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Support ros-o / Ubuntu 22.04 #512

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merged 17 commits into from
Dec 26, 2024
Merged

Support ros-o / Ubuntu 22.04 #512

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cafbff6
[libsiftfast] support multiple python3 version
mqcmd196 Nov 13, 2024
2ef756e
[sesame_ros] remove cffi which cannot be installed in Ubuntu 22.04 en…
mqcmd196 Nov 13, 2024
1b9bdbd
[ff] relax linker. allow function duplication
mqcmd196 Nov 13, 2024
e9cdcb6
[ffha] relax linker. allow function duplication
mqcmd196 Nov 13, 2024
e80e23e
[downward] patching to fix std::vector namespace
mqcmd196 Nov 13, 2024
b349826
[zdepth] fix build hunging issue 2nd+ time
mqcmd196 Nov 13, 2024
dcc7c3d
[sesame_ros] relax venv check
mqcmd196 Nov 13, 2024
4918f9e
[zdepth] add comment
mqcmd196 Nov 17, 2024
f32d0b6
[collada_urdf_jsk_patch] ignore it because no longer needed
mqcmd196 Nov 17, 2024
908a934
[zdepth][sesame_ros] specify ROS_DISTRO for ros-obese
mqcmd196 Nov 25, 2024
1180daf
Merge branch 'master' into ros-o
k-okada Dec 26, 2024
98194df
[respeaker_ros][diamondback] [ros-o] only use STREQUAL to compare ROS…
k-okada Dec 26, 2024
c8eb21e
[libsiftfast] [ros-o] only use != to compare ROS_DISTRO in Makefile
k-okada Dec 26, 2024
63b2c78
[downward] [ros-o] add -Wno-maybe-uninitialized
k-okada Dec 26, 2024
3f42be3
[zdepth] [ros-o] only use STREQUAL to compare ROS_DISTRO in cmake
k-okada Dec 26, 2024
8f15e35
[collada_urdf_jsk_patch] [ros-o] add CATKIN_IGNORE only when ROS-O, u…
k-okada Dec 26, 2024
0960bea
[.github/workflows/config.yml] add ROS-O test
k-okada Dec 26, 2024
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2 changes: 1 addition & 1 deletion 3rdparty/downward/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ externalproject_add(downward
URL http://cdn.rawgit.com/jsk-ros-pkg/archives/master/Fast-Downward-f33d3b65601f.tar.gz
TIMEOUT 120
CONFIGURE_COMMAND ""
BUILD_COMMAND cd src && sed -i "s@^CXXFLAGS =$@CXXFLAGS = ${CXXFLAGS_NOETIC} -Wno-maybe-uninitialized@" search/Makefile && ./build_all DOWNWARD_BITWIDTH=native && patch -p3 < ${PROJECT_SOURCE_DIR}/fix_time_clock.patch
BUILD_COMMAND cd src && sed -i "s@^CXXFLAGS =$@CXXFLAGS = ${CXXFLAGS_NOETIC} -Wno-maybe-uninitialized@" search/Makefile && patch -p3 < ${PROJECT_SOURCE_DIR}/fix_std_vector_namespace.patch && ./build_all DOWNWARD_BITWIDTH=native && patch -p3 < ${PROJECT_SOURCE_DIR}/fix_time_clock.patch
INSTALL_COMMAND bash -c "cp -rf --parents src/{validate,plan,preprocess/preprocess,search/downward*,search/unitcost,search/portfolio.py,translate} ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}"
BUILD_IN_SOURCE 1
)
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10 changes: 10 additions & 0 deletions 3rdparty/downward/fix_std_vector_namespace.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
--- src/downward/src/search/landmarks/landmark_factory_zhu_givan.h.bak 2024-11-13 13:20:10.508657847 +0900
+++ src/downward/src/search/landmarks/landmark_factory_zhu_givan.h 2024-11-13 13:20:12.591485789 +0900
@@ -7,6 +7,7 @@
#include "../globals.h"

