December 2024 update #81
Workflow file for this run
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name: Python Wheels | |
on: | |
push: | |
branches: | |
- master | |
- 'dev**' | |
pull_request: | |
release: | |
types: | |
- created | |
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-ubuntu: | |
runs-on: ${{ matrix.config.runs_on }} | |
container: ${{ matrix.config.container }} | |
strategy: | |
fail-fast: false | |
matrix: | |
config: | |
- os: ubuntu-20.04 | |
runs_on: ubuntu-20.04 | |
container: ubuntu:20.04 | |
py_platform: manylinux_2_31_x86_64 | |
python_version: "3.7" | |
docs: false | |
docs_cmake: OFF | |
- os: ubuntu-20.04 | |
runs_on: ubuntu-20.04 | |
container: ubuntu:20.04 | |
py_platform: manylinux_2_31_x86_64 | |
python_version: "3.8" | |
docs: true | |
docs_cmake: ON | |
- os: ubuntu-20.04 | |
runs_on: ubuntu-20.04 | |
container: ubuntu:20.04 | |
py_platform: manylinux_2_31_x86_64 | |
python_version: "3.9" | |
docs: true | |
docs_cmake: ON | |
- os: ubuntu-20.04 | |
runs_on: ubuntu-20.04 | |
container: ubuntu:20.04 | |
py_platform: manylinux_2_31_x86_64 | |
python_version: "3.10" | |
docs: true | |
docs_cmake: ON | |
- os: ubuntu-20.04 | |
runs_on: ubuntu-20.04 | |
container: ubuntu:20.04 | |
py_platform: manylinux_2_31_x86_64 | |
python_version: "3.11.0" | |
docs: true | |
docs_cmake: ON | |
- os: ubuntu-20.04 | |
runs_on: ubuntu-20.04 | |
container: ubuntu:20.04 | |
py_platform: manylinux_2_31_x86_64 | |
python_version: "3.12.0" | |
docs: true | |
docs_cmake: ON | |
env: | |
DEBIAN_FRONTEND: noninteractive | |
steps: | |
- uses: actions/checkout@v2 | |
with: | |
path: ws/src/tesseract_python | |
- name: install sudo, tzdata, keyboard-configuration | |
shell: bash | |
run: | | |
echo -en "XKBMODEL=\"pc105\"\nXKBLAYOUT=\"us\"\nXKBVARIANT=\"\"\nXKBOPTIONS=\"\"\nBACKSPACE=\"guess\"\n" > /etc/default/keyboard | |
apt update | |
apt install sudo tzdata python3 keyboard-configuration -y -qq | |
ln -fs /usr/share/zoneinfo/America/New_York /etc/localtime | |
dpkg-reconfigure --frontend noninteractive tzdata | |
- name: apt | |
run: > | |
sudo apt-get install python3-pip libboost-all-dev | |
libeigen3-dev libtinyxml2-dev libconsole-bridge-dev libassimp-dev | |
liburdfdom-dev liboctomap-dev liborocos-kdl-dev libpcl-dev | |
libflann-dev libjsoncpp-dev libyaml-cpp-dev git cmake ninja-build | |
build-essential autoconf automake libtool bison libpcre2-dev libpcre3-dev | |
lcov libbullet-dev libbullet-extras-dev python3-venv curl -y -qq | |
- name: build-swig | |
uses: johnwason/swig-build-action@v1 | |
with: | |
cache-key: ${{ matrix.config.os }}-${{ matrix.config.python_version }} | |
version: "4.1.1" | |
- uses: actions/setup-python@v4 | |
id: setup-python | |
with: | |
python-version: '${{ matrix.config.python_version }}' | |
- name: pip | |
run: | | |
python -m pip install --upgrade pip | |
python -m pip install auditwheel wheel numpy setuptools colcon-common-extensions vcstool patchelf | |
- name: pip | |
if: matrix.config.docs == true | |
run: | | |
python -m pip install -r ws/src/tesseract_python/docs/requirements.txt | |
- name: vcs import | |
working-directory: ws/src | |
run: vcs import --input tesseract_python/dependencies_with_ext.rosinstall | |
- name: colcon build | |
working-directory: ws | |
run: > | |
colcon build --packages-up-to tesseract_python --merge-install | |
--cmake-force-configure | |
--packages-ignore bullet | |
--event-handlers console_cohesion+ | |
--cmake-args -DCMAKE_BUILD_TYPE=Release | |
-DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF | |
-DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" | |
-DTESSERACT_PYTHON_BUILD_WHEEL=ON | |
-DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }} | |
-DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON | |
-DTESSERACT_PYTHON_BUILD_DOCUMENTATION=${{ matrix.config.docs_cmake }} | |
- name: test | |
shell: bash | |
run: | | |
python3 -m venv venv | |
source venv/bin/activate | |
python -m pip install --upgrade pip | |
python -m pip install ws/build/tesseract_python/python/wheelhouse/* | |
python -m pip install pytest | |
export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support | |
