Skip to content

Commit 5458743

Browse files
johnwasonjohnwason
authored
Wheel actions (#25)
* tweak dependencies_with_ext.rosinstall * Add wheels.yml action * keyboard-configuration * wheel test * windows wheel build * win logs * use x64-windows-release triplet * clean vcpkg and win vcs import * clean vcpkg * enable openmp on win * win ninja * disable 22.04 * cache vcpkg win * set CC=cl win * work * dry run win * dry run * dry run * dry run * dry run * dry run * msvc vars * save vcpkg cache * re-enable build * Enable bullet build on Windows * vcpkg cache path * Use CMAKE_PREFIX_PATH * trajopt sparse fix * ifopt version * remove openmp * win test pip install * archive build * enable tests * update vars * WHEEL_FILE var on windows * use updated vcpkg packages * Use tesseract_ext on Linux * Build on master branch
1 parent d802447 commit 5458743

File tree

3 files changed

+208
-5
lines changed

3 files changed

+208
-5
lines changed

‎.github/workflows/wheels.yml‎

Lines changed: 204 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,204 @@
1+
name: Python Wheels
2+
3+
on:
4+
push:
5+
branches:
6+
- master
7+
pull_request:
8+
release:
9+
types:
10+
- created
11+
12+
env:
13+
VCPKG_PKGS: >-
14+
boost-dll boost-program-options
15+
boost-serialization boost-filesystem
16+
tinyxml2 console-bridge assimp
17+
urdfdom octomap orocos-kdl pcl
18+
gtest benchmark flann jsoncpp
19+
yaml-cpp
20+
blas lapack
21+
fcl ompl taskflow
22+
bullet3[multithreading,double-precision,rtti]
23+
ccd[double-precision]
24+
jobs:
25+
build-ubuntu:
26+
runs-on: ${{ matrix.config.runs_on }}
27+
container: ${{ matrix.config.container }}
28+
strategy:
29+
fail-fast: false
30+
matrix:
31+
config:
32+
- os: ubuntu-20.04
33+
runs_on: ubuntu-latest
34+
container: ubuntu:20.04
35+
py_platform: manylinux_2_31_x86_64
36+
# - os: ubuntu-22.04
37+
# runs_on: ubuntu-latest
38+
# container: ubuntu:22.04
39+
# py_platform: manylinux_2_35_x86_64
40+
env:
41+
DEBIAN_FRONTEND: noninteractive
42+
steps:
43+
- uses: actions/checkout@v2
44+
with:
45+
path: ws/src/tesseract_python
46+
- name: install sudo, tzdata, keyboard-configuration
47+
shell: bash
48+
run: |
49+
echo -en "XKBMODEL=\"pc105\"\nXKBLAYOUT=\"us\"\nXKBVARIANT=\"\"\nXKBOPTIONS=\"\"\nBACKSPACE=\"guess\"\n" > /etc/default/keyboard
50+
apt update
51+
apt install sudo tzdata python3 keyboard-configuration -y -qq
52+
ln -fs /usr/share/zoneinfo/America/New_York /etc/localtime
53+
dpkg-reconfigure --frontend noninteractive tzdata
54+
- name: apt
55+
run: >
56+
sudo apt-get install python3-pip libboost-all-dev
57+
libeigen3-dev libtinyxml2-dev libconsole-bridge-dev libassimp-dev
58+
liburdfdom-dev liboctomap-dev liborocos-kdl-dev libpcl-dev
59+
libflann-dev libjsoncpp-dev libyaml-cpp-dev git cmake ninja-build
60+
build-essential autoconf automake libtool bison libpcre2-dev libpcre3-dev
61+
lcov libbullet-dev libbullet-extras-dev patchelf python3-venv -y -qq
62+
- name: pip
63+
run: |
64+
sudo python3 -m pip install --upgrade pip
65+
sudo python3 -m pip install auditwheel wheel numpy setuptools colcon-common-extensions vcstool
66+
- name: vcs import
67+
working-directory: ws/src
68+
run: vcs import --input tesseract_python/dependencies_with_ext.rosinstall
69+
- name: colcon build
70+
working-directory: ws
71+
run: >
72+
colcon build --packages-up-to tesseract_python --merge-install
73+
--cmake-force-configure
74+
--packages-ignore bullet
75+
--event-handlers console_cohesion+
76+
--cmake-args -DCMAKE_BUILD_TYPE=Release
77+
-DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
78+
-DPYTHON_EXECUTABLE=/usr/bin/python3 -DTESSERACT_PYTHON_BUILD_WHEEL=ON
79+
-DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }}
80+
-DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON
81+
- name: test
82+
shell: bash
83+
run: |
84+
python3 -m venv venv
85+
source venv/bin/activate
86+
python -m pip install --upgrade pip
87+
python -m pip install ws/build/tesseract_python/python/wheelhouse/*
88+
python -m pip install pytest
89+
export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support
90+
cd ws/src/tesseract_python/tesseract_python
91+
pytest -s
92+
- name: archive wheels
93+
uses: actions/upload-artifact@v2
94+
with:
95+
name: 'python-wheels-${{ matrix.config.os }}'
96+
path: ws/build/tesseract_python/python/*
97+
build-win:
98+
runs-on: windows-2019
99+
strategy:
100+
fail-fast: false
101+
matrix:
102+
config:
103+
- arch: x64
104+
vcpkg_triplet: x64-windows-release
105+
cmake_arch: x64
106+
python_version: "3.7"
107+
- arch: x64
108+
vcpkg_triplet: x64-windows-release
109+
cmake_arch: x64
