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johnwasonjohnwason
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Wheel actions (#25)
* tweak dependencies_with_ext.rosinstall * Add wheels.yml action * keyboard-configuration * wheel test * windows wheel build * win logs * use x64-windows-release triplet * clean vcpkg and win vcs import * clean vcpkg * enable openmp on win * win ninja * disable 22.04 * cache vcpkg win * set CC=cl win * work * dry run win * dry run * dry run * dry run * dry run * dry run * msvc vars * save vcpkg cache * re-enable build * Enable bullet build on Windows * vcpkg cache path * Use CMAKE_PREFIX_PATH * trajopt sparse fix * ifopt version * remove openmp * win test pip install * archive build * enable tests * update vars * WHEEL_FILE var on windows * use updated vcpkg packages * Use tesseract_ext on Linux * Build on master branch
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‎.github/workflows/wheels.yml

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name: Python Wheels
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on:
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push:
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branches:
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- master
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pull_request:
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release:
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types:
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- created
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env:
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VCPKG_PKGS: >-
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boost-dll boost-program-options
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boost-serialization boost-filesystem
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tinyxml2 console-bridge assimp
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urdfdom octomap orocos-kdl pcl
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gtest benchmark flann jsoncpp
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yaml-cpp
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blas lapack
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fcl ompl taskflow
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bullet3[multithreading,double-precision,rtti]
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ccd[double-precision]
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jobs:
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build-ubuntu:
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runs-on: ${{ matrix.config.runs_on }}
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container: ${{ matrix.config.container }}
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strategy:
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fail-fast: false
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matrix:
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config:
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- os: ubuntu-20.04
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runs_on: ubuntu-latest
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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# - os: ubuntu-22.04
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# runs_on: ubuntu-latest
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# container: ubuntu:22.04
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# py_platform: manylinux_2_35_x86_64
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env:
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DEBIAN_FRONTEND: noninteractive
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steps:
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- uses: actions/checkout@v2
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with:
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path: ws/src/tesseract_python
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- name: install sudo, tzdata, keyboard-configuration
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shell: bash
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run: |
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echo -en "XKBMODEL=\"pc105\"\nXKBLAYOUT=\"us\"\nXKBVARIANT=\"\"\nXKBOPTIONS=\"\"\nBACKSPACE=\"guess\"\n" > /etc/default/keyboard
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apt update
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apt install sudo tzdata python3 keyboard-configuration -y -qq
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ln -fs /usr/share/zoneinfo/America/New_York /etc/localtime
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dpkg-reconfigure --frontend noninteractive tzdata
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- name: apt
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run: >
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sudo apt-get install python3-pip libboost-all-dev
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libeigen3-dev libtinyxml2-dev libconsole-bridge-dev libassimp-dev
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liburdfdom-dev liboctomap-dev liborocos-kdl-dev libpcl-dev
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libflann-dev libjsoncpp-dev libyaml-cpp-dev git cmake ninja-build
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build-essential autoconf automake libtool bison libpcre2-dev libpcre3-dev
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lcov libbullet-dev libbullet-extras-dev patchelf python3-venv -y -qq
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- name: pip
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run: |
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sudo python3 -m pip install --upgrade pip
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sudo python3 -m pip install auditwheel wheel numpy setuptools colcon-common-extensions vcstool
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- name: vcs import
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working-directory: ws/src
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run: vcs import --input tesseract_python/dependencies_with_ext.rosinstall
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- name: colcon build
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working-directory: ws
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run: >
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colcon build --packages-up-to tesseract_python --merge-install
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--cmake-force-configure
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--packages-ignore bullet
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--event-handlers console_cohesion+
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--cmake-args -DCMAKE_BUILD_TYPE=Release
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-DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
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-DPYTHON_EXECUTABLE=/usr/bin/python3 -DTESSERACT_PYTHON_BUILD_WHEEL=ON
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-DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }}
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-DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON
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- name: test
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shell: bash
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run: |
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python3 -m venv venv
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source venv/bin/activate
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python -m pip install --upgrade pip
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python -m pip install ws/build/tesseract_python/python/wheelhouse/*
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python -m pip install pytest
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export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support
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cd ws/src/tesseract_python/tesseract_python
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pytest -s
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- name: archive wheels
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uses: actions/upload-artifact@v2
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with:
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name: 'python-wheels-${{ matrix.config.os }}'
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path: ws/build/tesseract_python/python/*
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build-win:
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runs-on: windows-2019
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strategy:
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fail-fast: false
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matrix:
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config:
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- arch: x64
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.7"
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- arch: x64
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.8"
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- arch: x64
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.9"
