+    - name: pip3
+      run: |
+        python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool
+    - name: vcs import
+      working-directory: ws/src
+      run: vcs import --input tesseract/.github/workflows/windows_dependencies.repos
+    - name: colcon build
+      working-directory: ws
+      run: |
+        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib
+        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
+
+        colcon build --merge-install \
+            --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \
+            --event-handlers console_cohesion+ \
+            --cmake-force-configure \
+            --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \
+            -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \
+            -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF \
+            -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \
+            -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \
+            -DOpenMP_CXX_INCLUDE_DIR=/usr/local/opt/libomp/include \
+            -DOpenMP_C_INCLUDE_DIR=/usr/local/opt/libomp/include \
+            -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \
+            -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \
+            -DOpenMP_libomp_LIBRARY=/usr/local/opt/libomp/lib/libomp.dylib
+    - name: colcon test
+      working-directory: ws
+      run: |
+        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib
+        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
+
+        colcon test --merge-install \
+            --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \
+            --event-handlers console_cohesion+
+    
diff --git a/.github/workflows/vcpkg_triplets/x64-osx-dynamic-release.cmake b/.github/workflows/vcpkg_triplets/x64-osx-dynamic-release.cmake
@@ -0,0 +1,9 @@
+set(VCPKG_TARGET_ARCHITECTURE x64)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+
+set(VCPKG_CMAKE_SYSTEM_NAME Darwin)
+set(VCPKG_OSX_ARCHITECTURES x86_64)
+
+set(VCPKG_BUILD_TYPE release)
+set(VCPKG_OSX_DEPLOYMENT_TARGET 12.0)
diff --git a/tesseract_collision/bullet/src/create_convex_hull.cpp b/tesseract_collision/bullet/src/create_convex_hull.cpp
@@ -28,6 +28,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <console_bridge/console.h>
 #include <boost/program_options.hpp>
 #include <iostream>
+#include <fstream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_collision/core/common.h>

diff --git a/tesseract_common/include/tesseract_common/class_loader.hpp b/tesseract_common/include/tesseract_common/class_loader.hpp
@@ -186,7 +186,7 @@ std::vector<std::string> ClassLoader::getAvailableSections(const std::string& li
     if (include_hidden)
       return false;
 
-    return (section.substr(0, 1) == ".");
+    return (section.substr(0, 1) == ".") || (section.substr(0, 1) == "_");
   };
 
   sections.erase(std::remove_if(sections.begin(), sections.end(), search_fn), sections.end());

diff --git a/tesseract_common/include/tesseract_common/resource_locator.h b/tesseract_common/include/tesseract_common/resource_locator.h
@@ -32,6 +32,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <functional>
 #include <memory>
 #include <string>
+#include <unordered_map>
+#include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_common

diff --git a/tesseract_common/test/plugin_loader_unit.cpp b/tesseract_common/test/plugin_loader_unit.cpp
@@ -80,7 +80,7 @@ TEST(TesseractClassLoaderUnit, LoadTestPlugin)  // NOLINT
   }
 
 // For some reason on Ubuntu 18.04 it does not search the current directory when only the library name is provided
-#if BOOST_VERSION > 106800
+#if BOOST_VERSION > 106800 && !__APPLE__
   {
     EXPECT_TRUE(ClassLoader::isClassAvailable(symbol_name, lib_name));
     auto plugin = ClassLoader::createSharedInstance<TestPluginBase>(symbol_name, lib_name);
@@ -147,7 +147,7 @@ TEST(TesseractPluginLoaderUnit, LoadTestPlugin)  // NOLINT
   }
 
