Merge pull request #258 from k-okada/fix_22.04

[ros-o] euscollada: qhull 0.29.2 from Ubuntu 22.04 uses /usr/include/libqhull/qhull_a.h instead of /usr/include/qhull/qhull_a.h
jsk-ros-pkg · Jan 7, 2025 · 5db2df7 · 5db2df7
2 parents 1f1a342 + d1b80cd
commit 5db2df7
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Showing 6 changed files with 203 additions and 2 deletions.
diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
@@ -0,0 +1,155 @@
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  DISPLAY: ':0.0'
+
+jobs:
+  ros:
+    runs-on: ubuntu-latest
+    continue-on-error: false
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04
+            BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0"
+            NOT_TEST_INSTALL: true
+          - ROS_DISTRO: kinetic
+            CONTAINER: ubuntu:16.04
+            BEFORE_SCRIPT: "pip install --user matplotlib==2.2.5"
+          - ROS_DISTRO: melodic
+            CONTAINER: ubuntu:18.04
+          - ROS_DISTRO: noetic
+            CONTAINER: ubuntu:20.04
+
+    container:
+      image: ${{ matrix.CONTAINER }}
+      volumes:
+        - /tmp/node20:/__e/node20
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu )
+        run: |
+          [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update
+          sudo apt-get install -y software-properties-common
+          sudo apt-get update
+          sudo -E add-apt-repository -y ppa:git-core/ppa
+          sudo apt-get update
+          sudo apt-get install -y git
+
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          export USER=$(whoami)
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
+             sudo mkdir -p /__w/
+             sudo chmod 777 -R /__w/
+             sudo chown -R $USER $HOME
+             sudo mkdir  -p /__w/_temp/_runner_file_commands/
+             sudo chown -R $USER /__w/_temp/_runner_file_commands/
+             # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
+             # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
+             # ls -al /home/runner/work/_temp/_github_workflow/
+          else
+             git config --global --add safe.directory $GITHUB_WORKSPACE
+          fi
+
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             export USER=$(whoami)
+             sudo chmod 777 -R /__e/node20
+             sudo chown -R $USER /__e/node20
+          fi
+          ls -lar /__e/node20 &&
+          sudo apt-get install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
+
+      - name: Chcekout
+        uses: actions/[email protected]
+        with:
+          submodules: true
+
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_PARALLEL_JOBS : "-j8"
+          CATKIN_PARALLEL_JOBS : "-p8"
+          ROS_PARALLEL_TEST_JOBS : "-j8"
+          CATKIN_PARALLEL_TEST_JOBS : "-p8"
+          BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
+          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
+          USE_DEB :  ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
+          TEST_PKGS : ${{ matrix.TEST_PKGS }}
+          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
+
+  # ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  ros-o:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository
+
+    container: ${{ matrix.DISTRO }}
+
+    env:
+      DEBIAN_FRONTEND : noninteractive
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/[email protected]
+
+      - name: Setup ROS-O deb repository
+        run: |
+          set -x
+          apt update && apt install -qq -y ca-certificates
+          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
+          apt update
+          apt install -qq -y python3-rosdep2
+          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          rosdep update
+
+      - name: Setup catkin-tools
+        run: |
+          set -x
+          # setup catkin tools
+          apt install -qq -y python3-pip
+          pip3 install catkin-tools
+          # setup build tools
+          apt install -qq -y cmake build-essential catkin ros-one-rosbash
+
+      - name: Setup Workspace
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          # setup workspace
+          mkdir -p ~/ws/src
+          cd ~/ws/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+        shell: bash
+
+      - name: Compile Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+        shell: bash
diff --git a/.github/workflows/python2.yml b/.github/workflows/python2.yml
@@ -0,0 +1,18 @@
+# generated by `./generate_action_config.py noetic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: check_python2
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python2
+        run: |
+          apt update -q && apt install -y -q python2
+          python2 -m compileall .
diff --git a/.github/workflows/python3.yml b/.github/workflows/python3.yml
@@ -0,0 +1,22 @@
+# generated by `./generate_action_config.py noetic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: check_python3
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Install latest git to download .git directory in actions/checkout@v2 ( use sudo for ros-ubuntu )
+        run: apt-get update && apt-get install -y software-properties-common && apt-get update && add-apt-repository -y ppa:git-core/ppa && apt-get update && apt-get install -y git
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python3
+        run: |
+          apt update -q && apt install -y -q python3 git 2to3
+          bash -c "ret=0; trap 'ret=1' ERR; python3 -m compileall .; 2to3 -w -f except -f execfile -f has_key -f import -f raw_input -f zip .; git diff --exit-code . > /dev/null; echo Exitting with \$ret; exit \$ret"
diff --git a/euscollada/CMakeLists.txt b/euscollada/CMakeLists.txt
@@ -37,6 +37,12 @@ IF(${yaml_cpp_VERSION} VERSION_GREATER "0.5.0")
   add_definitions("-DUSE_CURRENT_YAML")
 ENDIF()
 pkg_check_modules(assimpdevel assimp_devel REQUIRED)
+## qhull >= 0.29.2 uses /usr/include/libqhull instead of /usr/linclude/qhull
+pkg_check_modules(qhull qhull)
+if("${qhull_FOUND}" AND "${qhull_VERSION}" VERSION_GREATER "0.29.1")
+  add_definitions("-DQHULL_INCLUDE_LIBQHULL")
+endif()
+
 
 pkg_check_modules(URDFDOM REQUIRED urdfdom)
 message(STATUS "Find URDFDOM ${URDFDOM_VERSION}")

diff --git a/euscollada/src/collada2eus.cpp b/euscollada/src/collada2eus.cpp
@@ -17,7 +17,7 @@ using namespace ColladaDOM150;
 #include <boost/filesystem/path.hpp>
 
 extern "C" {
-#ifdef __APPLE__
+#if (defined __APPLE__) || (defined  QHULL_INCLUDE_LIBQHULL)
 #include <libqhull/qhull_a.h>
 #else
 #include <qhull/qhull_a.h>

diff --git a/euscollada/src/collada2eus_urdfmodel.cpp b/euscollada/src/collada2eus_urdfmodel.cpp
@@ -33,7 +33,7 @@
 #include "yaml-cpp/yaml.h"
 
 extern "C" {
-#ifdef __APPLE__
+#if (defined __APPLE__) || (defined  QHULL_INCLUDE_LIBQHULL)
 #include <libqhull/qhull_a.h>
 #else
 #include <qhull/qhull_a.h>