110+
python_version: "3.8"
111+
- arch: x64
112+
vcpkg_triplet: x64-windows-release
113+
cmake_arch: x64
114+
python_version: "3.9"
115+
- arch: x64
116+
vcpkg_triplet: x64-windows-release
117+
cmake_arch: x64
118+
python_version: "3.10"
119+
steps:
120+
- uses: actions/checkout@v2
121+
with:
122+
path: ws/src/tesseract_python
123+
- uses: actions/setup-python@v2
124+
with:
125+
python-version: '${{ matrix.config.python_version }}'
126+
architecture: ${{ matrix.config.arch }}
127+
- name: vcpkg build
128+
uses: johnwason/vcpkg-action@v2
129+
with:
130+
pkgs: >-
131+
${{ env.VCPKG_PKGS }}
132+
triplet: ${{ matrix.config.vcpkg_triplet }}
133+
extra-args: --clean-after-build
134+
- name: pip3
135+
run: |
136+
python -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool
137+
- name: env python3
138+
run: echo ("PYTHON3_EXE=" + (Get-Command Python.exe).Path) | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
139+
- name: choco
140+
run: |
141+
choco install swig ninja -r
142+
- name: vcs import
143+
working-directory: ws/src
144+
run: vcs import --input tesseract_python\dependencies.rosinstall
145+
- name: colcon build
146+
working-directory: ws
147+
shell: cmd
148+
run: |
149+
call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64
150+
set CXXFLAGS=%CXXFLAGS% -DEIGEN_DONT_ALIGN=1 -DEIGEN_DONT_VECTORIZE=1
151+
set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}
152+
set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}\bin
153+
set CC=cl
154+
set CCX=cl
155+
colcon build --packages-up-to tesseract_python --merge-install ^
156+
--cmake-force-configure ^
157+
--event-handlers console_cohesion+ ^
158+
--packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp gtest ^
159+
--cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release ^
160+
-DPYTHON_EXECUTABLE="${{ env.PYTHON3_EXE }}" ^
161+
-DTESSERACT_PYTHON_BUILD_WHEEL=ON ^
162+
-DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON ^
163+
-DVCPKG_APPLOCAL_DEPS=OFF ^
164+
-DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF
165+
if %ERRORLEVEL% GEQ 1 exit 1
166+
- name: test
167+
shell: cmd
168+
run: |
169+
python -m venv venv
170+
if %errorlevel% neq 0 exit /b %errorlevel%
171+
call venv\Scripts\activate
172+
if %errorlevel% neq 0 exit /b %errorlevel%
173+
python --version
174+
python -m pip install --upgrade pip
175+
if %errorlevel% neq 0 exit /b %errorlevel%
176+
for %%I in ("%GITHUB_WORKSPACE%\ws\build\tesseract_python\python\wheelhouse\*") do set WHEEL_FILE=%%~I
177+
if %errorlevel% neq 0 exit /b %errorlevel%
178+
echo WHEEL_FILE=%WHEEL_FILE%
179+
python -m pip install %WHEEL_FILE%
180+
if %errorlevel% neq 0 exit /b %errorlevel%
181+
python -m pip install pytest
182+
if %errorlevel% neq 0 exit /b %errorlevel%
183+
set TESSERACT_SUPPORT_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract\tesseract_support
184+
if %errorlevel% neq 0 exit /b %errorlevel%
185+
cd %GITHUB_WORKSPACE%\ws\src\tesseract_python\tesseract_python
186+
if %errorlevel% neq 0 exit /b %errorlevel%
187+
python -m pytest -s
188+
if %errorlevel% neq 0 exit /b %errorlevel%
189+
- name: archive wheels
190+
if: always()
191+
uses: actions/upload-artifact@v2
192+
with:
193+
name: 'python-wheels-win-${{matrix.config.python_version}}'
194+
path: ws/build/tesseract_python/python
195+
- name: archive logs
196+
if: failure()
197+
uses: actions/upload-artifact@v2
198+
with:
199+
name: 'build-logs-win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}'
200+
path: "**/*.log"
201+
retention-days: 2
202+
203+
204+

‎dependencies.rosinstall‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,8 @@
55

66
- git:
77
local-name: tesseract
8-
uri: https://github.com/johnwason/tesseract.git
9-
version: pr/BulletLibsAbsPath
8+
uri: https://github.com/tesseract-robotics/tesseract.git
9+
version: 3c799dccfaae524d04688f48b4fe282ecb1fed22
1010
- git:
1111
local-name: tesseract_planning
1212
uri: https://github.com/tesseract-robotics/tesseract_planning.git

‎dependencies_with_ext.rosinstall‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -2,11 +2,10 @@
22
local-name: ros_industrial_cmake_boilerplate
33
uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
44
version: 0.3.0
5-
65
- git:
76
local-name: tesseract
8-
uri: https://github.com/johnwason/tesseract.git
9-
version: pr/BulletLibsAbsPath
7+
uri: https://github.com/tesseract-robotics/tesseract.git
8+
version: 3c799dccfaae524d04688f48b4fe282ecb1fed22
109
- git:
1110
local-name: tesseract_planning
1211
uri: https://github.com/tesseract-robotics/tesseract_planning.git

0 commit comments

Comments
 (0)