CI: Add RoboStack cross-platform build (#1636)

Co-authored-by: Robert Haschke <[email protected]>

Author: Tobias-Fischer

.github/robostack_env.yaml

@@ -0,0 +1,16 @@
+name: test
+channels:
+  - robostack
+  - conda-forge
+dependencies:
+  - compilers
+  - ninja
+  - cmake
+  - catkin_pkg
+  - pkg-config
+  - rosdep
+  - rosdistro
+  - ros-distro-mutex 0.1 noetic
+  - ros-noetic-catkin
+  - ros-noetic-ros-environment
+  - openssl 1.1.1*

.github/workflows/prerelease.yml renamed to .github/workflows/prerelease.yaml

@@ -0,0 +1,103 @@
+name: RoboStack
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+      - "[kmn]*-devel*"
+
+jobs:
+  run_rviz_compilation:
+    runs-on: ${{ matrix.os }}
+    name: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Set up Build Dependencies
+      uses: mamba-org/provision-with-micromamba@v11
+      with:
+        environment-file: .github/robostack_env.yaml
+        micromamba-version: "0.17.0"
+
+    - name: Set up rviz Dependencies on Unix
+      if: runner.os == 'Linux' || runner.os == 'macOS'
+      shell: bash -l -eo pipefail {0}
+      run: |
+        micromamba activate test
+        export PATH=$HOME/micromamba-bin:$PATH
+
+        if [[ `uname -s` == "Linux" ]]; then
+          CDT="-cos6-x86_64"
+          micromamba install -y mesa-libgl-devel$CDT mesa-dri-drivers$CDT \
+                                libselinux$CDT libxdamage$CDT libxxf86vm$CDT \
+                                libxext$CDT libxfixes$CDT -c conda-forge
+        fi
+
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --ignore-src -r -y
+
+    - name: Build rviz on Unix
+      if: runner.os == 'Linux' || runner.os == 'macOS'
+      shell: bash -l -eo pipefail {0}
+      run: |
+        export CTEST_OUTPUT_ON_FAILURE=1
+        mkdir build
+        cd build
+
+        cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
+                 -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+                 -DCMAKE_BUILD_TYPE=Release \
+                 -DCATKIN_SKIP_TESTING=OFF \
+                 -G "Ninja"
+
+        ninja
+        ninja run_tests
+
+    - name: Set up rviz Dependencies on Windows
+      if: runner.os == 'Windows'
+      shell: cmd
+      run: |
+        echo "Activate environment, and use rosdep to install dependencies"
+        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --ignore-src -r -y
+    - name: Build rviz on Windows
+      if: runner.os == 'Windows'
+      shell: cmd
+      run: |
+        echo "Remove unnecessary / colliding things from PATH"
+        set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
+        set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
+        set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
+        set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
+        set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\c\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
+        set "PATH=%PATH:c:\tools\php;=%"
+        set "PATH=%PATH:ostedtoolcache=%"
+        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
+        mkdir build
+        cd build
+        SET "CTEST_OUTPUT_ON_FAILURE=1"
+        cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^
+                 -DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^
+                 -DCMAKE_BUILD_TYPE=Release ^
+                 -DCATKIN_SKIP_TESTING=OFF ^
+                 -DBoost_USE_STATIC_LIBS=OFF ^
+                 -G "Ninja"
+        ninja
+        ninja run_tests

.github/workflows/robostack.yaml

@@ -26,7 +26,7 @@ find_package(Boost REQUIRED
 find_package(urdfdom_headers REQUIRED)
 
 set(CMAKE_POLICY_DEFAULT_CMP0012 NEW)  # required due to a bug in assimp 5.0
-find_package(ASSIMP REQUIRED)
+find_package(assimp REQUIRED)
 if(NOT DEFINED ASSIMP_LIBRARIES AND TARGET assimp::assimp)
   # ASSIMP >= 5.0 no longer defines ASSIMP_LIBRARIES
   set(ASSIMP_LIBRARIES assimp::assimp)

CMakeLists.txt

@@ -28,6 +28,7 @@
   <build_depend>liburdfdom-dev</build_depend>
   <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>assimp</build_depend>
 
