Added CRAS packages (#422)

* Added CRAS packages. * Rebuild geometric_shapes * Temporarily fix build of cras_cpp_common until the fix is upstreamed. * Disable magnetometer_compass on aarch64.
RoboStack · Oct 24, 2023 · 60c7f22 · 60c7f22
1 parent 72a8f7e
commit 60c7f22
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diff --git a/conda.yaml b/conda.yaml
@@ -67,6 +67,8 @@ cython:
   conda: [cython]
 doxygen:
   conda: [doxygen, graphviz]
+draco:
+  conda: [draco]
 eigen:
   conda: [eigen]
 emacs:
@@ -760,6 +762,8 @@ python3-pymongo:
   conda: [pymongo]
 python3-pyproj:
   conda: [pyproj]
+python3-pysnmp:
+  conda: [pysnmp]
 python3-pytest:
   conda: [pytest]
 python3-pytest-cov:

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
@@ -67,6 +67,8 @@ cython:
   robostack: [cython]
 doxygen:
   robostack: [doxygen, graphviz]
+draco:
+  robostack: [draco]
 eigen:
   robostack: [eigen]
 emacs:
@@ -743,6 +745,8 @@ python3-pymongo:
   robostack: [pymongo]
 python3-pyproj:
   robostack: [pyproj]
+python3-pysnmp:
+  robostack: [pysnmp]
 python3-pytest:
   robostack: [pytest]
 python3-pytest-cov:

diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
@@ -37,6 +37,35 @@ 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
@@ -28,6 +28,35 @@ 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
+  # does not work on aarch64 (yet) # - 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
   - actionlib
   - foxglove_bridge
   - ros-babel-fish