diff --git a/.github/workflows/pixi-ci.yml b/.github/workflows/pixi-ci.yml
index 9b75df98b..35442f4a7 100644
--- a/.github/workflows/pixi-ci.yml
+++ b/.github/workflows/pixi-ci.yml
@@ -16,14 +16,32 @@ on:
jobs:
build-with-pixi:
- name: '[pixi:${{ matrix.os }}]'
+ name: '[pixi:${{ matrix.os }}@task:${{ matrix.pixi_task }}]'
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
build_type: [Release]
os: [ubuntu-22.04, macos-13, macos-14, windows-2019]
-
+ pixi_task: [build-all, build-ros2, build-ros2moveit]
+ exclude:
+ # ros is not supported on osx-arm64 (incompatibility with gz-sim8)
+ - os: macos-14
+ pixi_task: build-ros2
+ # We already test linux-64 and ros2 in build-all-ros2moveit
+ - os: ubuntu-22.04
+ pixi_task: build-ros2
+ # Windows build fail due to length of build folder
+ # See https://github.com/robotology/robotology-superbuild/pull/1746#issuecomment-2514352629
+ - os: windows-2019
+ pixi_task: build-ros2
+ # moveit is only supported on Linux for now (missing required package in robostack)
+ - os: macos-13
+ pixi_task: build-ros2moveit
+ - os: macos-14
+ pixi_task: build-ros2moveit
+ - os: windows-2019
+ pixi_task: build-ros2moveit
steps:
- uses: actions/checkout@v4
@@ -41,7 +59,8 @@ jobs:
- uses: prefix-dev/setup-pixi@v0.8.1
- - name: Build
+ - name: Workaround on Windows
+ if: contains(matrix.os, 'windows')
shell: bash
run: |
# Avoid YCM complaining that the git user is not set
@@ -52,4 +71,14 @@ jobs:
# needs to be called before calling pixi run build-all, so
# we explicitly call pixi run configure-all
pixi run configure-all
- pixi run build-all
+ # Workaround for build-ros2 builds
+ pixi run configure-ros2
+
+ - name: Build
+ shell: bash
+ run: |
+ # Avoid YCM complaining that the git user is not set
+ # Eventually we could consider removing that check in YCM
+ git config --global user.name PixiGHA User
+ git config --global user.email pixighauser@example.com
+ pixi run ${{ matrix.pixi_task }}
diff --git a/.gitignore b/.gitignore
index d06ece6a3..d95ccb5cd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,5 +15,5 @@ CTestTestfile.cmake
# pixi environments
.pixi
*.egg-info
-# build directory used by pixi
-/.build/
+# build directories used by pixi
+/.build*/
diff --git a/README.md b/README.md
index 158220711..b37eef373 100644
--- a/README.md
+++ b/README.md
@@ -148,6 +148,18 @@ To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (24.04) and
sudo apt-get install libcli11-dev
~~~
+#### `ROBOTOLOGY_USES_ROS2`
+
+To install ROS 2 on Ubuntu Jammy (22.04) or Noble (24.04) with apt packages, follow the official instructions:
+* Ubuntu 22.04 / ROS 2 Humble : https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
+* Ubuntu 24.04 / ROS 2 Jazzy : https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
+
+#### `ROBOTOLOGY_USES_MOVEIT`
+
+To install MoveIt! on Ubuntu Jammy (22.04) or Noble (24.04) with apt packages, follow the instructions to enable the `ROBOTOLOGY_USES_ROS2` option, and then install the additional packages:
+* Ubuntu 22.04 / ROS 2 Humble : `sudo apt install ros-humble-moveit`
+* Ubuntu 24.04 / ROS 2 Jazzy : `sudo apt install ros-jazzy-moveit`
+
#### `ROBOTOLOGY_USES_PYTHON`
Install Python and the necessary development files using the following command:
diff --git a/cmake/Buildxcub-moveit2.cmake b/cmake/Buildxcub-moveit2.cmake
new file mode 100644
index 000000000..23a909c21
--- /dev/null
+++ b/cmake/Buildxcub-moveit2.cmake
@@ -0,0 +1,22 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YARP QUIET)
+find_or_build_package(yarp-devices-ros2 QUIET)
+
+
+ycm_ep_helper(xcub-moveit2 TYPE GIT
+ STYLE GITHUB
+ REPOSITORY icub-tech-iit/xcub-moveit2.git
+ TAG master
+ COMPONENT core
+ FOLDER src
+ DEPENDS YARP yarp-devices-ros2
+ # This is because xcub-moveit2 is a ros-style repository
+ # composed by multiple CMake projects, for compatibility with CMake
+ # we added an all_packages folder with CMakeLists.txt that add each
+ # subfolder with add_subdirectory
+ SOURCE_SUBDIR xcub_moveit_all_packages)
diff --git a/cmake/Buildyarp-devices-ros2.cmake b/cmake/Buildyarp-devices-ros2.cmake
new file mode 100644
index 000000000..5ef1e0626
--- /dev/null
+++ b/cmake/Buildyarp-devices-ros2.cmake
@@ -0,0 +1,16 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YCM QUIET)
+find_or_build_package(YARP QUIET)
+
+ycm_ep_helper(yarp-devices-ros2 TYPE GIT
