December 2024 update #97
Workflow file for this run
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| name: Python Wheels | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - 'dev**' | |
| pull_request: | |
| release: | |
| types: | |
| - created | |
| env: | |
| VCPKG_PKGS: >- | |
| boost-dll boost-program-options | |
| boost-serialization boost-filesystem | |
| boost-stacktrace | |
| tinyxml2 console-bridge assimp | |
| urdfdom octomap orocos-kdl pcl | |
| gtest benchmark flann jsoncpp | |
| yaml-cpp eigen3 | |
| openblas | |
| fcl ompl taskflow | |
| bullet3[multithreading,double-precision,rtti] | |
| ccd[double-precision] gperftools | |
| jobs: | |
| build-ubuntu: | |
| runs-on: ${{ matrix.config.runs_on }} | |
| container: ${{ matrix.config.container }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - os: ubuntu-22.04 | |
| runs_on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| py_platform: manylinux_2_35_x86_64 | |
| python_version: "3.8" | |
| docs: true | |
| docs_cmake: ON | |
| - os: ubuntu-22.04 | |
| runs_on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| py_platform: manylinux_2_35_x86_64 | |
| python_version: "3.9" | |
| docs: true | |
| docs_cmake: ON | |
| - os: ubuntu-22.04 | |
| runs_on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| py_platform: manylinux_2_35_x86_64 | |
| python_version: "3.10" | |
| docs: true | |
| docs_cmake: ON | |
| - os: ubuntu-22.04 | |
| runs_on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| py_platform: manylinux_2_35_x86_64 | |
| python_version: "3.11.0" | |
| docs: true | |
| docs_cmake: ON | |
| - os: ubuntu-22.04 | |
| runs_on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| py_platform: manylinux_2_35_x86_64 | |
| python_version: "3.12.0" | |
| docs: true | |
| docs_cmake: ON | |
| - os: ubuntu-22.04 | |
| runs_on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| py_platform: manylinux_2_35_x86_64 | |
| python_version: "3.13.0" | |
| docs: true | |
| docs_cmake: ON | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: ws/src/tesseract_python | |
| - name: install sudo, tzdata, keyboard-configuration | |
| shell: bash | |
| run: | | |
| echo -en "XKBMODEL=\"pc105\"\nXKBLAYOUT=\"us\"\nXKBVARIANT=\"\"\nXKBOPTIONS=\"\"\nBACKSPACE=\"guess\"\n" > /etc/default/keyboard | |
| apt update | |
| apt install sudo tzdata python3 keyboard-configuration -y -qq | |
| ln -fs /usr/share/zoneinfo/America/New_York /etc/localtime | |
| dpkg-reconfigure --frontend noninteractive tzdata | |
| - name: apt | |
| run: > | |
| sudo apt-get install python3-pip libboost-all-dev | |
| libeigen3-dev libtinyxml2-dev libconsole-bridge-dev libassimp-dev | |
| liburdfdom-dev liboctomap-dev liborocos-kdl-dev libpcl-dev | |
| libflann-dev libjsoncpp-dev libyaml-cpp-dev git cmake ninja-build | |
| build-essential autoconf automake libtool bison libpcre2-dev libpcre3-dev | |
| lcov libbullet-dev libbullet-extras-dev python3-venv curl libfcl-dev -y -qq | |
| - name: build-swig | |
| uses: johnwason/swig-build-action@v1 | |
| with: | |
| cache-key: ${{ matrix.config.os }}-${{ matrix.config.python_version }} | |
| version: "4.1.1" | |
| - uses: actions/setup-python@v4 | |
| id: setup-python | |
| with: | |
| python-version: '${{ matrix.config.python_version }}' | |
| - name: pip | |
| run: | | |
| python -m pip install --upgrade pip | |
| python -m pip install auditwheel wheel numpy setuptools colcon-common-extensions vcstool patchelf | |
| - name: pip | |
| if: matrix.config.docs == true | |
| run: | | |
| python -m pip install -r ws/src/tesseract_python/docs/requirements.txt | |
| - name: vcs import | |
| working-directory: ws/src | |
| run: vcs import --input tesseract_python/dependencies_with_ext.rosinstall | |
| - name: colcon build | |
| working-directory: ws | |
| run: > | |
| colcon build --packages-up-to tesseract_python --merge-install | |
| --cmake-force-configure | |
| --packages-ignore bullet | |
| --event-handlers console_cohesion+ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF | |
| -DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" | |
| -DTESSERACT_PYTHON_BUILD_WHEEL=ON | |
| -DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }} | |
| -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON | |
| -DTESSERACT_PYTHON_BUILD_DOCUMENTATION=${{ matrix.config.docs_cmake }} | |
| - name: test | |
| shell: bash | |
| run: | | |
| python3 -m venv venv | |
| source venv/bin/activate | |
| python -m pip install --upgrade pip | |
