Merge branch 'master' into fullrebuild202310

RoboStack · Jan 26, 2024 · 0d44fe3 · 0d44fe3
2 parents fc20e35 + bc5373a
commit 0d44fe3
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diff --git a/conda.yaml b/conda.yaml
@@ -67,10 +67,14 @@ cython:
   conda: [cython]
 doxygen:
   conda: [doxygen, graphviz]
+draco:
+  conda: [draco]
 eigen:
   conda: [eigen]
 emacs:
   conda: [emacs]
+festival:
+  conda: [festival, festvox-kallpc16k]
 ffmpeg:
   conda: [ffmpeg]
 flac:
@@ -678,6 +682,8 @@ python3-future:
   conda: [future]
 python3-gi:
   conda: [pygobject]
+python3-git:
+  conda: [gitpython]
 python3-github:
   conda: [pygithub]
 python3-github3:
@@ -758,6 +764,8 @@ python3-pymongo:
   conda: [pymongo]
 python3-pyproj:
   conda: [pyproj]
+python3-pysnmp:
+  conda: [pysnmp]
 python3-pytest:
   conda: [pytest]
 python3-pytest-cov:
@@ -788,6 +796,8 @@ python3-rospkg-modules:
   conda: [rospkg]
 python3-ruamel.yaml:
   conda: [ruamel.yaml]
+python3-ruff:
+  conda: [ruff]
 python3-scipy:
   conda: [scipy]
 python3-serial:
@@ -818,6 +828,8 @@ python3-twisted:
   conda: [twisted]
 python3-typeguard:
   conda: [typeguard]
+python3-unidiff:
+  conda: [unidiff]
 python3-usb:
   conda: [pyusb]
 python3-venv:

diff --git a/patch/ros-noetic-cras-cpp-common.patch b/patch/ros-noetic-cras-cpp-common.patch
@@ -0,0 +1,51 @@
+diff --git a/cras_cpp_common/CMakeLists.txt b/cras_cpp_common/CMakeLists.txt
+index b8e1640..876da61 100644
+--- a/cras_cpp_common/CMakeLists.txt
++++ b/cras_cpp_common/CMakeLists.txt
+@@ -225,12 +225,45 @@ add_library(cras_log_utils src/log_utils.cpp src/log_utils/memory.cpp src/log_ut
+ target_link_libraries(cras_log_utils
+   PUBLIC cras_string_utils ${catkin_LIBRARIES} PRIVATE cras_time_utils)
+
++# Detect compiler SIMD support. We'll need it for cras_tf2_sensor_msgs target.
++include(CheckCXXCompilerFlag)
++unset(COMPILER_SUPPORTS_MARCH_X86_V3 CACHE)
++unset(COMPILER_SUPPORTS_MARCH_X86_V2 CACHE)
++unset(COMPILER_SUPPORTS_MARCH_ARMV8 CACHE)
++unset(COMPILER_SUPPORTS_MARCH_ARMV7 CACHE)
++unset(COMPILER_SUPPORTS_MARCH_NATIVE CACHE)
++set(X86_V2_FLAGS -msse4 -msse3)
++set(X86_V3_FLAGS -mavx2 -mavx -mfma)
++list(APPEND X86_V3_FLAGS ${X86_V2_FLAGS})
++CHECK_CXX_COMPILER_FLAG("-march=x86-64 ${X86_V3_FLAGS}" COMPILER_SUPPORTS_MARCH_X86_V3)
++CHECK_CXX_COMPILER_FLAG("-march=x86-64 ${X86_V2_FLAGS}" COMPILER_SUPPORTS_MARCH_X86_V2)
++CHECK_CXX_COMPILER_FLAG("-march=armv8-a" COMPILER_SUPPORTS_MARCH_ARMV8)
++CHECK_CXX_COMPILER_FLAG("-march=armv7-a+neon" COMPILER_SUPPORTS_MARCH_ARMV7)
++CHECK_CXX_COMPILER_FLAG("-march=native" COMPILER_SUPPORTS_MARCH_NATIVE)
++
+ add_library(cras_tf2_sensor_msgs src/tf2_sensor_msgs.cpp)
+ add_dependencies(cras_tf2_sensor_msgs ${catkin_EXPORTED_TARGETS})
+-target_compile_options(cras_tf2_sensor_msgs PRIVATE -march=native)
+ target_link_libraries(cras_tf2_sensor_msgs
+   PUBLIC ${catkin_LIBRARIES}
+   PRIVATE cras_cloud cras_string_utils Eigen3::Eigen)
++# The pointcloud processing loop really needs SIMD. We enable it conservatively.
++# ROS buildfarm should pick up x86-64-v3 for x86 builds, armv7 for armhf builds and armv8 for arm64 builds.
++if (COMPILER_SUPPORTS_MARCH_X86_V3)
++  target_compile_options(cras_tf2_sensor_msgs PRIVATE -march=x86-64 ${X86_V3_FLAGS})
++  message("cras_tf2_sensor_msgs uses x86-64-v3 SIMD")
++elseif (COMPILER_SUPPORTS_MARCH_X86_V2)
++  target_compile_options(cras_tf2_sensor_msgs PRIVATE -march=x86-64 ${X86_V2_FLAGS})
++  message("cras_tf2_sensor_msgs uses x86-64-v2 SIMD")
++elseif (COMPILER_SUPPORTS_MARCH_ARMV7)
++  target_compile_options(cras_tf2_sensor_msgs PRIVATE -march=armv7-a+neon)
++  message("cras_tf2_sensor_msgs uses armv7-a+simd SIMD")
++elseif (COMPILER_SUPPORTS_MARCH_ARMV8)
++  target_compile_options(cras_tf2_sensor_msgs PRIVATE -march=armv8-a)
++  message("cras_tf2_sensor_msgs uses armv8-a SIMD")
++elseif (COMPILER_SUPPORTS_MARCH_NATIVE)
++  target_compile_options(cras_tf2_sensor_msgs PRIVATE -march=native)
++  message("cras_tf2_sensor_msgs uses native SIMD")
++endif()
+
+ add_library(cras_type_utils src/type_utils.cpp)
+ target_link_libraries(cras_type_utils
diff --git a/robostack.yaml b/robostack.yaml
@@ -76,10 +76,14 @@ cython:
   robostack: [cython]
 doxygen:
   robostack: [doxygen, graphviz]
+draco:
+  robostack: [draco]
 eigen:
   robostack: [eigen]
 emacs:
   robostack: [emacs]
+festival:
+  robostack: [festival, festvox-kallpc16k]
 ffmpeg:
   robostack: [ffmpeg]
 flac:
@@ -691,6 +695,8 @@ python3-future:
   robostack: [future]
 python3-gi:
   robostack: [pygobject]
+python3-git:
+  robostack: [gitpython]
 python3-github:
   robostack: [pygithub]
 python3-github3:
@@ -771,6 +777,8 @@ python3-pymongo:
   robostack: [pymongo]
 python3-pyproj:
   robostack: [pyproj]
+python3-pysnmp:
+  robostack: [pysnmp]
 python3-pytest:
   robostack: [pytest]
 python3-pytest-cov:
@@ -803,6 +811,8 @@ python3-rospkg-modules:
   robostack: [rospkg]
 python3-ruamel.yaml:
   robostack: [ruamel.yaml]
+python3-ruff:
+  robostack: [ruff]
 python3-scipy:
   robostack: [scipy]
 python3-serial:
@@ -833,6 +843,8 @@ python3-twisted:
   robostack: [twisted]
 python3-typeguard:
   robostack: [typeguard]
+python3-unidiff:
+  robostack: [unidiff]
 python3-usb:
   robostack: [pyusb]
 python3-venv:

diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
@@ -39,6 +39,35 @@ skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
 packages_select_by_deps:
+  - cras_cpp_common  # maintainer peci1
+  - cras_py_common  # maintainer peci1
+  - cras_docs_common  # maintainer peci1
+  - cras_topic_tools  # maintainer peci1
+  - image_transport_codecs  # maintainer peci1
+  - point_cloud_transport  # maintainer peci1
+  - point_cloud_transport_plugins  # maintainer peci1
+  - draco_point_cloud_transport  # maintainer peci1
+  - sensor_filters  # maintainer peci1
+  - cras_relative_positional_controller  # maintainer peci1
+  - cras_msgs  # maintainer peci1
+  - compass_msgs  # maintainer peci1
+  - magnetometer_compass  # maintainer peci1
+  - electronic_io_msgs  # maintainer peci1
+  - electronic_io  # maintainer peci1
+  - point_cloud_color  # maintainer peci1
+  - rosmsg_cpp  # maintainer peci1
+  - snmp_ros  # maintainer peci1
+  - robot_body_filter  # maintainer peci1
+  - static_transform_mux  # maintainer peci1
+  - tf_remapper_cpp  # maintainer peci1
+  - roslint  # maintainer peci1
+  - tf2_server  # maintainer peci1
+  - rosbash_params  # maintainer peci1
+  - dynamic_robot_state_publisher  # maintainer peci1
+  - tf2_client  # maintainer peci1
+  - tf_static_publisher  # maintainer peci1
+  - movie_publisher  # maintainer peci1
+  - geometric_shapes
   - teleop-twist-keyboard
   - rosserial-client
   - rosserial-arduino

diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
@@ -30,6 +30,35 @@ skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
 packages_select_by_deps:
+  - cras_cpp_common  # maintainer peci1
+  - cras_py_common  # maintainer peci1
+  - cras_docs_common  # maintainer peci1
+  - cras_topic_tools  # maintainer peci1
+  - image_transport_codecs  # maintainer peci1
+  - point_cloud_transport  # maintainer peci1
+  - point_cloud_transport_plugins  # maintainer peci1
+  - draco_point_cloud_transport  # maintainer peci1
+  - sensor_filters  # maintainer peci1
+  - cras_relative_positional_controller  # maintainer peci1
+  - cras_msgs  # maintainer peci1
+  - compass_msgs  # maintainer peci1
+  - magnetometer_compass  # maintainer peci1; does not work on aarch64 in pull requests due to cross-compiling (but okay on master branch)
+  - electronic_io_msgs  # maintainer peci1
+  - electronic_io  # maintainer peci1
+  - point_cloud_color  # maintainer peci1
+  - rosmsg_cpp  # maintainer peci1
+  - snmp_ros  # maintainer peci1
+  - robot_body_filter  # maintainer peci1
+  - static_transform_mux  # maintainer peci1
+  - tf_remapper_cpp  # maintainer peci1
+  - roslint  # maintainer peci1
+  - tf2_server  # maintainer peci1
+  - rosbash_params  # maintainer peci1
+  - dynamic_robot_state_publisher  # maintainer peci1
+  - tf2_client  # maintainer peci1
+  - tf_static_publisher  # maintainer peci1
+  - movie_publisher  # maintainer peci1
+  - geometric_shapes
   - actionlib
   - ros-babel-fish
   - ros-babel-fish-test-msgs