+ STYLE GITHUB
+ REPOSITORY robotology/yarp-devices-ros2.git
+ TAG master
+ COMPONENT core
+ FOLDER src
+ DEPENDS YCM YARP)
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
index 0fdf99838..76fb01a35 100644
--- a/cmake/RobotologySuperbuildLogic.cmake
+++ b/cmake/RobotologySuperbuildLogic.cmake
@@ -87,6 +87,12 @@ if(ROBOTOLOGY_ENABLE_CORE)
if(ROBOTOLOGY_USES_MATLAB OR ROBOTOLOGY_USES_OCTAVE)
find_or_build_package(yarp-matlab-bindings)
endif()
+ if(ROBOTOLOGY_USES_ROS2)
+ find_or_build_package(yarp-devices-ros2)
+ endif()
+ if(ROBOTOLOGY_USES_MOVEIT)
+ find_or_build_package(xcub-moveit2)
+ endif()
endif()
# Robot Testing
diff --git a/cmake/RobotologySuperbuildOptions.cmake b/cmake/RobotologySuperbuildOptions.cmake
index 0e5f320d6..8e8e79a59 100644
--- a/cmake/RobotologySuperbuildOptions.cmake
+++ b/cmake/RobotologySuperbuildOptions.cmake
@@ -41,6 +41,8 @@ else()
endif()
option(ROBOTOLOGY_USES_GAZEBO "Enable compilation of software that depends on Gazebo Classic" ${ROBOTOLOGY_USES_GAZEBO_DEFAULT})
option(ROBOTOLOGY_USES_PCL_AND_VTK "Enable compilation of software that depends on PCL and VTK" OFF)
+option(ROBOTOLOGY_USES_ROS2 "Enable compilation of software that depends on ROS 2" OFF)
+option(ROBOTOLOGY_USES_MOVEIT "Enable compilation of software that depends on MoveIt" OFF)
option(ROBOTOLOGY_USES_MUJOCO "Enable compilation of mujoco and software that depends on it" OFF)
## Enable packages that depend on the Modern Gazebo (gz-sim) simulator
diff --git a/doc/cmake-options.md b/doc/cmake-options.md
index 4a6f11dc1..7fde4692d 100644
--- a/doc/cmake-options.md
+++ b/doc/cmake-options.md
@@ -19,6 +19,8 @@ Table of Contents
* [Dependencies-specific documentation](#dependencies-specific-documentation)
* [Gazebo Classic simulator](#gazebo-classic-simulator)
* [Modern Gazebo simulator](#modern-gazebo-simulator)
+ * [ROS 2](#ros-2)
+ * [MoveIt](#moveit)
* [MuJoCo simulator](#mujoco)
* [Ignition](#ignition)
* [MATLAB](#matlab)
@@ -64,6 +66,8 @@ The dependencies CMake options specify if the packages dependending on something
|:------------:|:-----------:|:-------------:|:---------------------------------:|
| `ROBOTOLOGY_USES_GAZEBO` | Include software and plugins that depend on the [Gazebo Classic simulator](https://classic.gazebosim.org/). | `ON` | [Documentation on Gazebo Classic dependency.](#gazebo-classic-simulator) |
| `ROBOTOLOGY_USES_GZ` | Include software and plugins that depend on the [Modern Gazebo (gz-sim) simulator](http://gazebosim.org/). | `OFF` | [Documentation on Modern Gazebo (gz-sim) dependency.](#modern-gazebo-simulator) |
+| `ROBOTOLOGY_USES_ROS2` | Include software and plugins that depend on [ROS 2](https://www.ros.org/). | `OFF` | [Documentation on ROS 2 dependency.](#ros-2) |
+| `ROBOTOLOGY_USES_MOVEIT` | Include software and plugins that depend on the [MoveIt motion planning framework](https://moveit.ai/). | `OFF` | [Documentation on MoveIt dependency.](#moveit) |
| `ROBOTOLOGY_USES_MUJOCO` | Include software and plugins that depend on the [MuJoCo simulator](https://mujoco.org/). | `ON` | [Documentation on MuJoCo dependency.](#mujoco) |
| `ROBOTOLOGY_USES_PCL_AND_VTK` | Include software and plugins that depend on the [PCL](https://pointclouds.org/) or [VTK](https://vtk.org/). | `OFF` | [Documentation on PCL and VTK dependency.](#pcl_and_vtk) |
| `ROBOTOLOGY_USES_IGNITION` | Include software that depends on [Ignition](ignitionrobotics.org/). | `OFF` | [Documentation on Ignition Gazebo dependency.](#ignition) |
@@ -94,6 +98,8 @@ Not all options are supported on all platforms. The following table provides a r
| `ROBOTOLOGY_USES_GZ`[3!](#f3) | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_MUJOCO`[1!](#f1) | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_PCL_AND_VTK` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
+| `ROBOTOLOGY_USES_ROS2` | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
+| `ROBOTOLOGY_USES_MOVEIT` | ✔️ | ❌ | ✔️ | ❌ | ❌ |
| `ROBOTOLOGY_USES_IGNITION` | ❌ | ❌ | ✔️ | ❌ | ❌ |
| `ROBOTOLOGY_USES_MATLAB` | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_OCTAVE`[4!](#f4) | ✔️ | ❌ | ❌ | ) ❌ | ❌ |
@@ -204,6 +210,7 @@ Dependencies-specific documentation
Support for this dependency is enabled by the `ROBOTOLOGY_USES_GAZEBO` CMake option, that enables the software that depends on "Classic Gazebo".
