Fix cpack and add ruckig cpack generation and upload (#585)

tesseract-robotics · Jan 21, 2025 · 3646dd5 · 3646dd5
1 parent cc5a116
commit 3646dd5
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Showing 6 changed files with 34 additions and 14 deletions.
diff --git a/.github/workflows/package_debian.yml b/.github/workflows/package_debian.yml
@@ -90,6 +90,14 @@ jobs:
         run: |
           mkdir $GITHUB_WORKSPACE/artifacts
 
+      - name: Package ruckig
+        working-directory: upstream_ws/build/ruckig
+        shell: bash
+        run: |
+          cpack --config CPackConfig.cmake
+          cp ./*.deb $GITHUB_WORKSPACE/artifacts
+          cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts
+
       - name: Package tesseract_command_language
         working-directory: target_ws/build/tesseract_command_language
         shell: bash

diff --git a/.github/workflows/windows_dependencies.repos b/.github/workflows/windows_dependencies.repos
@@ -24,5 +24,5 @@
     version: 2.1.3
 - git:
     local-name: ruckig
-    uri: https://github.com/pantor/ruckig.git
-    version: v0.9.2
+    uri: https://github.com/Levi-Armstrong/ruckig.git
+    version: cpack-v0.9.2
diff --git a/dependencies.repos b/dependencies.repos
@@ -8,5 +8,5 @@
     version: 2.1.3
 - git:
     local-name: ruckig
-    uri: https://github.com/pantor/ruckig.git
-    version: v0.9.2
+    uri: https://github.com/Levi-Armstrong/ruckig.git
+    version: cpack-v0.9.2
diff --git a/dependencies_unstable.repos b/dependencies_unstable.repos
@@ -8,5 +8,5 @@
     version: master
 - git:
     local-name: ruckig
-    uri: https://github.com/pantor/ruckig.git
-    version: v0.9.2
+    uri: https://github.com/Levi-Armstrong/ruckig.git
+    version: cpack-v0.9.2
diff --git a/tesseract_examples/CMakeLists.txt b/tesseract_examples/CMakeLists.txt
@@ -177,22 +177,34 @@ if(TESSERACT_PACKAGE)
       "libconsole-bridge-dev"
       "libpcl-dev"
       "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision-core"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision-bullet"
       "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
       "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-core"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-ompl"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-trajopt"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-trajopt-ifopt"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-core"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-planning"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-taskflow"
       "${TESSERACT_PACKAGE_PREFIX}trajopt-sqp"
       "${TESSERACT_PACKAGE_PREFIX}trajopt-ifopt"
     WINDOWS_DEPENDS
       "console-bridge"
       "pcl"
       "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision-core"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-collision-bullet"
       "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
       "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-core"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-ompl"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-trajopt"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-motion-planners-trajopt-ifopt"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-core"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-planning"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-taskflow"
       "${TESSERACT_PACKAGE_PREFIX}trajopt-sqp"
       "${TESSERACT_PACKAGE_PREFIX}trajopt-ifopt")
 

diff --git a/tesseract_task_composer/taskflow/CMakeLists.txt b/tesseract_task_composer/taskflow/CMakeLists.txt
@@ -76,6 +76,6 @@ if(TESSERACT_PACKAGE)
     VERSION ${pkg_extracted_version}
     DESCRIPTION "Tesseract task composer taskflow components"
     COMPONENT_DEPENDS core
-    LINUX_DEPENDS "taskflow | ${TESSERACT_PACKAGE_PREFIX}taskflow"
-    WINDOWS_DEPENDS "taskflow | ${TESSERACT_PACKAGE_PREFIX}taskflow")
+    LINUX_DEPENDS "taskflow | libtaskflow-cpp-dev | ${TESSERACT_PACKAGE_PREFIX}taskflow"
+    WINDOWS_DEPENDS "taskflow | libtaskflow-cpp-dev | ${TESSERACT_PACKAGE_PREFIX}taskflow")
 endif()