 // For some reason on Ubuntu 18.04 it does not search the current directory when only the library name is provided
-#if BOOST_VERSION > 106800
+#if BOOST_VERSION > 106800 && !__APPLE__
   {
     PluginLoader plugin_loader;
     plugin_loader.search_libraries.insert("tesseract_common_test_plugin_multiply");

diff --git a/tesseract_common/test/tesseract_common_serialization_unit.cpp b/tesseract_common/test/tesseract_common_serialization_unit.cpp
@@ -427,7 +427,7 @@ TEST(TesseractCommonSerializeUnit, VectorXi)  // NOLINT
 TEST(TesseractCommonSerializeUnit, Vector3d)  // NOLINT
 {
   {  // Serialize empty object
-    Eigen::Vector3d ev;
+    Eigen::Vector3d ev = Eigen::Vector3d::Zero();
     {
       std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_3d_boost.xml");
       boost::archive::xml_oarchive oa(os);
@@ -497,7 +497,7 @@ TEST(TesseractCommonSerializeUnit, Vector3d)  // NOLINT
 TEST(TesseractCommonSerializeUnit, Vector4d)  // NOLINT
 {
   {  // Serialize empty object
-    Eigen::Vector4d ev;
+    Eigen::Vector4d ev = Eigen::Vector4d::Zero();
     {
       std::ofstream os(tesseract_common::getTempPath() + "eigen_vector_4d_boost.xml");
       boost::archive::xml_oarchive oa(os);

diff --git a/tesseract_srdf/src/group_states.cpp b/tesseract_srdf/src/group_states.cpp
@@ -57,8 +57,8 @@ GroupJointStates parseGroupStates(const tesseract_scene_graph::SceneGraph& scene
 
     bool found = std::find(group_names.begin(), group_names.end(), group_name) != group_names.end();
     if (!found)
-      std::throw_with_nested(std::runtime_error(
-          tesseract_common::strFormat("GroupStates: State '%s' group '%s' does not exist!", state_name, group_name)));
+      std::throw_with_nested(std::runtime_error(tesseract_common::strFormat(
+          "GroupStates: State '%s' group '%s' does not exist!", state_name.c_str(), group_name.c_str())));
 
     GroupsJointState joint_state;
 
@@ -73,33 +73,35 @@ GroupJointStates parseGroupStates(const tesseract_scene_graph::SceneGraph& scene
         std::throw_with_nested(std::runtime_error(tesseract_common::strFormat("GroupStates: Missing or failed to parse "
                                                                               "attribute 'name' from joint element for "
                                                                               "state '%s' in group '%s'!",
-                                                                              state_name,
-                                                                              group_name)));
+                                                                              state_name.c_str(),
+                                                                              group_name.c_str())));
 
       if (!scene_graph.getJoint(joint_name))
         std::throw_with_nested(std::runtime_error(tesseract_common::strFormat("GroupStates: State '%s' for group '%s' "
                                                                               "joint name '%s' is not know to the "
                                                                               "URDF!",
-                                                                              state_name,
-                                                                              group_name,
-                                                                              joint_name)));
+                                                                              state_name.c_str(),
+                                                                              group_name.c_str(),
+                                                                              joint_name.c_str())));
 
       status = tesseract_common::QueryDoubleAttributeRequired(joint_xml, "value", joint_value);
       if (status != tinyxml2::XML_SUCCESS)
         std::throw_with_nested(std::runtime_error(tesseract_common::strFormat("GroupStates: State '%s' for group '%s' "
                                                                               "joint element with joint name '%s' is "
                                                                               "missing or failed to parse attribute "
                                                                               "'value'!",
-                                                                              state_name,
-                                                                              group_name,
-                                                                              joint_name)));
+                                                                              state_name.c_str(),
+                                                                              group_name.c_str(),
+                                                                              joint_name.c_str())));
 
       joint_state[joint_name] = joint_value;
     }
 
     if (joint_state.empty())
-      std::throw_with_nested(std::runtime_error(tesseract_common::strFormat(
-          "GroupStates: State '%s' for group '%s' is missing joint elements!", state_name, group_name)));
+      std::throw_with_nested(std::runtime_error(tesseract_common::strFormat("GroupStates: State '%s' for group '%s' is "
+                                                                            "missing joint elements!",
+                                                                            state_name.c_str(),
+                                                                            group_name.c_str())));
 
     auto gs = group_states.find(group_name);
     if (gs == group_states.end())

diff --git a/tesseract_srdf/src/group_tool_center_points.cpp b/tesseract_srdf/src/group_tool_center_points.cpp
@@ -68,8 +68,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
 