### Check the installation
+
Follow the steps in https://github.com/robotology/icub-models#use-the-models-with-gazebo to check if the Gazebo-based iCub simulation works fine.
## Modern Gazebo simulator
@@ -213,6 +220,20 @@ Support for this dependency is enabled by the `ROBOTOLOGY_USES_GZ` CMake option,
> [!IMPORTANT]
> At the moment the `ROBOTOLOGY_USES_GZ` does not run on Windows (https://github.com/gazebosim/gz-sim/issues/2089) and have known problems on macOS (https://github.com/robotology/gz-sim-yarp-plugins/issues/90). Furthermore, it is not supported on non-Ubuntu Debian distributions with apt dependencies.
+## ROS 2
+
+This option enables the compilation of the [`yarp-devices-ros2` repo](https://github.com/robotology/yarp-devices-ros2).
+
+> [!WARNING]
+> No conda binaries are available for the `yarp-devices-ros2` package at the moment, neither in `conda-forge` nor the `robotology` channel.
+
+
+## MoveIt
+
+This option enables the compilation of the [`xcub-moveit2` repo](https://github.com/icub-tech-iit/xcub-moveit2).
+
+> [!WARNING]
+> No conda binaries are available for the `xcub-moveit2` package at the moment, neither in `conda-forge` nor the `robotology` channel.
## MuJoCo
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index d07a4bcfd..aec76bdd7 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -202,6 +202,22 @@ If you install your dependencies with `conda`, just make sure to install the `gz
conda install -c conda-forge gz-sim8
~~~
+#### `ROBOTOLOGY_USES_ROS2`
+
+If you install your dependencies with `conda`, just make sure to install the required packages from the `robostack-staging` channel:
+
+~~~
+conda install -c conda-forge -c robostack-staging ros-humble-ros-base ros-humble-test-msgs
+~~~
+
+#### `ROBOTOLOGY_USES_MOVEIT`
+
+If you install your dependencies with `conda`, just make sure to install the required packages from the `robostack-staging` channel:
+
+~~~
+conda install -c conda-forge -c robostack-staging ros-humble-moveit ros-humble-hardware-interface ros-humble-moveit-visual-tools ros-humble-gazebo-msgs ros-humble-controller-manager
+~~~
+
### Clone the repo
To compile the `robotology-superbuild` code itself, you need to clone it, following the instructions in https://github.com/robotology/robotology-superbuild#clone-the-repo .
