Consolidate vinca files in single vinca.yaml file with platform-specific selector

Author: traversaro

.github/workflows/main.yml

@@ -25,7 +25,6 @@ jobs:
     - name: Generate recipes for linux-64
       run: |
         git clean -fdx
-        cp vinca_linux_64.yaml vinca.yaml
         vinca --multiple --platform linux-64
     - name: Generate azure pipelines for linux-64
       run: |
@@ -51,7 +50,6 @@ jobs:
     - name: Generate recipes for osx-64
       run: |
         git clean -fdx
-        cp vinca_osx.yaml vinca.yaml
         vinca --multiple --platform osx-64
     - name: Generate azure pipelines for osx-64
       run: |
@@ -77,7 +75,6 @@ jobs:
     - name: Generate recipes for osx-arm64
       run: |
         git clean -fdx
-        cp vinca_osx_arm64.yaml vinca.yaml
         vinca --multiple --platform osx-arm64
     - name: Generate azure pipelines for osx-arm64
       run: |
@@ -103,7 +100,6 @@ jobs:
     - name: Generate recipes for win-64
       run: |
         git clean -fdx
-        cp vinca_win.yaml vinca.yaml
         vinca --multiple --platform win-64
     - name: Generate azure pipelines for win-64
       run: |
@@ -129,7 +125,6 @@ jobs:
     - name: Generate recipes for linux-aarch64
       run: |
         git clean -fdx
-        cp vinca_linux_aarch64.yaml vinca.yaml
         vinca --multiple --platform linux-aarch64
     - name: Generate azure pipelines for linux-aarch64
       run: |

.github/workflows/testpr.yml

@@ -13,21 +13,14 @@ 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
-            additional_recipes: []
           - os: windows-2022
             platform: win-64
-            additional_recipes: []
 
     runs-on: ${{ matrix.os }}
 
@@ -72,31 +65,27 @@ jobs:
       shell: bash -l {0}
       if: matrix.platform == 'linux-64'
       run: |
-        cp vinca_linux_64.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -v vinca --platform linux-64 -m -n
         ls -la recipes
     - name: Generate recipes for linux-aarch64
       shell: bash -l {0}
       if: matrix.platform == 'linux-aarch64'
       run: |
-        cp vinca_linux_aarch64.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -v vinca --platform linux-aarch64 -m -n
         ls -la recipes
     - name: Generate recipes for osx-64
       shell: bash -l {0}
       if: matrix.platform == 'osx-64'
       run: |
-        cp vinca_osx.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -v vinca --platform osx-64 -m -n
         ls -la recipes
     - name: Generate recipes for osx-arm64
       shell: bash -l {0}
       if: matrix.platform == 'osx-arm64'
       run: |
-        cp vinca_osx_arm64.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -v vinca --platform osx-arm64 -m -n
         ls -la recipes
@@ -107,14 +96,9 @@ jobs:
         # Workaround for problem related to long paths
         echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
         mkdir /c/bld
-        cp vinca_win.yaml vinca.yaml
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -v vinca --platform win-64 -m -n
         ls -la recipes
-    - name: Copy additional recipes which have been changed into recipes
-      shell: bash -l {0}
-      run: |
-        echo '${{ 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}

.gitignore

@@ -1,4 +1,3 @@
-vinca.yaml
 recipes/
 *.bat
 *.sh

pixi.toml

@@ -29,26 +29,11 @@ vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "8c56fc3e47a988f1
 #vinca = { path = "../vinca", editable = true }
 
 [tasks]
-generate-recipes = { cmd = "vinca -m", depends-on = ["rename-file"] }
-remove-file = { cmd = "rm vinca.yaml; rm -rf recipes_only_patch; rm -rf recipes; mkdir recipes" }
+remove-recipes = { cmd = "rm -rf recipes_only_patch; rm -rf recipes; mkdir recipes" }
+generate-recipes = { cmd = "vinca -m", depends-on = ["rename-recipes"] }
 check-patches = { cmd = "python check_patches_clean_apply.py", depends-on = ["generate-recipes"] }
 build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml --skip-existing -c robostack-jazzy -c https://repo.prefix.dev/conda-forge", depends-on = ["generate-recipes"] }
 build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml -c robostack-jazzy -c https://repo.prefix.dev/conda-forge --skip-existing", depends-on = ["build_additional_recipes", "generate-recipes"] }
 build_one_package = { cmd = "cp ./patch/$PACKAGE.*patch ./recipes/$PACKAGE/patch/; rattler-build build --recipe ./recipes/$PACKAGE/recipe.yaml -m ./conda_build_config.yaml -c robostack-jazzy -c https://repo.prefix.dev/conda-forge", env = { PACKAGE = "ros-jazzy-ros-workspace" } }
 create_snapshot = { cmd = "vinca-snapshot -d jazzy -o rosdistro_snapshot.yaml" }
 upload = "anaconda -t $ANACONDA_API_TOKEN upload"
-
-[target.linux-64.tasks]
-rename-file = { cmd = "ln -s vinca_linux_64.yaml vinca.yaml", depends-on = ["remove-file"] }
-
-[target.osx-64.tasks]
-rename-file = { cmd = "ln -s vinca_osx.yaml vinca.yaml", depends-on = ["remove-file"] }
-
-[target.osx-arm64.tasks]
-rename-file = { cmd = "ln -s vinca_osx_arm64.yaml vinca.yaml", depends-on = ["remove-file"] }
-
-[target.linux-aarch64.tasks]
-rename-file = { cmd = "ln -s vinca_linux_aarch64.yaml vinca.yaml", depends-on = ["remove-file"] }
-
-[target.win-64.tasks]
-rename-file = { cmd = "cp vinca_win.yaml vinca.yaml", depends-on = ["remove-file"] }