export TESSERACT_TASK_COMPOSER_DIR=$GITHUB_WORKSPACE/ws/src/tesseract_planning/tesseract_task_composer | |
cd ws/src/tesseract_python/tesseract_python | |
pytest -s | |
- name: build docs | |
if: matrix.config.docs == true | |
shell: bash | |
working-directory: ws/build/tesseract_python | |
run: | | |
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$GITHUB_WORKSPACE/ws/install/lib | |
cmake --build . --config Release --target tesseract_python_doc | |
- name: archive wheels | |
uses: actions/upload-artifact@v4 | |
with: | |
name: 'python-wheels-${{ matrix.config.os }}-${{ matrix.config.python_version }}' | |
path: ws/build/tesseract_python/python/* | |
- name: archive docs | |
uses: actions/upload-artifact@v4 | |
with: | |
name: 'python-docs-${{ matrix.config.os }}-${{ matrix.config.python_version }}' | |
path: ws/build/tesseract_python/docs/* | |
build-win: | |
runs-on: windows-2019 | |
strategy: | |
fail-fast: false | |
matrix: | |
config: | |
- arch: x64 | |
vcpkg_triplet: x64-windows-release | |
cmake_arch: x64 | |
python_version: "3.7" | |
- arch: x64 | |
vcpkg_triplet: x64-windows-release | |
cmake_arch: x64 | |
python_version: "3.8" | |
- arch: x64 | |
vcpkg_triplet: x64-windows-release | |
cmake_arch: x64 | |
python_version: "3.9" | |
- arch: x64 | |
vcpkg_triplet: x64-windows-release | |
cmake_arch: x64 | |
python_version: "3.10" | |
- arch: x64 | |
vcpkg_triplet: x64-windows-release | |
cmake_arch: x64 | |
python_version: "3.11.0" | |
- arch: x64 | |
vcpkg_triplet: x64-windows-release | |
cmake_arch: x64 | |
python_version: "3.12.0" | |
steps: | |
- uses: actions/checkout@v2 | |
with: | |
path: ws/src/tesseract_python | |
- uses: actions/setup-python@v4 | |
id: setup-python | |
with: | |
python-version: '${{ matrix.config.python_version }}' | |
architecture: ${{ matrix.config.arch }} | |
- name: vcpkg build | |
uses: johnwason/vcpkg-action@v5 | |
with: | |
pkgs: >- | |
${{ env.VCPKG_PKGS }} | |
triplet: ${{ matrix.config.vcpkg_triplet }} | |
extra-args: --clean-after-build | |
token: ${{ github.token }} | |
cache-key: win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }} | |
revision: master | |
- name: pip3 | |
run: | | |
python -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool | |
- name: choco | |
run: | | |
choco install swig ninja -r | |
- name: vcs import | |
working-directory: ws/src | |
run: vcs import --input tesseract_python\dependencies.rosinstall | |
- name: colcon build | |
working-directory: ws | |
shell: cmd | |
run: | | |
call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64 | |
set CXXFLAGS=%CXXFLAGS% -DEIGEN_DONT_ALIGN=1 -DEIGEN_DONT_VECTORIZE=1 | |
set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }} | |
set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}\bin | |
set CC=cl | |
set CCX=cl | |
colcon build --packages-up-to tesseract_python --merge-install ^ | |
--cmake-force-configure ^ | |
--event-handlers console_cohesion+ ^ | |
--packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp gtest ^ | |
--cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release ^ | |
-DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" ^ | |
-DTESSERACT_PYTHON_BUILD_WHEEL=ON ^ | |
-DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON ^ | |
-DVCPKG_APPLOCAL_DEPS=OFF ^ | |
-DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF | |
if %ERRORLEVEL% GEQ 1 exit 1 | |
- name: test | |
shell: cmd | |
run: | | |
python -m venv venv | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
call venv\Scripts\activate | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
python --version | |
python -m pip install --upgrade pip | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
for %%I in ("%GITHUB_WORKSPACE%\ws\build\tesseract_python\python\wheelhouse\*") do set WHEEL_FILE=%%~I | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
echo WHEEL_FILE=%WHEEL_FILE% | |
python -m pip install %WHEEL_FILE% | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
python -m pip install pytest | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
set TESSERACT_SUPPORT_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract\tesseract_support | |