diff --git a/pixi.lock b/pixi.lock
index 9c1c8467e..9e025264e 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -2198,31153 +2198,72377 @@ environments:
- conda: https://conda.anaconda.org/conda-forge/win-64/zlib-1.3.1-h2466b09_2.conda
- conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda
- conda: https://conda.anaconda.org/conda-forge/win-64/zziplib-0.13.69-h3ca93ac_2.conda
+ ros2:
+ channels:
+ - url: https://conda.anaconda.org/conda-forge/
+ - url: https://conda.anaconda.org/robotology/
+ - url: https://conda.anaconda.org/robostack-staging/
+ packages:
+ linux-64:
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/ace-8.0.1-he02047a_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.4.3-pyhd8ed1ab_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.11.7-py311h2dc5d0c_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.3.1-pyhd8ed1ab_0.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.13-hb9d3cd8_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.8.2-h59595ed_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.5.1-pyhd8ed1ab_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/asio-1.29.0-h59595ed_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.3.1-hfb0e8fe_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-2.4.1-pyhd8ed1ab_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-hd4edc92_1.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-24.2.0-pyh71513ae_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-auth-0.7.16-h79b3bcb_6.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-cal-0.6.10-hb29e0c7_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-common-0.9.13-hd590300_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-compression-0.2.18-hecc5fa9_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-event-stream-0.4.2-hf9b2f7b_4.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-http-0.8.1-h5d7533a_5.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-io-0.14.5-h50678d4_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-mqtt-0.10.2-hf479d2b_4.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-s3-0.5.2-h4ad9680_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-sdkutils-0.1.15-hecc5fa9_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-checksums-0.1.18-hecc5fa9_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-crt-cpp-0.26.2-h19f5d62_7.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-sdk-cpp-1.11.267-h5606698_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-core-cpp-1.11.1-h91d86a7_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-blobs-cpp-12.10.0-h00ab1b0_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-common-cpp-12.5.0-h94269e2_4.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/bash-completion-2.11-ha770c72_1.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.5-h0f2a231_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/boost-1.82.0-h781c19f_6.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h781c19f_3.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-h6dcdc2f_3.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.3-hb9d3cd8_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.8.0-h2b85faf_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/cached-property-1.5.2-hd8ed1ab_1.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/noarch/cached_property-1.5.2-pyha770c72_1.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.0-h3faef2a_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/catkin_pkg-1.0.0-pyhd8ed1ab_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2024.8.30-pyhd8ed1ab_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-1.17.1-py311hf29c0ef_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cfitsio-4.3.1-hbdc6101_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.4.2-h5888daf_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.28.3-hcfe8598_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_0.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.8.0-ha770c72_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.1-py311hd18a35c_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.16.0-py311h59791a5_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cppzmq-4.10.0-h2e2a08d_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-43.0.3-py311hafd3f86_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.8.0-h1a2810e_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/dartsim-6.13.2-hdbb2bd4_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.13.6-h5008d03_3.tar.bz2
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+ url: https://conda.anaconda.org/conda-forge/linux-aarch64/yaml-cpp-0.8.0-h2f0025b_0.conda
+ sha256: 3ca47a7b43f4453e72cfc8333fbffe99b68e936a5e54457afa0a89e39239e251
+ md5: b5da38ee183c1e50e3e7ffb171a2eca5
+ depends:
+ - libgcc-ng >=12
+ - libstdcxx-ng >=12
+ license: MIT
+ license_family: MIT
+ size: 193472
+ timestamp: 1695710254150
+- kind: conda
+ name: yaml-cpp
+ version: 0.8.0
+ build: h59595ed_0
+ subdir: linux-64
+ url: https://conda.anaconda.org/conda-forge/linux-64/yaml-cpp-0.8.0-h59595ed_0.conda
+ sha256: a65bb5284369e548a15a44b14baf1f7ac34fa4718d7d987dd29032caba2ecf20
+ md5: 965eaacd7c18eb8361fd12bb9e7a57d7
+ depends:
+ - libgcc-ng >=12
+ - libstdcxx-ng >=12
+ license: MIT
+ license_family: MIT
+ size: 204867
+ timestamp: 1695710312002
+- kind: conda
+ name: yaml-cpp
+ version: 0.8.0
+ build: h63175ca_0
+ subdir: win-64
+ url: https://conda.anaconda.org/conda-forge/win-64/yaml-cpp-0.8.0-h63175ca_0.conda
+ sha256: d2e506baddde40388700f2c83586a002b927810d453272065b9e7b69d422fcca
+ md5: 9032e2129ea7afcc1a8e3d85715a931d
+ depends:
+ - ucrt >=10.0.20348.0
+ - vc >=14.2,<15
+ - vc14_runtime >=14.29.30139
+ license: MIT
+ license_family: MIT
+ size: 136608
+ timestamp: 1695710737262
+- kind: conda
+ name: yaml-cpp
+ version: 0.8.0
+ build: he965462_0
+ subdir: osx-64
+ url: https://conda.anaconda.org/conda-forge/osx-64/yaml-cpp-0.8.0-he965462_0.conda
+ sha256: 6e5e4afa1011a1ad5a734e895b8d2b2ad0fbc9ef6538aac8f852b33b2ebe44a8
+ md5: 1bb3addc859ed1338370da6e2996ef47
+ depends:
+ - libcxx >=15.0.7
+ license: MIT
+ license_family: MIT
+ size: 130328
+ timestamp: 1695710502498
- kind: conda
name: yarl
version: 1.16.0
@@ -38754,6 +81458,86 @@ packages:
license_family: Apache
size: 138281
timestamp: 1729798786022
+- kind: conda
+ name: yarl
+ version: 1.18.0
+ build: py311h4d7f069_0
+ subdir: osx-64
+ url: https://conda.anaconda.org/conda-forge/osx-64/yarl-1.18.0-py311h4d7f069_0.conda
+ sha256: 3bcd4186c08715e59da6d13eeb5dbdfba3d8438b39a9c2ddf7dfa4f4e250a5fa
+ md5: e62e3168b3d3fa6c40e86f9e0b0fbc4a
+ depends:
+ - __osx >=10.13
+ - idna >=2.0
+ - multidict >=4.0
+ - propcache >=0.2.0
+ - python >=3.11,<3.12.0a0
+ - python_abi 3.11.* *_cp311
+ license: Apache-2.0
+ license_family: Apache
+ size: 141489
+ timestamp: 1732221153875
+- kind: conda
+ name: yarl
+ version: 1.18.0
+ build: py311h9ecbd09_0
+ subdir: linux-64
+ url: https://conda.anaconda.org/conda-forge/linux-64/yarl-1.18.0-py311h9ecbd09_0.conda
+ sha256: 6badcbdfa79e7d85898dadc3f3c8541aeb0328beaf52d8c324f9cfa03827e34b
+ md5: 6c53a0d074f60e75069133bfcdfdf76f
+ depends:
+ - __glibc >=2.17,<3.0.a0
+ - idna >=2.0
+ - libgcc >=13
+ - multidict >=4.0
+ - propcache >=0.2.0
+ - python >=3.11,<3.12.0a0
+ - python_abi 3.11.* *_cp311
+ license: Apache-2.0
+ license_family: Apache
+ size: 152353
+ timestamp: 1732220979792
+- kind: conda
+ name: yarl
+ version: 1.18.0
+ build: py311ha879c10_0
+ subdir: linux-aarch64
+ url: https://conda.anaconda.org/conda-forge/linux-aarch64/yarl-1.18.0-py311ha879c10_0.conda
+ sha256: 8dc821990e5f294fa8e071d472dfa46ad51738dfe9ccce34e6935dde0b9450b8
+ md5: 5a62496bee4f8371cf4019957251d8c2
+ depends:
+ - idna >=2.0
+ - libgcc >=13
+ - multidict >=4.0
+ - propcache >=0.2.0
+ - python >=3.11,<3.12.0a0
+ - python >=3.11,<3.12.0a0 *_cpython
+ - python_abi 3.11.* *_cp311
+ license: Apache-2.0
+ license_family: Apache
