Merge branch 'RoboStack:main' into main

Author: nmarticorena

.github/workflows/testpr.yml

@@ -1,7 +1,6 @@
 on:
   pull_request:
-    paths:
-      - '*.yaml'
+  workflow_dispatch:
 
 env:
   ROS_VERSION: 2
@@ -14,14 +13,21 @@ jobs:
         include:
           - os: ubuntu-latest
             platform: linux-64
+            additional_recipes:
+              - "ros-jazzy-livox-ros-driver2"
           - os: ubuntu-24.04-arm
             platform: linux-aarch64
+            additional_recipes: 
+              - "ros-jazzy-livox-ros-driver2"
           - os: macos-13
             platform: osx-64
+            additional_recipes: []
           - os: macos-14
             platform: osx-arm64
-          - os: windows-2019
+            additional_recipes: []
+          - os: windows-2022
             platform: win-64
+            additional_recipes: []
 
     runs-on: ${{ matrix.os }}
 
@@ -31,9 +37,9 @@ jobs:
         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: prefix-dev/setup-pixi@v0.8.1
+    - uses: prefix-dev/setup-pixi@v0.8.8
       with:
-        pixi-version: v0.41.1
+        pixi-version: v0.44.0
         environments: beta
         frozen: true
 
@@ -56,58 +62,48 @@ jobs:
         rm -rf /c/Strawberry
         rm -rf "/c/Program Files (x86)/Windows Kits/10/Include/10.0.17763.0/"
 
-    - name: Check what files have changed
-      id: filecheck
+
+    # Regression for https://github.com/RoboStack/ros-jazzy/issues/44
+    - name: Check that anaconda-client command works fine
       shell: bash -l {0}
       run: |
-        git fetch origin main
-        # continue on error
-        set +e
-        git diff --exit-code --name-only origin/main -- vinca_linux_64.yaml > /dev/null
-        echo "::set-output name=LINUX_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_linux_aarch64.yaml > /dev/null
-        echo "::set-output name=LINUX_AARCH_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_osx.yaml > /dev/null
-        echo "::set-output name=OSX_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_osx_arm64.yaml > /dev/null
-        echo "::set-output name=OSX_ARM_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_win.yaml > /dev/null
-        echo "::set-output name=WIN_YAML_CHANGED::${?}"
+        pixi run anaconda --version
+
     - name: Generate recipes for linux-64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.platform == 'linux-64'
+      if: matrix.platform == 'linux-64'
       run: |
         cp vinca_linux_64.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-64 -m -n
         ls -la recipes
     - name: Generate recipes for linux-aarch64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.platform == 'linux-aarch64'
+      if: matrix.platform == 'linux-aarch64'
       run: |
         cp vinca_linux_aarch64.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-aarch64 -m -n
         ls -la recipes
     - name: Generate recipes for osx-64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.platform == 'osx-64'
+      if: matrix.platform == 'osx-64'
       run: |
         cp vinca_osx.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-64 -m -n
         ls -la recipes
     - name: Generate recipes for osx-arm64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.platform == 'osx-arm64'
+      if: matrix.platform == 'osx-arm64'
       run: |
         cp vinca_osx_arm64.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-arm64 -m -n
         ls -la recipes
     - name: Generate recipes for win-64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.platform == 'win-64'
+      if: matrix.platform == 'win-64'
       run: |
         # Workaround for problem related to long paths
         echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
@@ -116,41 +112,48 @@ jobs:
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -e beta -v vinca --platform win-64 -m -n
         ls -la recipes
+    - name: Copy additional recipes which have been changed into recipes
+      shell: bash -l {0}
+      run: |
+        echo '${{ toJson(matrix.additional_recipes) }}' | jq -r ".[]" | xargs -I@ cp -r additional_recipes/@ recipes/
     - name: Check if there are packages to be built
       id: newrecipecheck
       shell: bash -l {0}
       run: |
-        # continue on error
+        # Workaround for https://github.com/prefix-dev/rattler-build/issues/1535
         set +e
-        test ! -d recipes
-        echo "::set-output name=RECIPE_CREATED::${?}"
+        if [ ! -d recipes ] || [ -z "$(ls -A recipes)" ]; then
+          echo "RECIPE_CREATED=0" >> $GITHUB_OUTPUT
+        else
+          echo "RECIPE_CREATED=1" >> $GITHUB_OUTPUT
+        fi
     - name: Build recipes for linux-64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.platform == 'linux-64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'linux-64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for linux-aarch64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.platform == 'linux-aarch64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'linux-aarch64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for osx-64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.platform == 'osx-64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'osx-64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for osx-arm64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.platform == 'osx-arm64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'osx-arm64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
     - name: Build recipes for win-64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.platform == 'win-64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'win-64'
       run: |
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        # $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
         $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing

.scripts/build_linux.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+
+# Default values
+target=""
+
+# Parse arguments
+while [[ "$#" -gt 0 ]]; do
+    case $1 in
+        --target) target="$2"; shift ;;  # Capture value for --target
+        *) echo "Unknown parameter passed: $1"; exit 1 ;;  # Handle invalid options
+    esac
+    shift
+done
+
+set -xeuo pipefail
+export PYTHONUNBUFFERED=1
+
+export FEEDSTOCK_ROOT=`pwd`
+export "CONDA_BLD_PATH=$HOME/conda-bld/"
+
+curl -fsSL https://pixi.sh/install.sh | bash
+export PATH="$HOME/.pixi/bin:$PATH"
+
+if [[ "$target" == *"osx"* ]]; then
+    echo "osx"
+    export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':')
+fi
+
+extra_channel=""
+cross_compile=""
+
+for recipe in ${CURRENT_RECIPES[@]}; do
+	pixi run -v rattler-build build \
+		--recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \
+		-m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \
+		-c robostack-jazzy -c conda-forge \
+		${extra_channel} \
+		--output-dir $CONDA_BLD_PATH \
+		${cross_compile}
+		# -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \
+
+done
+
+# Check if it build something, this is a hotfix for the skips inside additional_recipes 
+if compgen -G "${CONDA_BLD_PATH}/${target}*/*.conda" > /dev/null; then
+    pixi run upload "${CONDA_BLD_PATH}/${target}"*/*.conda --force
+else
+    echo "Warning: No .conda files found in ${CONDA_BLD_PATH}/${target}"
+    echo "This might be due to all the packages being skipped"
+fi

.scripts/build_osx.sh

@@ -0,0 +1,55 @@
+From 318d447b347d87ce2087c40dd6ad169643fc32d9 Mon Sep 17 00:00:00 2001
+From: wep21 <daisuke.nishimatsu1021@gmail.com>
+Date: Tue, 22 Apr 2025 21:53:53 +0900
+Subject: [PATCH] add package.xml
+
+Signed-off-by: wep21 <daisuke.nishimatsu1021@gmail.com>
+---
+ package.xml | 35 +++++++++++++++++++++++++++++++++++
+ 1 file changed, 35 insertions(+)
+ create mode 100644 package.xml
+
+diff --git a/package.xml b/package.xml
+new file mode 100644
+index 0000000..96f5762
+--- /dev/null
++++ b/package.xml
+@@ -0,0 +1,35 @@
++<?xml version="1.0"?>
++<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
++<package format="3">
++  <name>livox_ros_driver2</name>
++  <version>1.0.0</version>
++  <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description>
++  <maintainer email="dev@livoxtech.com">feng</maintainer>
++  <license>MIT</license>
++
++  <buildtool_depend>ament_cmake_auto</buildtool_depend>
++  <build_depend>rosidl_default_generators</build_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
++
++  <depend>rclcpp</depend>
++  <depend>rclcpp_components</depend>
++  <depend>std_msgs</depend>
++  <depend>sensor_msgs</depend>
++  <depend>rcutils</depend>
++  <depend>pcl_conversions</depend>
++  <depend>rcl_interfaces</depend>
++  <depend>libpcl-all-dev</depend>
++
++  <exec_depend>rosbag2</exec_depend>
++  <exec_depend>rosidl_default_runtime</exec_depend>
++
++  <test_depend>ament_lint_auto</test_depend>
++  <test_depend>ament_lint_common</test_depend>
++
++  <depend>git</depend>
++  <depend>apr</depend>
++
++  <export>
++    <build_type>ament_cmake</build_type>
++  </export>
++</package>
+-- 
+2.39.5 (Apple Git-154)
+

.scripts/build_osx_arm64.sh

@@ -0,0 +1 @@
+../../bld_ament_cmake.bat

.scripts/build_unix.sh

@@ -0,0 +1 @@
+../../build_ament_cmake.sh