   <build_export_depend>libogre-dev</build_export_depend>
 

package.xml

@@ -30,7 +30,6 @@
 #ifndef INTERACTIVE_MARKER_CONTROL_H_
 #define INTERACTIVE_MARKER_CONTROL_H_
 
-
 #ifndef Q_MOC_RUN
 #include <boost/shared_ptr.hpp>
 #include <boost/enable_shared_from_this.hpp>
@@ -45,6 +44,7 @@
 
 #include <visualization_msgs/InteractiveMarkerControl.h>
 
+#include <rviz/windows_compat.h>
 #include <rviz/default_plugin/markers/marker_base.h>
 #include <rviz/selection/forwards.h>
 #include <rviz/viewport_mouse_event.h>

src/rviz/default_plugin/interactive_markers/interactive_marker_control.h

@@ -40,9 +40,11 @@
 #include <rviz/properties/property.h>
 #include <rviz/properties/ros_topic_property.h>
 #include <rviz/selection/selection_manager.h>
+#include <rviz/windows_compat.h>
 
 #include <rviz/default_plugin/marker_display.h>
 
+
 namespace rviz
 {
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////

src/rviz/default_plugin/marker_display.cpp

@@ -44,6 +44,8 @@
 #include <rviz/properties/status_list.h>
 #include <rviz/validate_quaternions.h>
 #include <rviz/validate_floats.h>
+#include <rviz/windows_compat.h>
+
 
 namespace rviz
 {

src/rviz/default_plugin/marker_utils.cpp

@@ -768,7 +768,8 @@ Ogre::SkeletonPtr loadSkeletonFromResource(const std::string& resource_path)
     Ogre::SkeletonSerializer ser;
     Ogre::DataStreamPtr stream(new Ogre::MemoryDataStream(res.data.get(), res.size));
     Ogre::SkeletonPtr skeleton = Ogre::SkeletonManager::getSingleton().create(
-        skeleton_path.filename().c_str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
+        skeleton_path.filename().string().c_str(),
+        Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
     ser.importSkeleton(stream, skeleton.get());
 
     return skeleton;

src/rviz/mesh_loader.cpp

@@ -40,6 +40,10 @@
 #include <GL/glx.h>
 #endif
 
+#if defined(Q_OS_MAC)
+#include <OpenGL/gl.h>
+#endif
+
 // X.h #defines CursorShape to be "0".  Qt uses CursorShape in normal
 // C++ way.  This wasn't an issue until ogre_logging.h (below)
 // introduced a #include of <QString>.
@@ -183,9 +187,13 @@ void RenderSystem::detectGlVersion()
     int minor = caps->getDriverVersion().minor;
     gl_version_ = major * 100 + minor * 10;
 
+#ifdef __linux__
     std::string gl_version_string = (const char*)glGetString(GL_VERSION);
     // The "Mesa 2" string is intended to match "Mesa 20.", "Mesa 21." and so on
     mesa_workaround = gl_version_string.find("Mesa 2") != std::string::npos && gl_version_ >= 320;
+#else
+    mesa_workaround = false;
+#endif
   }
 
   switch (gl_version_)

src/rviz/ogre_helpers/render_system.cpp

@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2021, Tobias Fischer, Queensland University of Technology
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Queensland Uni of Technology nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef WINDOWS_COMPAT_H
+#define WINDOWS_COMPAT_H
+
+#ifdef _WIN32
+
+#ifdef ERROR
+#undef ERROR
+#endif
+
+#ifdef DELETE
+#undef DELETE
+#endif
+
+#endif // _WIN32
+
+#endif // WINDOWS_COMPAT_H

src/rviz/windows_compat.h

@@ -152,7 +152,11 @@ void YamlConfigWriter::writeConfigNode(const Config& config, YAML::Emitter& emit
     break;
   }
   default:
+// Workaround as YAML::Null is missing from Windows DLLs;
+// see https://github.com/jbeder/yaml-cpp/issues/950
+#ifndef _WIN32
     emitter << YAML::Null;
+#endif
     break;
   }
 }