| python -m pip install ws/build/tesseract_python/python/wheelhouse/* | |
| python -m pip install pytest | |
| export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support | |
| export TESSERACT_TASK_COMPOSER_DIR=$GITHUB_WORKSPACE/ws/src/tesseract_planning/tesseract_task_composer | |
| cd ws/src/tesseract_python/tesseract_python | |
| pytest -s | |
| - name: build docs | |
| if: matrix.config.docs == true | |
| shell: bash | |
| working-directory: ws/build/tesseract_python | |
| run: | | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$GITHUB_WORKSPACE/ws/install/lib | |
| cmake --build . --config Release --target tesseract_python_doc | |
| - name: archive wheels | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: 'python-wheels-${{ matrix.config.os }}-${{ matrix.config.python_version }}' | |
| path: ws/build/tesseract_python/python/* | |
| - name: archive docs | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: 'python-docs-${{ matrix.config.os }}-${{ matrix.config.python_version }}' | |
| path: ws/build/tesseract_python/docs/* | |
| build-win: | |
| runs-on: windows-2022 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - arch: x64 | |
| vcpkg_triplet: x64-windows-release | |
| cmake_arch: x64 | |
| python_version: "3.7" | |
| - arch: x64 | |
| vcpkg_triplet: x64-windows-release | |
| cmake_arch: x64 | |
| python_version: "3.8" | |
| - arch: x64 | |
| vcpkg_triplet: x64-windows-release | |
| cmake_arch: x64 | |
| python_version: "3.9" | |
| - arch: x64 | |
| vcpkg_triplet: x64-windows-release | |
| cmake_arch: x64 | |
| python_version: "3.10" | |
| - arch: x64 | |
| vcpkg_triplet: x64-windows-release | |
| cmake_arch: x64 | |
| python_version: "3.11.0" | |
| - arch: x64 | |
| vcpkg_triplet: x64-windows-release | |
| cmake_arch: x64 | |
| python_version: "3.12.0" | |
| - arch: x64 | |
| vcpkg_triplet: x64-windows-release | |
| cmake_arch: x64 | |
| python_version: "3.13.0" | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: ws/src/tesseract_python | |
| - uses: actions/setup-python@v4 | |
| id: setup-python | |
| with: | |
| python-version: '${{ matrix.config.python_version }}' | |
| architecture: ${{ matrix.config.arch }} | |
| - name: vcpkg build | |
| uses: johnwason/vcpkg-action@v5 | |
| with: | |
| pkgs: >- | |
| ${{ env.VCPKG_PKGS }} | |
| triplet: ${{ matrix.config.vcpkg_triplet }} | |
| extra-args: --clean-after-build | |
| token: ${{ github.token }} | |
| cache-key: win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }} | |
| - name: pip3 | |
| run: | | |
| python -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool | |
| - name: choco | |
| run: | | |
| choco install swig ninja -r | |
| - name: vcs import | |
| working-directory: ws/src | |
| run: vcs import --input tesseract_python\dependencies.rosinstall | |
| - name: colcon build | |
| working-directory: ws | |
| shell: cmd | |
| run: | | |
| call "C:\Program Files\Microsoft Visual Studio\2022\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64 | |
| set CXXFLAGS=%CXXFLAGS% -DEIGEN_DONT_ALIGN=1 -DEIGEN_DONT_VECTORIZE=1 | |
| set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }} | |
| set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}\bin | |
| set CC=cl | |
| set CCX=cl | |
| colcon build --packages-up-to tesseract_python --merge-install ^ | |
| --cmake-force-configure ^ | |
| --event-handlers console_cohesion+ ^ | |
| --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp gtest ^ | |
| --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release ^ | |
| -DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" ^ | |
| -DTESSERACT_PYTHON_BUILD_WHEEL=ON ^ | |
| -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON ^ | |
| -DVCPKG_APPLOCAL_DEPS=OFF ^ | |
| -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF | |
| if %ERRORLEVEL% GEQ 1 exit 1 | |
| - name: test | |
| shell: cmd | |
| run: | | |
| python -m venv venv | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| call venv\Scripts\activate | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| python --version | |
| python -m pip install --upgrade pip | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| for %%I in ("%GITHUB_WORKSPACE%\ws\build\tesseract_python\python\wheelhouse\*") do set WHEEL_FILE=%%~I | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| echo WHEEL_FILE=%WHEEL_FILE% | |
| python -m pip install %WHEEL_FILE% | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| python -m pip install pytest | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| set TESSERACT_SUPPORT_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract\tesseract_support | |