+ size: 151403
+ timestamp: 1732221145576
+- kind: conda
+ name: yarl
+ version: 1.18.0
+ build: py311he736701_0
+ subdir: win-64
+ url: https://conda.anaconda.org/conda-forge/win-64/yarl-1.18.0-py311he736701_0.conda
+ sha256: 65bbf6486a913990e07581930b7a49c72ce8b21b5541242302d684f26e3b184d
+ md5: ce3089b5e70ce57190001f9b9648dacb
+ depends:
+ - idna >=2.0
+ - multidict >=4.0
+ - propcache >=0.2.0
+ - python >=3.11,<3.12.0a0
+ - python_abi 3.11.* *_cp311
+ - ucrt >=10.0.20348.0
+ - vc >=14.2,<15
+ - vc14_runtime >=14.29.30139
+ license: Apache-2.0
+ license_family: Apache
+ size: 142764
+ timestamp: 1732221338560
- kind: conda
name: zeromq
version: 4.3.5
@@ -38770,6 +81554,7 @@ packages:
- libsodium >=1.0.20,<1.0.21.0a0
- libstdcxx >=13
license: MPL-2.0
+ license_family: MOZILLA
size: 335400
timestamp: 1731585026517
- kind: conda
@@ -38789,6 +81574,24 @@ packages:
license: MPL-2.0
size: 371419
timestamp: 1731589490850
+- kind: conda
+ name: zeromq
+ version: 4.3.5
+ build: h5efb499_7
+ build_number: 7
+ subdir: linux-aarch64
+ url: https://conda.anaconda.org/conda-forge/linux-aarch64/zeromq-4.3.5-h5efb499_7.conda
+ sha256: a6003096dc0570a86492040ba32b04ce7662b159600be2252b7a0dfb9414e21c
+ md5: f2f3282559a4b87b7256ecafb4610107
+ depends:
+ - krb5 >=1.21.3,<1.22.0a0
+ - libgcc >=13
+ - libsodium >=1.0.20,<1.0.21.0a0
+ - libstdcxx >=13
+ license: MPL-2.0
+ license_family: MOZILLA
+ size: 371419
+ timestamp: 1731589490850
- kind: conda
name: zeromq
version: 4.3.5
@@ -38806,6 +81609,42 @@ packages:
license: MPL-2.0
size: 292112
timestamp: 1731585246902
+- kind: conda
+ name: zeromq
+ version: 4.3.5
+ build: h7130eaa_7
+ build_number: 7
+ subdir: osx-64
+ url: https://conda.anaconda.org/conda-forge/osx-64/zeromq-4.3.5-h7130eaa_7.conda
+ sha256: b932dce8c9de9a8ffbf0db0365d29677636e599f7763ca51e554c43a0c5f8389
+ md5: 6a0a76cd2b3d575e1b7aaeb283b9c3ed
+ depends:
+ - __osx >=10.13
+ - krb5 >=1.21.3,<1.22.0a0
+ - libcxx >=18
+ - libsodium >=1.0.20,<1.0.21.0a0
+ license: MPL-2.0
+ license_family: MOZILLA
+ size: 292112
+ timestamp: 1731585246902
+- kind: conda
+ name: zeromq
+ version: 4.3.5
+ build: ha9f60a1_7
+ build_number: 7
+ subdir: win-64
+ url: https://conda.anaconda.org/conda-forge/win-64/zeromq-4.3.5-ha9f60a1_7.conda
+ sha256: 15cc8e2162d0a33ffeb3f7b7c7883fd830c54a4b1be6a4b8c7ee1f4fef0088fb
+ md5: e03f2c245a5ee6055752465519363b1c
+ depends:
+ - krb5 >=1.21.3,<1.22.0a0
+ - libsodium >=1.0.20,<1.0.21.0a0
+ - ucrt >=10.0.20348.0
+ - vc >=14.2,<15
+ - vc14_runtime >=14.29.30139
+ license: MPL-2.0
+ size: 2527503
+ timestamp: 1731585151036
- kind: conda
name: zeromq
version: 4.3.5
@@ -38822,6 +81661,7 @@ packages:
- vc >=14.2,<15
- vc14_runtime >=14.29.30139
license: MPL-2.0
+ license_family: MOZILLA
size: 2527503
timestamp: 1731585151036
- kind: conda
@@ -38841,6 +81681,53 @@ packages:
license: MPL-2.0
size: 281565
timestamp: 1731585108039
+- kind: conda
+ name: zipp
+ version: 3.21.0
+ build: pyhd8ed1ab_0
+ subdir: noarch
+ noarch: python
+ url: https://conda.anaconda.org/conda-forge/noarch/zipp-3.21.0-pyhd8ed1ab_0.conda
+ sha256: 232a30e4b0045c9de5e168dda0328dc0e28df9439cdecdfb97dd79c1c82c4cec
+ md5: fee389bf8a4843bd7a2248ce11b7f188
+ depends:
+ - python >=3.8
+ license: MIT
+ license_family: MIT
+ size: 21702
+ timestamp: 1731262194278
+- kind: conda
+ name: zipp
+ version: 3.21.0
+ build: pyhd8ed1ab_1
+ build_number: 1
+ subdir: noarch
+ noarch: python
+ url: https://conda.anaconda.org/conda-forge/noarch/zipp-3.21.0-pyhd8ed1ab_1.conda
+ sha256: 567c04f124525c97a096b65769834b7acb047db24b15a56888a322bf3966c3e1
+ md5: 0c3cc595284c5e8f0f9900a9b228a332
+ depends:
+ - python >=3.9
+ license: MIT
+ license_family: MIT
+ size: 21809
+ timestamp: 1732827613585
+- kind: conda
+ name: zlib
+ version: 1.2.13
+ build: h4ab18f5_6
+ build_number: 6
+ subdir: linux-64
+ url: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.2.13-h4ab18f5_6.conda
+ sha256: 534824ea44939f3e59ca8ebb95e3ece6f50f9d2a0e69999fbc692311252ed6ac