using namespace __gnu_cxx;
+using std::vector;

class LandmarkFactoryZhuGivan : public LandmarkFactory {
private:
2 changes: 1 addition & 1 deletion 3rdparty/ff/Makefile
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Expand Up @@ -16,7 +16,7 @@ MAKE_ARGS = ADDONS=-DYY_SKIP_YYWRAP

installed:$(SOURCE_DIR)/unpacked
rm -f $(SOURCE_DIR)/ff
(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset ' $(MAKE_ARGS))
(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset -fcommon ' $(MAKE_ARGS))
mkdir -p bin
cp $(SOURCE_DIR)/ff bin/
touch installed
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2 changes: 1 addition & 1 deletion 3rdparty/ffha/Makefile
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Expand Up @@ -22,7 +22,7 @@ $(SOURCE_DIR)/patched:$(SOURCE_DIR)/unpacked
touch $(SOURCE_DIR)/patched

installed:$(SOURCE_DIR)/patched
(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset ' $(MAKE_ARGS))
(cd $(SOURCE_DIR) && $(MAKE) clean && $(MAKE) CFLAGS='-O6 -g -ansi -Wno-array-bounds -Wno-endif-labels -Wno-format-overflow -Wno-implicit-function-declaration -Wno-int-in-bool-context -Wno-unused-function -Wno-unused-variable -fno-builtin-strncpy -fno-builtin-strcpy -fno-builtin-strlen -fno-builtin-strcat -fno-builtin-memset -fcommon ' $(MAKE_ARGS))
mkdir -p bin
cp $(SOURCE_DIR)/ffha bin/
touch installed
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8 changes: 5 additions & 3 deletions 3rdparty/libsiftfast/patches/10.boost_python38.patch
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Expand Up @@ -2,12 +2,14 @@ Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt (revision 54)
+++ CMakeLists.txt (working copy)
@@ -155,7 +155,8 @@
@@ -155,7 +155,10 @@
if( NOT $ENV{BOOST_LIBRARYDIR} STREQUAL "" )
set(Boost_LIBRARY_DIRS $ENV{BOOST_LIBRARYDIR})
endif()
-find_package(Boost COMPONENTS python)
+find_package(Boost REQUIRED COMPONENTS system python38)
+set(Python3_FIND_STRATEGY VERSION)
+find_package(Python3 COMPONENTS Interpreter Development)
+find_package(Boost REQUIRED COMPONENTS system python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR})
+add_definitions("-Wno-narrowing")

if( Boost_FOUND )
Expand All @@ -17,7 +19,7 @@ Index: CMakeLists.txt
#
set(BUILD_SIFTFASTPY)
-if( Boost_PYTHON_FOUND )
+if( Boost_PYTHON38_FOUND )
+if( Boost_PYTHON${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}_FOUND )
find_package(PythonLibs)

if( PYTHONLIBS_FOUND OR PYTHON_LIBRARIES )
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2 changes: 1 addition & 1 deletion 3rdparty/zdepth/CMakeLists.txt
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Expand Up @@ -9,7 +9,7 @@ if("$ENV{ROS_DISTRO}" STRGREATER "kinetic")
GIT_REPOSITORY https://github.com/catid/Zdepth.git
GIT_TAG ac7c6d8e944d07be2404e5a1eaa04562595f3756
GIT_SHALLOW TRUE
PATCH_COMMAND cat ${PROJECT_SOURCE_DIR}/fix_cmakelists.patch | patch -p1
PATCH_COMMAND cat ${PROJECT_SOURCE_DIR}/fix_cmakelists.patch | patch -p1 --forward || true
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CMAKE_ARGS -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
INSTALL_COMMAND echo "install"
)
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1 change: 0 additions & 1 deletion sesame_ros/requirements.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
asn1crypto==1.3.0
certifi==2020.6.20
cffi==1.14.0
chardet==3.0.4
cryptography==2.3
enum34==1.1.10
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