| set TESSERACT_TASK_COMPOSER_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract_planning\tesseract_task_composer | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| cd %GITHUB_WORKSPACE%\ws\src\tesseract_python\tesseract_python | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| python -m pytest -s | |
| if %errorlevel% neq 0 exit /b %errorlevel% | |
| - name: archive wheels | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: 'python-wheels-win-${{matrix.config.python_version}}' | |
| path: ws/build/tesseract_python/python | |
| - name: archive logs | |
| if: failure() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: 'build-logs-win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}' | |
| path: "**/*.log" | |
| retention-days: 2 | |
| build-macos: | |
| runs-on: macos-13 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - py_platform: macosx-10.9-x86_64 | |
| python_version: "3.12" | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: ws/src/tesseract_python | |
| - uses: actions/setup-python@v4 | |
| id: setup-python | |
| with: | |
| python-version: '${{ matrix.config.python_version }}' | |
| - name: brew | |
| run: | | |
| brew install libomp cmake automake autoconf libtool gcc ninja | |
| - name: vcpkg build | |
| uses: johnwason/vcpkg-action@v5 | |
| with: | |
| pkgs: >- | |
| ${{ env.VCPKG_PKGS }} | |
| triplet: x64-osx-dynamic-release | |
| extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/ws/src/tesseract_python/.github/workflows/vcpkg_triplets | |
| token: ${{ github.token }} | |
| cache-key: osx-x64-vcpkg | |
| - name: pip3 | |
| run: | | |
| python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool delocate | |
| - name: vcs import | |
| working-directory: ws/src | |
| run: vcs import --input tesseract_python/dependencies.rosinstall | |
| - name: colcon build | |
| working-directory: ws | |
| run: | | |
| export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib:$GITHUB_WORKSPACE/ws/install/lib | |
| export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release | |
| colcon build --merge-install \ | |
| --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd \ | |
| --event-handlers console_cohesion+ \ | |
| --cmake-force-configure \ | |
| --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \ | |
| -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \ | |
| -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \ | |
| -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \ | |
| -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \ | |
| -DOpenMP_CXX_INCLUDE_DIR=/usr/local/opt/libomp/include \ | |
| -DOpenMP_C_INCLUDE_DIR=/usr/local/opt/libomp/include \ | |
| -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_libomp_LIBRARY=/usr/local/opt/libomp/lib/libomp.dylib \ | |
| -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/x64-osx-dynamic-release/lib/libtcmalloc_minimal.dylib \ | |
| -DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" \ | |
| -DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }} \ | |
| -DTESSERACT_PYTHON_BUILD_WHEEL=ON | |
| - name: test | |
| shell: bash | |
| run: | | |
| ${{ steps.setup-python.outputs.python-path }} -m venv venv | |
| source venv/bin/activate | |
| python -m pip install --upgrade pip | |
| python -m pip install ws/build/tesseract_python/python/wheelhouse/* | |
| python -m pip install pytest | |
| export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support | |
| export TESSERACT_TASK_COMPOSER_DIR=$GITHUB_WORKSPACE/ws/src/tesseract_planning/tesseract_task_composer | |
| cd ws/src/tesseract_python/tesseract_python | |
| pytest -s | |
| - name: archive wheels | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: 'python-macos-win-${{matrix.config.python_version}}' | |
| path: ws/build/tesseract_python/python | |
| - name: archive logs | |
| if: failure() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: 'build-logs-macos-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}' | |
| path: "**/*.log" | |
| retention-days: 2 | |
| collect-wheels: | |
| needs: | |
| - build-win | |
| - build-ubuntu | |
| - build-macos | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: robotraconteur | |
| - name: Download CI artifacts | |
| uses: actions/download-artifact@v2 | |
| with: | |
| path: artifacts/main | |
| - name: archive wheels | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: 'python-wheels-all' | |
| path: artifacts/**/wheelhouse/*.whl |