set TESSERACT_TASK_COMPOSER_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract_planning\tesseract_task_composer | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
cd %GITHUB_WORKSPACE%\ws\src\tesseract_python\tesseract_python | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
python -m pytest -s | |
if %errorlevel% neq 0 exit /b %errorlevel% | |
- name: archive wheels | |
if: always() | |
uses: actions/upload-artifact@v4 | |
with: | |
name: 'python-wheels-win-${{matrix.config.python_version}}' | |
path: ws/build/tesseract_python/python | |
- name: archive logs | |
if: failure() | |
uses: actions/upload-artifact@v4 | |
with: | |
name: 'build-logs-win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}' | |
path: "**/*.log" | |
retention-days: 2 | |
build-macos: | |
runs-on: macos-latest | |
strategy: | |
fail-fast: false | |
matrix: | |
config: | |
- py_platform: macosx-10.9-x86_64 | |
python_version: "3.12" | |
steps: | |
- uses: actions/checkout@v2 | |
with: | |
path: ws/src/tesseract_python | |
- uses: actions/setup-python@v4 | |
id: setup-python | |
with: | |
python-version: '${{ matrix.config.python_version }}' | |
- 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_python/.github/workflows/vcpkg_triplets | |
token: ${{ github.token }} | |
cache-key: osx-x64-vcpkg | |
revision: master | |
- name: pip3 | |
run: | | |
python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool delocate | |
- name: vcs import | |
working-directory: ws/src | |
run: vcs import --input tesseract_python/dependencies.rosinstall | |
- name: colcon build | |
working-directory: ws | |
run: | | |
export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib:$GITHUB_WORKSPACE/ws/install/lib | |
export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release | |
colcon build --merge-install \ | |
--packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd \ | |
--event-handlers console_cohesion+ \ | |
--cmake-force-configure \ | |
--cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \ | |
-DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \ | |
-DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \ | |
-DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \ | |
-DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \ | |
-DOpenMP_CXX_INCLUDE_DIR=/usr/local/opt/libomp/include \ | |
-DOpenMP_C_INCLUDE_DIR=/usr/local/opt/libomp/include \ | |
-DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \ | |
-DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \ | |
-DOpenMP_libomp_LIBRARY=/usr/local/opt/libomp/lib/libomp.dylib \ | |
-Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/x64-osx-dynamic-release/lib/libtcmalloc_minimal.dylib \ | |
-DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" \ | |
-DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }} \ | |
-DTESSERACT_PYTHON_BUILD_WHEEL=ON | |
- name: test | |
shell: bash | |
run: | | |
${{ steps.setup-python.outputs.python-path }} -m venv venv | |
source venv/bin/activate | |
python -m pip install --upgrade pip | |
python -m pip install ws/build/tesseract_python/python/wheelhouse/* | |
python -m pip install pytest | |
export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support | |
export TESSERACT_TASK_COMPOSER_DIR=$GITHUB_WORKSPACE/ws/src/tesseract_planning/tesseract_task_composer | |
cd ws/src/tesseract_python/tesseract_python | |
pytest -s | |
- name: archive wheels | |
if: always() | |
uses: actions/upload-artifact@v4 | |
with: | |
name: 'python-macos-win-${{matrix.config.python_version}}' | |
path: ws/build/tesseract_python/python | |
- name: archive logs | |
if: failure() | |
uses: actions/upload-artifact@v4 | |
with: | |
name: 'build-logs-macos-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}' | |
path: "**/*.log" | |
retention-days: 2 | |
collect-wheels: | |
needs: | |
- build-win | |
- build-ubuntu | |
- build-macos | |
runs-on: ubuntu-20.04 | |
steps: | |
- uses: actions/checkout@v2 | |
with: | |
path: robotraconteur | |
- name: Download CI artifacts | |
uses: actions/download-artifact@v2 | |
with: | |
path: artifacts/main | |
- name: archive wheels | |
uses: actions/upload-artifact@v4 | |
with: | |
name: 'python-wheels-all' | |
path: artifacts/**/wheelhouse/*.whl |