+ md5: 559d338a4234c2ad6e676f460a093e67
+ depends:
+ - libgcc-ng >=12
+ - libzlib 1.2.13 h4ab18f5_6
+ license: Zlib
+ license_family: Other
+ size: 92883
+ timestamp: 1716874088980
- kind: conda
name: zlib
version: 1.3.1
@@ -39003,6 +81890,22 @@ packages:
license_family: BSD
size: 405089
timestamp: 1714723101397
+- kind: conda
+ name: zziplib
+ version: 0.13.69
+ build: h27826a3_1
+ build_number: 1
+ subdir: linux-64
+ url: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-h27826a3_1.tar.bz2
+ sha256: 8ce40952fce6bb50ec74afda2f30f384ad9666add5b8a0f88927c6c2407f27f1
+ md5: d0646083f3cb1ef27049538b8043ab15
+ depends:
+ - libgcc-ng >=9.3.0
+ - zlib >=1.2.11,<1.3.0a0
+ license: GPL-2.0
+ license_family: GPL
+ size: 99102
+ timestamp: 1617437120421
- kind: conda
name: zziplib
version: 0.13.69
diff --git a/pixi.toml b/pixi.toml
index 79f179612..2ad0865c7 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -12,12 +12,24 @@ platforms = ["linux-64", "linux-aarch64", "win-64", "osx-64", "osx-arm64"]
[system-requirements]
linux = "4.18"
-[activation]
+[feature.base.activation]
scripts = ["pixi_activation.sh", ".build/install/share/robotology-superbuild/setup.sh"]
-[target.win-64.activation]
+[feature.base.target.win-64.activation]
scripts = ["pixi_activation.bat", ".build/install/share/robotology-superbuild/setup.bat"]
+[feature.ros2.activation]
+scripts = ["pixi_activation.sh", ".build-ros2/install/share/robotology-superbuild/setup.sh"]
+
+[feature.ros2.target.win-64.activation]
+scripts = ["pixi_activation.bat", ".build-ros2/install/share/robotology-superbuild/setup.bat"]
+
+[feature.ros2moveit.activation]
+scripts = ["pixi_activation.sh", ".build-ros2moveit/install/share/robotology-superbuild/setup.sh"]
+
+#[feature.ros2moveit.target.win-64.activation]
+#scripts = ["pixi_activation.bat", ".build-ros2moveit/install/share/robotology-superbuild/setup.bat"]
+
[tasks]
configure = { cmd = [
@@ -49,6 +61,9 @@ configure-all = { cmd = [
"-DROBOTOLOGY_USES_PCL_AND_VTK:BOOL=ON",
"-DROBOTOLOGY_USES_GZ:BOOL=ON",
"-DROBOTOLOGY_USES_ESDCAN:BOOL=$ROBOTOLOGY_USES_ESDCAN",
+ # This options are currently not supported in pixi
+ "-DROBOTOLOGY_USES_ROS2:BOOL=OFF",
+ "-DROBOTOLOGY_USES_MOVEIT:BOOL=OFF",
# Use the cross-platform Ninja generator
"-G",
"Ninja",
@@ -98,8 +113,8 @@ libode = "*"
libxml2 = "*"
nlohmann_json = "*"
qhull = "*"
-pcl = ">=1.11.1"
-libopencv = ">=4.10.0"
+pcl = "*"
+libopencv = "*"
opencv = "*"
portaudio = "*"
qt-main = "*"
@@ -161,3 +176,163 @@ freeglut = "*"
libdc1394 = "*"
libi2c = "*"
mesa-libgl-cos7-aarch64 = "*"
+
+[feature.base.dependencies]
+# These additional constraints are incompatible with robostack
+# packages as of November 2024
+pcl = ">=1.11.1"
+libopencv = ">=4.10.0"
+
+# As the ROS 2 dependencies are hosted on robostack and can lag behind
+# all the different conda-forge ABI migrations, we use a separate ros2
+# environment to test them
+[feature.ros2]
+channels = [{channel = "robostack-staging", priority = -1}]
+
+# osx-arm64 is not supported due to an incompatibility with gz-sim8
+# as of November 2024
+platforms = ["linux-64", "linux-aarch64", "win-64", "osx-64"]
+
+
+[feature.ros2moveit]
+channels = [{channel = "robostack-staging", priority = -1}]
+
+# All platforms except for linux-64 are not supported as robostack does not have a build of
+# ros-humble-moveit-visual-tools as of November 2024
+platforms = ["linux-64"]
+
+
+[feature.ros2.dependencies]
+# ROBOTOLOGY_ENABLE_ROS2 dependencies
+ros-humble-ros-base = "*"
+ros-humble-test-msgs = "*"
+
+
+[feature.ros2moveit.dependencies]
+# ROBOTOLOGY_ENABLE_ROS2 dependencies
+ros-humble-ros-base = "*"
+ros-humble-test-msgs = "*"
+
+# ROBOTOLOGY_ENABLE_MOVEIT dependencies
+ros-humble-moveit = "*"
+ros-humble-hardware-interface = "*"
+ros-humble-moveit-visual-tools = "*"
+ros-humble-gazebo-msgs = "*"
+ros-humble-controller-manager = "*"
+
+# Ideally we should not duplicate the tasks for each feature, but unfortunatly this is currently required