       if (xml_element->Attribute("name") == nullptr || xml_element->Attribute("xyz") == nullptr ||
           (xml_element->Attribute("rpy") == nullptr && xml_element->Attribute("wxyz") == nullptr))
-        std::throw_with_nested(
-            std::runtime_error(strFormat("GroupTCPs: Invalid tcp definition for group '%s'!", group_name_string)));
+        std::throw_with_nested(std::runtime_error(
+            strFormat("GroupTCPs: Invalid tcp definition for group '%s'!", group_name_string.c_str())));
 
       std::string tcp_name_string;
       tinyxml2::XMLError status = tesseract_common::QueryStringAttributeRequired(xml_element, "name", tcp_name_string);
@@ -85,8 +85,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
       if (status != tinyxml2::XML_NO_ATTRIBUTE && status != tinyxml2::XML_SUCCESS)
         std::throw_with_nested(std::runtime_error(strFormat("GroupTCPS: TCP '%s' for group '%s' failed to parse "
                                                             "attribute 'xyz'!",
-                                                            tcp_name_string,
-                                                            group_name_string)));
+                                                            tcp_name_string.c_str(),
+                                                            group_name_string.c_str())));
       // LCOV_EXCL_STOP
 
       if (status != tinyxml2::XML_NO_ATTRIBUTE)
@@ -96,8 +96,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
         if (tokens.size() != 3 || !tesseract_common::isNumeric(tokens))
           std::throw_with_nested(std::runtime_error(strFormat("GroupTCPS: TCP '%s' for group '%s' failed to parse "
                                                               "attribute 'xyz'!",
-                                                              tcp_name_string,
-                                                              group_name_string)));
+                                                              tcp_name_string.c_str(),
+                                                              group_name_string.c_str())));
 
         double x{ 0 }, y{ 0 }, z{ 0 };
         // No need to check return values because the tokens are verified above
@@ -115,8 +115,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
         if (status != tinyxml2::XML_NO_ATTRIBUTE && status != tinyxml2::XML_SUCCESS)
           std::throw_with_nested(std::runtime_error(strFormat("GroupTCPS: TCP '%s' for group '%s' failed to parse "
                                                               "attribute 'rpy'!",
-                                                              tcp_name_string,
-                                                              group_name_string)));
+                                                              tcp_name_string.c_str(),
+                                                              group_name_string.c_str())));
         // LCOV_EXCL_STOP
 
         if (status != tinyxml2::XML_NO_ATTRIBUTE)
@@ -126,8 +126,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
           if (tokens.size() != 3 || !tesseract_common::isNumeric(tokens))
             std::throw_with_nested(std::runtime_error(strFormat("GroupTCPS: TCP '%s' for group '%s' failed to parse "
                                                                 "attribute 'rpy'!",
-                                                                tcp_name_string,
-                                                                group_name_string)));
+                                                                tcp_name_string.c_str(),
+                                                                group_name_string.c_str())));
 
           double r{ 0 }, p{ 0 }, y{ 0 };
           // No need to check return values because the tokens are verified above
@@ -151,8 +151,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
         if (status != tinyxml2::XML_NO_ATTRIBUTE && status != tinyxml2::XML_SUCCESS)
           std::throw_with_nested(std::runtime_error(strFormat("GroupTCPS: TCP '%s' for group '%s' failed to parse "
                                                               "attribute 'wxyz'!",
-                                                              tcp_name_string,
-                                                              group_name_string)));
+                                                              tcp_name_string.c_str(),
+                                                              group_name_string.c_str())));
         // LCOV_EXCL_STOP
 
         if (status != tinyxml2::XML_NO_ATTRIBUTE)
@@ -162,8 +162,8 @@ GroupTCPs parseGroupTCPs(const tesseract_scene_graph::SceneGraph& /*scene_graph*
           if (tokens.size() != 4 || !tesseract_common::isNumeric(tokens))
             std::throw_with_nested(std::runtime_error(strFormat("GroupTCPS: TCP '%s' for group '%s' failed to parse "
                                                                 "attribute 'wxyz'!",
-                                                                tcp_name_string,
-                                                                group_name_string)));
+                                                                tcp_name_string.c_str(),
+                                                                group_name_string.c_str())));
 
           double qw{ 0 }, qx{ 0 }, qy{ 0 }, qz{ 0 };
           // No need to check return values because the tokens are verified above