vinca_osx_arm64.yaml renamed to vinca.yaml

@@ -19,20 +19,26 @@ full_rebuild: true
 packages_skip_by_deps:
   - cartographer
   - urdfdom
-  - urdfdom_py
   - urdfdom_headers
-  - pendulum_control
-  - rttest
-  - tlsf
-  - tlsf_cpp
+  - urdfdom_py
   - octomap
+  - if: not linux
+    then:
+      - pendulum_control
+      - rttest
+      - tlsf
+      - tlsf_cpp
+
 
 packages_remove_from_deps:
   - cartographer
-  - pendulum_control
-  - rttest
-  - tlsf
-  - tlsf_cpp
+  - if: not linux
+    then:
+      - pendulum_control
+      - rttest
+      - tlsf
+      - tlsf_cpp
+
 
 skip_existing:
   # - output
@@ -57,9 +63,6 @@ packages_select_by_deps:
   - desktop_full
 
   - moveit
-  - moveit-py
-  - moveit-ros-perception
-  - moveit-ros-occupancy-map-monitor
   - moveit-planners-chomp
   - moveit-servo
   - moveit-visual-tools
@@ -79,14 +82,10 @@ packages_select_by_deps:
   - turtlebot3
   - turtlebot3_simulations
 
-  - plotjuggler-ros
-
   - apriltag_ros
 
   - ackermann-msgs
-  - velodyne
   - sbg_driver
-  - gtsam
 
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
@@ -102,7 +101,6 @@ packages_select_by_deps:
   - grid_map
 
   - foxglove_bridge
-  - foxglove_compressed_video_transport
   - foxglove_msgs
 
   - lanelet2
@@ -128,35 +126,51 @@ packages_select_by_deps:
   - autoware_cmake
   - autoware_utils
 
-  - ffmpeg_image_transport
-
   - apriltag_detector
 
-  - apriltag_draw
-
-  - apriltag_detector_umich
-
-  - apriltag_detector_mit
-
-  - apriltag_tools
-
   - ament_cmake_black
 
   - behaviortree_cpp
 
-  - dual-laser-merger
-
-  - pointcloud-to-laserscan
-
-  - laser-segmentation
-
-  - rqt_tf_tree
-
-  - rviz_satellite
-
-  - odom_to_tf_ros2
-
   - ouster_ros
 
+  # These packages are only built on Windows as they depend on Linux-specific API
+  - if: linux
+    then:
+      # Depends on socketcan
+      - ros2_socketcan
+      # Depends on v4l
+      - usb_cam
+
+  # These packages are currently only build on Linux, but they currently only build on
+  # Linux as trying to build them in the past on macos or Windows resulted in errors
+  - if: linux
+    then:
+      - py_binding_tools
+
+  # These packages are currently not build on Windows, but they be with some work
+  - if: not win
+    then:
+      - plotjuggler-ros
+      - foxglove_compressed_video_transport
+      - velodyne
+      - moveit-py
+      - moveit-ros-perception
+      - moveit-ros-occupancy-map-monitor
+      # todo: switch to dummy vendored package that just depends on the conda-forge's gtsam, so it works also on Windows
+      - gtsam
+      # TODO on windows: fix iconv link issue
+      - ffmpeg_image_transport
+      - apriltag_draw
+      - apriltag_tools
+      - apriltag_detector_umich
+      - apriltag_detector_mit
+      - dual-laser-merger
+      - pointcloud-to-laserscan
+      - laser-segmentation
+      - rqt_tf_tree
+      - rviz_satellite
+      - odom_to_tf_ros2
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml