OsqpEigen, YCM and robot-testing-framework: Switch to use conda-forge binary package when generating conda packages

[traversaro]

As osqp-eigen and YCM are now available in conda-forge (see conda-forge/staged-recipes#15309 and https://github.com/conda-forge/osqp-eigen-feedstock) we can now avoid building our own osqp-eigen, ycm-cmake-modules and robot-testing-framework packages in the robotology channel, and just rely on the one provided by conda-forge.

This is done by defining in Build<project>.cmake the <project>_CONDA_PKG_NAME and <project>_CONDA_PKG_CONDA_FORGE_OVERRIDE variables, as described in https://github.com/robotology/robotology-superbuild/blob/master/doc/developers-faqs.md#how-to-ensure-that-binary-packages-are-correctly-generated-for-a-new-package . We also removed the <project>_CONDA_DEPENDENCIES as that was used just in the conda binary generation phase.

Part of #752 .

[traversaro]

To avoid regressions, it is a good idea to run generate-conda-packages CI job on this branch. However, we need to first merge #800 otherwise the CI job will not even work.

[traversaro]

To avoid regressions, it is a good idea to run generate-conda-packages CI job on this branch. However, we need to first merge #800 otherwise the CI job will not even work.

I did that in https://github.com/robotology/robotology-superbuild/actions/runs/971226693, and indeed it revelated another point that needed to be modified (it is a point where osqp-eigen was explicitly referred to workaround a bug in conda build), done in c684917

[traversaro]

I created a new job in https://github.com/robotology/robotology-superbuild/actions/runs/971334957, but it turns out that there was a regression due to #805 . Now event-driven is able to find OpenCV, and in Linux in the part of event driven that depends on OpenCV there is this failure:

2021-06-25T14:34:29.1037459Z [20/26] Linking CXX executable bin/vFramerLite
2021-06-25T14:34:33.2693751Z FAILED: bin/vFramerLite 
2021-06-25T14:34:33.2711947Z : && $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-c++ -fvisibility-inlines-hidden -std=c++17 -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/event-driven-1.5 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -O3 -DNDEBUG -Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,-rpath,$PREFIX/lib -Wl,-rpath-link,$PREFIX/lib -L$PREFIX/lib src/processing/vFramer/CMakeFiles/vFramerLite.dir/src/vFramerLite.cpp.o src/processing/vFramer/CMakeFiles/vFramerLite.dir/src/other_drawers.cpp.o -o bin/vFramerLite  -Wl,-rpath,$SRC_DIR/build/lib:  $PREFIX/lib/libYARP_init.so.3.4.5  lib/libevent-driven.so.1.3  $PREFIX/lib/libYARP_sig.so.3.4.5  $PREFIX/lib/libYARP_os.so.3.4.5  $PREFIX/lib/libopencv_gapi.so.4.5.1  $PREFIX/lib/libopencv_stitching.so.4.5.1  $PREFIX/lib/libopencv_alphamat.so.4.5.1  $PREFIX/lib/libopencv_aruco.so.4.5.1  $PREFIX/lib/libopencv_bgsegm.so.4.5.1  $PREFIX/lib/libopencv_bioinspired.so.4.5.1  $PREFIX/lib/libopencv_ccalib.so.4.5.1  $PREFIX/lib/libopencv_cvv.so.4.5.1  $PREFIX/lib/libopencv_dnn_objdetect.so.4.5.1  $PREFIX/lib/libopencv_dnn_superres.so.4.5.1  $PREFIX/lib/libopencv_dpm.so.4.5.1  $PREFIX/lib/libopencv_face.so.4.5.1  $PREFIX/lib/libopencv_freetype.so.4.5.1  $PREFIX/lib/libopencv_fuzzy.so.4.5.1  $PREFIX/lib/libopencv_hdf.so.4.5.1  $PREFIX/lib/libopencv_hfs.so.4.5.1  $PREFIX/lib/libopencv_img_hash.so.4.5.1  $PREFIX/lib/libopencv_intensity_transform.so.4.5.1  $PREFIX/lib/libopencv_line_descriptor.so.4.5.1  $PREFIX/lib/libopencv_mcc.so.4.5.1  $PREFIX/lib/libopencv_quality.so.4.5.1  $PREFIX/lib/libopencv_rapid.so.4.5.1  $PREFIX/lib/libopencv_reg.so.4.5.1  $PREFIX/lib/libopencv_rgbd.so.4.5.1  $PREFIX/lib/libopencv_saliency.so.4.5.1  $PREFIX/lib/libopencv_stereo.so.4.5.1  $PREFIX/lib/libopencv_structured_light.so.4.5.1  $PREFIX/lib/libopencv_phase_unwrapping.so.4.5.1  $PREFIX/lib/libopencv_superres.so.4.5.1  $PREFIX/lib/libopencv_optflow.so.4.5.1  $PREFIX/lib/libopencv_surface_matching.so.4.5.1  $PREFIX/lib/libopencv_tracking.so.4.5.1  $PREFIX/lib/libopencv_highgui.so.4.5.1  $PREFIX/lib/libopencv_datasets.so.4.5.1  $PREFIX/lib/libopencv_plot.so.4.5.1  $PREFIX/lib/libopencv_text.so.4.5.1  $PREFIX/lib/libopencv_videostab.so.4.5.1  $PREFIX/lib/libopencv_videoio.so.4.5.1  $PREFIX/lib/libopencv_xfeatures2d.so.4.5.1  $PREFIX/lib/libopencv_ml.so.4.5.1  $PREFIX/lib/libopencv_shape.so.4.5.1  $PREFIX/lib/libopencv_ximgproc.so.4.5.1  $PREFIX/lib/libopencv_video.so.4.5.1  $PREFIX/lib/libopencv_dnn.so.4.5.1  $PREFIX/lib/libopencv_xobjdetect.so.4.5.1  $PREFIX/lib/libopencv_imgcodecs.so.4.5.1  $PREFIX/lib/libopencv_objdetect.so.4.5.1  $PREFIX/lib/libopencv_calib3d.so.4.5.1  $PREFIX/lib/libopencv_features2d.so.4.5.1  $PREFIX/lib/libopencv_flann.so.4.5.1  $PREFIX/lib/libopencv_xphoto.so.4.5.1  $PREFIX/lib/libopencv_photo.so.4.5.1  $PREFIX/lib/libopencv_imgproc.so.4.5.1  $PREFIX/lib/libopencv_core.so.4.5.1 && :
2021-06-25T14:34:33.2727803Z $BUILD_PREFIX/bin/../lib/gcc/x86_64-conda-linux-gnu/9.3.0/../../../../x86_64-conda-linux-gnu/bin/ld: warning: libGL.so.1, needed by $PREFIX/lib/libQt5Widgets.so.5, not found (try using -rpath or -rpath-link)
2021-06-25T14:34:33.2729886Z $BUILD_PREFIX/bin/../lib/gcc/x86_64-conda-linux-gnu/9.3.0/../../../../x86_64-conda-linux-gnu/bin/ld: $PREFIX/lib/libQt5Gui.so.5: undefined reference to `glLoadIdentity'
2021-06-25T14:34:33.2731793Z $BUILD_PREFIX/bin/../lib/gcc/x86_64-conda-linux-gnu/9.3.0/../../../../x86_64-conda-linux-gnu/bin/ld: $PREFIX/lib/libQt5Gui.so.5: undefined reference to `glMatrixMode'
2021-06-25T14:34:33.2733636Z $BUILD_PREFIX/bin/../lib/gcc/x86_64-conda-linux-gnu/9.3.0/../../../../x86_64-conda-linux-gnu/bin/ld: $PREFIX/lib/libQt5Gui.so.5: undefined reference to `glOrtho'
2021-06-25T14:34:33.2735584Z $BUILD_PREFIX/bin/../lib/gcc/x86_64-conda-linux-gnu/9.3.0/../../../../x86_64-conda-linux-gnu/bin/ld: $PREFIX/lib/libQt5Gui.so.5: undefined reference to `glLoadMatrixf'
2021-06-25T14:34:33.2736727Z collect2: error: ld returned 1 exit status

