Move GHA prereqs to examples and refactor

.github/workflows/ci.yml

@@ -35,7 +35,7 @@ jobs:
           find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
           sudo rm -rf /Library/Frameworks/Python.framework/
       - name: setup
-        run: ./drake_cmake_installed/setup/mac/install_prereqs
+        run: ./drake_cmake_installed/setup/install_prereqs
         shell: zsh -efuo pipefail {0}
       - name: cmake_installed build and test
         run: ./drake_cmake_installed/.github/ci_build_test

drake_ament_cmake_installed/.github/ros_humble_setup

@@ -8,4 +8,5 @@ echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-./scripts/setup/linux/ubuntu/jammy/binary_install_prereqs --ros-humble
+cd $(dirname "${BASH_SOURCE}")/..
+setup/install_prereqs --ros-humble

scripts/setup/linux/ubuntu/jammy/binary_install_prereqs → drake_ament_cmake_installed/setup/install_prereqs

@@ -76,22 +76,6 @@ echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
 
 apt-get install --no-install-recommends gnupg
 
-apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
-echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-  > /etc/apt/sources.list.d/bazel.list
-
-apt-get update
-apt-get install --no-install-recommends $(cat <<EOF
-  bazel
-  libgflags-dev
-  locales
-  pkg-config
-  python3-all-dev
-EOF
-)
-
-locale-gen en_US.UTF-8
-
 if [[ ${ros_humble} -eq 1 ]]; then
   apt-key adv --fetch-keys \
     https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
@@ -108,10 +92,4 @@ if [[ ${ros_humble} -eq 1 ]]; then
     ros-humble-ament-lint-auto
 EOF
   )
-else
-  apt-get install --no-install-recommends $(cat <<EOF
-  catkin
-  python3-pkg-resources
-EOF
-  )
-fi
+fi

drake_bazel_download/.github/ubuntu_setup

@@ -8,4 +8,5 @@ echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-./scripts/setup/linux/ubuntu/jammy/binary_install_prereqs
+cd $(dirname "${BASH_SOURCE}")/..
+setup/install_prereqs

drake_bazel_download/setup/install_prereqs

@@ -0,0 +1,73 @@
+#!/bin/bash
+
+# Copyright (c) 2020, Massachusetts Institute of Technology.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+set -euxo pipefail
+
+if [[ "${EUID:-}" -ne 0 ]]; then
+  echo 'This script must be run as root' >&2
+  exit 2
+fi
+
+apt-get update
+apt-get install --no-install-recommends lsb-release
+
+if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
+  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
+  exit 3
+fi
+
+apt-get install --no-install-recommends $(cat <<EOF
+  ca-certificates
+  wget
+EOF
+)
+
+wget -O drake.tar.gz \
+  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+trap 'rm -f drake.tar.gz' EXIT
+tar -xf drake.tar.gz -C /opt
+
+# Show version for debugging; use echo for newline / readability.
+echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
+
+/opt/drake/share/drake/setup/install_prereqs
+
+apt-get install --no-install-recommends gnupg
+
+apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
+echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
+  > /etc/apt/sources.list.d/bazel.list
+
+apt-get update
+apt-get install --no-install-recommends $(cat <<EOF
+  bazel
+EOF
+)

drake_catkin_installed/.github/ubuntu_setup

@@ -8,4 +8,5 @@ echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-./scripts/setup/linux/ubuntu/jammy/binary_install_prereqs
+cd $(dirname "${BASH_SOURCE}")/..
+setup/install_prereqs

drake_catkin_installed/setup/install_prereqs

@@ -0,0 +1,66 @@
+#!/bin/bash
+
+# Copyright (c) 2020, Massachusetts Institute of Technology.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+set -euxo pipefail
+
+if [[ "${EUID:-}" -ne 0 ]]; then
+  echo 'This script must be run as root' >&2
+  exit 2
+fi
+
+apt-get update
+apt-get install --no-install-recommends lsb-release
+
+if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
+  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
+  exit 3
+fi
+
+apt-get install --no-install-recommends $(cat <<EOF
+  ca-certificates
+  wget
+EOF
+)
+
+wget -O drake.tar.gz \
+  https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+trap 'rm -f drake.tar.gz' EXIT
+tar -xf drake.tar.gz -C /opt
+
+# Show version for debugging; use echo for newline / readability.
+echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
+
+/opt/drake/share/drake/setup/install_prereqs
+
+apt-get install --no-install-recommends $(cat <<EOF
+  catkin
+EOF
+)

drake_cmake_installed/.github/ubuntu_setup

@@ -8,4 +8,5 @@ echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-./scripts/setup/linux/ubuntu/jammy/binary_install_prereqs
+cd $(dirname "${BASH_SOURCE}")/..
+setup/install_prereqs

drake_cmake_installed/setup/install_prereqs

@@ -0,0 +1,96 @@
+#!/bin/bash
+
+# Copyright (c) 2020, Massachusetts Institute of Technology.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+set -euxo pipefail
+
+case "$OSTYPE" in
+    darwin*)
+    # Mac specific installations
+    if [[ "${EUID}" -eq 0 ]]; then
+      echo 'This script must NOT be run as root' >&2
+      exit 1
+    fi
+
+    if [[ ! -d /opt/drake ]]; then
+      sudo mkdir -p /opt/drake
+      sudo chmod g+rwx /opt/drake
+      sudo chown "${USER}" /opt/drake
+      sudo chgrp admin /opt/drake
+    fi
+
+    # Install Drake dependencies.
+    curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac-arm64.tar.gz
+    trap 'rm -f drake.tar.gz' EXIT
+    tar -xf drake.tar.gz -C /opt
+
+    # Install additional dependencies needed to build example
+    brew bundle --file="$(dirname "${BASH_SOURCE}")/Brewfile"
+    ;;
+
+    linux*)
+    # Ubuntu specific installations
+    if [[ "${EUID:-}" -ne 0 ]]; then
+      echo 'This script must be run as root' >&2
+      exit 2
+    fi
+
+    apt-get update
+    apt-get install --no-install-recommends lsb-release
+
+    if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
+      echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
+      exit 3
+    fi
+
+    apt-get install --no-install-recommends $(cat <<EOF
+      ca-certificates
+      wget
+EOF
+    )
+
+    wget -O drake.tar.gz \
+      https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
+    trap 'rm -f drake.tar.gz' EXIT
+    tar -xf drake.tar.gz -C /opt
+
+    apt-get update
+    apt-get install --no-install-recommends $(cat <<EOF
+      libgflags-dev
+      python3-all-dev
+EOF
+    )
+    ;;
+esac
+
+# Show version for debugging; use echo for newline / readability.
+echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
+
+/opt/drake/share/drake/setup/install_prereqs

private/test/file_sync_test.py

@@ -20,6 +20,11 @@
         "drake_cmake_installed/.clang-format",
         "drake_cmake_installed_apt/.clang-format",
     ),
+    (
+        "drake_bazel_download/.github/ubuntu_setup",
+        "drake_catkin_installed/.github/ubuntu_setup",
+        "drake_cmake_installed/.github/ubuntu_setup",
+    ),
     (
         "drake_ament_cmake_installed/CPPLINT.cfg",
         "drake_bazel_download/CPPLINT.cfg",
@@ -39,11 +44,6 @@
         "drake_cmake_installed/LICENSE",
         "drake_cmake_installed_apt/LICENSE",
     ),
-    (
-        "drake_bazel_download/.github/ubuntu_setup",
-        "drake_catkin_installed/.github/ubuntu_setup",
-        "drake_cmake_installed/.github/ubuntu_setup",
-    ),
 )
 
 found_errors = False