+[feature.ros2.tasks]
+
+configure-ros2 = { cmd = [
+ "cmake",
+ "-DCMAKE_BUILD_TYPE=Release",
+ # Use the cross-platform Ninja generator
+ "-G",
+ "Ninja",
+ # The source is in the root directory
+ "-S",
+ ".",
+ # We wanna build in the .build directory
+ "-B",
+ ".build-ros2",
+ "-DROBOTOLOGY_USES_ROS2:BOOL=ON",
+ "-DROBOTOLOGY_USES_MOVEIT:BOOL=OFF",
+]}
+
+configure-all-ros2 = { cmd = [
+ "cmake",
+ "-DCMAKE_BUILD_TYPE=Release",
+ # Enable all options
+ "-DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON",
+ "-DROBOTOLOGY_USES_PYTHON:BOOL=ON",
+ "-DROBOTOLOGY_USES_GAZEBO:BOOL=ON",
+ "-DROBOTOLOGY_USES_PCL_AND_VTK:BOOL=ON",
+ "-DROBOTOLOGY_USES_GZ:BOOL=ON",
+ "-DROBOTOLOGY_USES_ESDCAN:BOOL=$ROBOTOLOGY_USES_ESDCAN",
+ "-DROBOTOLOGY_USES_ROS2:BOOL=ON",
+ "-DROBOTOLOGY_USES_MOVEIT:BOOL=OFF",
+ # Use the cross-platform Ninja generator
+ "-G",
+ "Ninja",
+ # The source is in the root directory
+ "-S",
+ ".",
+ # We wanna build in the .build directory
+ "-B",
+ ".build-ros2",
+]}
+
+# We limit the number of concurrent ninja builds to 1 as the superbuild will run one project at the time,
+# and each project will run itself a number of compilation threads equal to ninja defaults,
+# if we do not do this there is an high change that the system running out of memory
+# if you want to run with a custom number of threads, run pixi run cmake --build .build-ros2 --config Release --parallel N
+build-ros2 = { cmd = "cmake --build .build-ros2 --config Release --parallel 1", depends_on = ["configure-ros2"] }
+build-all-ros2 = { cmd = "cmake --build .build-ros2 --config Release --parallel 1", depends_on = ["configure-all-ros2"] }
+
+
+# Ideally we should not duplicate the tasks for each feature, but unfortunatly this is currently required
+[feature.ros2moveit.tasks]
+configure-ros2moveit = { cmd = [
+ "cmake",
+ "-DCMAKE_BUILD_TYPE=Release",
+ # Use the cross-platform Ninja generator
+ "-G",
+ "Ninja",
+ # The source is in the root directory
+ "-S",
+ ".",
+ # We wanna build in the .build directory
+ "-B",
+ ".build-ros2moveit",
+ "-DROBOTOLOGY_USES_ROS2:BOOL=ON",
+ "-DROBOTOLOGY_USES_MOVEIT:BOOL=ON",
+]}
+
+configure-all-ros2moveit = { cmd = [
+ "cmake",
+ "-DCMAKE_BUILD_TYPE=Release",
+ # Enable all options
+ "-DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON",
+ "-DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON",
+ "-DROBOTOLOGY_USES_PYTHON:BOOL=ON",
+ "-DROBOTOLOGY_USES_GAZEBO:BOOL=ON",
+ "-DROBOTOLOGY_USES_PCL_AND_VTK:BOOL=ON",
+ "-DROBOTOLOGY_USES_GZ:BOOL=ON",
+ "-DROBOTOLOGY_USES_ESDCAN:BOOL=$ROBOTOLOGY_USES_ESDCAN",
+ "-DROBOTOLOGY_USES_ROS2:BOOL=ON",
+ "-DROBOTOLOGY_USES_MOVEIT:BOOL=ON",
+ # Use the cross-platform Ninja generator
+ "-G",
+ "Ninja",
+ # The source is in the root directory
+ "-S",
+ ".",
+ # We wanna build in the .build directory
+ "-B",
+ ".build-ros2moveit",
+]}
+
+# We limit the number of concurrent ninja builds to 1 as the superbuild will run one project at the time,
+# and each project will run itself a number of compilation threads equal to ninja defaults,
+# if we do not do this there is an high change that the system running out of memory
+# if you want to run with a custom number of threads, run pixi run cmake --build .build-ros2 --config Release --parallel N
+build-ros2moveit = { cmd = "cmake --build .build-ros2moveit --config Release --parallel 1", depends_on = ["configure-ros2moveit"] }
+build-all-ros2moveit = { cmd = "cmake --build .build-ros2moveit --config Release --parallel 1", depends_on = ["configure-all-ros2moveit"] }
+
+# We have two environments:
+# * The `default` one, used for all the options that do not depend on ROS 2
+# * The `ros2` one, used for all the options including the one that depend on ROS 2
+# * The `ros2moveit` one, used for all the options including the one that depend on ROS 2 and MoveIt
+[environments]
+default = ["base"]
+ros2 = ["ros2"]
+ros2moveit = ["ros2moveit"]