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- arch: x64
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.10"
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steps:
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- uses: actions/checkout@v2
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with:
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path: ws/src/tesseract_python
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- uses: actions/setup-python@v2
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with:
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python-version: '${{ matrix.config.python_version }}'
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architecture: ${{ matrix.config.arch }}
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- name: vcpkg build
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uses: johnwason/vcpkg-action@v2
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with:
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pkgs: >-
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${{ env.VCPKG_PKGS }}
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triplet: ${{ matrix.config.vcpkg_triplet }}
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extra-args: --clean-after-build
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- name: pip3
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run: |
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python -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool
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- name: env python3
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run: echo ("PYTHON3_EXE=" + (Get-Command Python.exe).Path) | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
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- name: choco
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run: |
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choco install swig ninja -r
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- name: vcs import
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working-directory: ws/src
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run: vcs import --input tesseract_python\dependencies.rosinstall
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- name: colcon build
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working-directory: ws
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shell: cmd
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run: |
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call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64
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set CXXFLAGS=%CXXFLAGS% -DEIGEN_DONT_ALIGN=1 -DEIGEN_DONT_VECTORIZE=1
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set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}
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set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}\bin
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set CC=cl
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set CCX=cl
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colcon build --packages-up-to tesseract_python --merge-install ^
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--cmake-force-configure ^
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--event-handlers console_cohesion+ ^
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--packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp gtest ^
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--cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release ^
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-DPYTHON_EXECUTABLE="${{ env.PYTHON3_EXE }}" ^
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-DTESSERACT_PYTHON_BUILD_WHEEL=ON ^
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-DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON ^
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-DVCPKG_APPLOCAL_DEPS=OFF ^
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-DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF
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if %ERRORLEVEL% GEQ 1 exit 1
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- name: test
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shell: cmd
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run: |
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python -m venv venv
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if %errorlevel% neq 0 exit /b %errorlevel%
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call venv\Scripts\activate
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if %errorlevel% neq 0 exit /b %errorlevel%
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python --version
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python -m pip install --upgrade pip
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if %errorlevel% neq 0 exit /b %errorlevel%
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for %%I in ("%GITHUB_WORKSPACE%\ws\build\tesseract_python\python\wheelhouse\*") do set WHEEL_FILE=%%~I
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if %errorlevel% neq 0 exit /b %errorlevel%
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echo WHEEL_FILE=%WHEEL_FILE%
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python -m pip install %WHEEL_FILE%
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if %errorlevel% neq 0 exit /b %errorlevel%
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python -m pip install pytest
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if %errorlevel% neq 0 exit /b %errorlevel%
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set TESSERACT_SUPPORT_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract\tesseract_support
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if %errorlevel% neq 0 exit /b %errorlevel%
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cd %GITHUB_WORKSPACE%\ws\src\tesseract_python\tesseract_python
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if %errorlevel% neq 0 exit /b %errorlevel%
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python -m pytest -s
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if %errorlevel% neq 0 exit /b %errorlevel%
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- name: archive wheels
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if: always()
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uses: actions/upload-artifact@v2
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with:
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name: 'python-wheels-win-${{matrix.config.python_version}}'
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path: ws/build/tesseract_python/python
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- name: archive logs
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if: failure()
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uses: actions/upload-artifact@v2
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with:
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name: 'build-logs-win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}'
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path: "**/*.log"
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retention-days: 2
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‎dependencies.rosinstall

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- git:
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local-name: tesseract
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uri: https://github.com/johnwason/tesseract.git
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version: pr/BulletLibsAbsPath
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uri: https://github.com/tesseract-robotics/tesseract.git
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version: 3c799dccfaae524d04688f48b4fe282ecb1fed22
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- git:
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local-name: tesseract_planning
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uri: https://github.com/tesseract-robotics/tesseract_planning.git

‎dependencies_with_ext.rosinstall

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local-name: ros_industrial_cmake_boilerplate
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uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
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version: 0.3.0
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- git:
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local-name: tesseract
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uri: https://github.com/johnwason/tesseract.git
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version: pr/BulletLibsAbsPath
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uri: https://github.com/tesseract-robotics/tesseract.git
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version: 3c799dccfaae524d04688f48b4fe282ecb1fed22
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- git:
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local-name: tesseract_planning
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uri: https://github.com/tesseract-robotics/tesseract_planning.git

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