[traversaro]

As YCM was merged as well in conda-forge (see conda-forge/staged-recipes#15404), I modified the PR to also get ycm-cmake-modules from conda-forge.

[traversaro]

New generate-conda-packages test run: https://github.com/robotology/robotology-superbuild/actions/runs/973915021 .

[traversaro]

As YCM was merged as well in conda-forge (see conda-forge/staged-recipes#15404), I modified the PR to also get ycm-cmake-modules from conda-forge.

Same for robot-testing-framework .

[traversaro]

iDynTree now fails:

2021-06-26T15:21:24.3661330Z Turn off this advice by setting config variable advice.detachedHead to false
2021-06-26T15:21:24.3662052Z 
2021-06-26T15:21:24.3662623Z HEAD is now at 8bf1795df Release v3.2.1 (#875)
2021-06-26T15:21:27.9257331Z CMake Error at /usr/share/miniconda/envs/test/conda-bld/idyntree_1624720813385/_build_env/share/cmake-3.20/Modules/CMakeFindDependencyMacro.cmake:47 (find_package):
2021-06-26T15:21:27.9259243Z   By not providing "FindYCM.cmake" in CMAKE_MODULE_PATH this project has
2021-06-26T15:21:27.9260321Z   asked CMake to find a package configuration file provided by "YCM", but
2021-06-26T15:21:27.9261155Z   CMake did not find one.
2021-06-26T15:21:27.9261681Z 
2021-06-26T15:21:27.9262729Z   Could not find a package configuration file provided by "YCM" (requested
2021-06-26T15:21:27.9263746Z   version 0.11.0) with any of the following names:
2021-06-26T15:21:27.9264334Z 
2021-06-26T15:21:27.9264945Z     YCMConfig.cmake
2021-06-26T15:21:27.9265865Z     ycm-config.cmake
2021-06-26T15:21:27.9266400Z 
2021-06-26T15:21:27.9267207Z   Add the installation prefix of "YCM" to CMAKE_PREFIX_PATH or set "YCM_DIR"
2021-06-26T15:21:27.9268294Z   to a directory containing one of the above files.  If "YCM" provides a
2021-06-26T15:21:27.9269379Z   separate development package or SDK, be sure it has been installed.

This happens as YCM is a build time dependency for any package depending on YARP or ICUB, but it is does not have any run_exports instruction as it is not a runtime dependency in strict stance, but rather a transitive build-time dependency. As a workaround, we can just add it as a runtime depenendency explicitly.

[traversaro]

This happens as YCM is a build time dependency for any package depending on YARP or ICUB, but it is does not have any run_exports instruction as it is not a runtime dependency in strict stance, but rather a transitive build-time dependency. As a workaround, we can just add it as a runtime depenendency explicitly.

This was fixed with the latest two commits. With this commits, the PR is finally able to generate conda packages with no errors: https://github.com/robotology/robotology-superbuild/runs/2931185261 .