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Fix python syntax in matlab-whole-body-simulator multisheller scripts and switch ergocub-software to use conda package from conda-forge #1639

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merged 5 commits into from
Apr 30, 2024
Merged

Fix python syntax in matlab-whole-body-simulator multisheller scripts and switch ergocub-software to use conda package from conda-forge #1639

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2e6defa
Fix python syntax in ergocub multisheller scripts
traversaro Apr 24, 2024
f37edb3
fixup
traversaro Apr 24, 2024
6b666fc
Remove pin of ipopt to 3.14.14
traversaro Apr 24, 2024
e5d165b
Remove expat from dependencies
traversaro Apr 27, 2024
37d345b
ergocub-software conda package is now in conda-forge
traversaro Apr 29, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Expand Up @@ -108,7 +108,7 @@ jobs:
run: |
# Additional dependencies only useful on Linux
# See https://github.com/robotology/robotology-superbuild/issues/477
mamba install bash-completion expat freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64
mamba install bash-completion freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64

# Additional dependencies useful only on Windows
- name: Dependencies [Conda/Windows]
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3 changes: 2 additions & 1 deletion cmake/Buildergocub-software.cmake
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Expand Up @@ -24,4 +24,5 @@ ycm_ep_helper(ergocub-software
DEPENDS YARP
CMAKE_ARGS -DCOMPILE_ergoCubEmotions:BOOL=${COMPILE_ergoCubEmotions})

set(ergocub-sofware_CONDA_DEPENDENCIES libopencv)
set(ergocub-software_CONDA_PKG_NAME ergocub-software)
set(ergocub-software_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
3 changes: 1 addition & 2 deletions conda/cmake_recipe_template/meta.yaml
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Expand Up @@ -37,13 +37,12 @@ requirements:
{% for dep in dependencies %} - {{ dep }}
{% endfor %}
{# Handle specific packages required for gl on Linux, see https://conda-forge.org/docs/maintainer/knowledge_base.html?#libgl and https://github.com/conda-forge/qt-main-feedstock/blob/0a0caca0eef18d4f895ec81840dcb037a20dc844/recipe/meta.yaml#L67-L158 #}
{# libxcb, libxfixes, libxau and expat are not documented anywhere, but without those blocktest does not build correctly #}
{# libxcb, libxfixes and libxau are not documented anywhere, but without those blocktest does not build correctly #}
{# xorg-libxrandr is actually needed by glfw 3.4 #}
{% if require_opengl_linux %} - xorg-libxfixes
- xorg-libxdamage
- xorg-libxxf86vm
- xorg-libxext
- expat
- xorg-libxau
- libxcb
- xorg-libxrandr
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6 changes: 0 additions & 6 deletions conda/conda_build_config.yml
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Expand Up @@ -15,12 +15,6 @@ qt_main:
swig:
- 4.1.0

# Workaround for:
# * Giulio Romualdi's problem installing icub-main with latest blf 0.18.0
# Remove once ipopt31414 migration is completed
ipopt:
- 3.14.14

# Workaround for:
# libxcb 1.15 migration not completed and not pinned, see https://github.com/robotology/robotology-superbuild/pull/1606#issuecomment-1965508546
libxcb:
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27 changes: 0 additions & 27 deletions conda/multisheller/ergocub-software_activate.msh
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This file was deleted.

27 changes: 0 additions & 27 deletions conda/multisheller/ergocub-software_deactivate.msh
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8 changes: 4 additions & 4 deletions conda/multisheller/matlab-whole-body-simulator_activate.msh
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Expand Up @@ -2,22 +2,22 @@ if_(is_set("COMSPEC")).then_([
sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
]).else_([
sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
sys.list_append("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
])

# For some reason setting two times the same variable inside the same if does not work in command prompt
# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
if_(is_set("COMSPEC")).then_([
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
]).else_([
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
])
8 changes: 4 additions & 4 deletions conda/multisheller/matlab-whole-body-simulator_deactivate.msh
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Expand Up @@ -2,22 +2,22 @@ if_(is_set("COMSPEC")).then_([
sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
]).else_([
sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
sys.list_remove("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
])

# For some reason setting two times the same variable inside the same if does not work in command prompt
# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATHset to a separate if
if_(is_set("COMSPEC")).then_([
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
]).else_([
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
])
4 changes: 2 additions & 2 deletions doc/conda-forge.md
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Expand Up @@ -149,12 +149,12 @@ mamba install -c conda-forge asio assimp boost eigen freetype glew glfw glm grap

If you are on **Linux x86-64**, you also need to install also the following packages:
~~~
mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c expat libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64
mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64
~~~

If you are on **Linux ARM 64-bit**, you also need to install also the following packages:
~~~
mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c expat libselinux-cos7-aarch64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-aarch64 mesa-libgl-devel-cos7-aarch64 libxshmfence-cos7-aarch64 libxshmfence-devel-cos7-aarch64
mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c libselinux-cos7-aarch64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-aarch64 mesa-libgl-devel-cos7-aarch64 libxshmfence-cos7-aarch64 libxshmfence-devel-cos7-aarch64
~~~

If you are on **Windows**, you also need to install also the following packages:
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