Add build files 2026-07-27-2059 #8
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| jobs: | |
| stage_0_job_0: | |
| name: pybind11-vendor rviz-marker-tools py-binding-tools moveit-task-constructor-msgs | |
| teleop-tools-msgs key-teleop mouse-teleop moveit-py joy-teleop | |
| runs-on: windows-2022 | |
| strategy: | |
| fail-fast: false | |
| needs: [] | |
| env: | |
| CONDA_BLD_PATH: C:\\bld\\ | |
| VINCA_CUSTOM_CMAKE_BUILD_DIR: C:\\x\\ | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v6 | |
| - name: Setup pixi | |
| uses: prefix-dev/setup-pixi@v0.9.5 | |
| with: | |
| pixi-version: v0.68.1 | |
| cache: 'true' | |
| - uses: egor-tensin/cleanup-path@v5 | |
| with: | |
| dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program | |
| Files\Git\mingw64\bin | |
| - shell: cmd | |
| run: | | |
| set "CI=true" | |
| :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners | |
| :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 | |
| set CPU_COUNT=4 | |
| set PYTHONUNBUFFERED=1 | |
| call setup_x64 | |
| :: Set the conda-build working directory to a smaller path | |
| if "%CONDA_BLD_PATH%" == "" ( | |
| set "CONDA_BLD_PATH=C:\\bld\\" | |
| ) | |
| :: On azure, there are libcrypto*.dll & libssl*.dll under | |
| :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). | |
| :: They would be found before the openssl libs of the conda environment, so we delete them. | |
| if defined CI ( | |
| DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) | |
| DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) | |
| ) | |
| :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage | |
| set "PATH=%PATH:ostedtoolcache=%" | |
| name: conda-forge build setup | |
| - shell: cmd | |
| run: | | |
| setlocal EnableExtensions EnableDelayedExpansion | |
| set CONDA_BLD_PATH=C:\bld | |
| echo "PATH is %PATH%" | |
| rmdir /Q/S C:\Strawberry\ | |
| rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" | |
| set "FEEDSTOCK_ROOT=%cd%" | |
| mkdir %CONDA_BLD_PATH% | |
| :: Enable long path names on Windows | |
| reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f | |
| for %%X in (%CURRENT_RECIPES%) do ( | |
| echo "BUILDING RECIPE %%X" | |
| cd %FEEDSTOCK_ROOT%\recipes\%%X\ | |
| pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^ | |
| -m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^ | |
| -c https://prefix.dev/robostack-lyrical -c https://prefix.dev/conda-forge ^ | |
| --output-dir %CONDA_BLD_PATH% | |
| if errorlevel 1 exit 1 | |
| rem -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml | |
| ) | |
| :: Check if .conda files exist in the win-64 directory | |
| if exist "%CONDA_BLD_PATH%\win-64\*.conda" ( | |
| echo Found .conda files, starting upload... | |
| rem Upload packages one-by-one to avoid rattler-upload returning after the first | |
| rem package skipped by --skip-existing. | |
| for %%F in ("%CONDA_BLD_PATH%\win-64\*.conda") do ( | |
| echo Uploading %%~fF | |
| pixi run upload "%%~fF" --skip-existing | |
| if errorlevel 1 exit 1 | |
| ) | |
| ) else ( | |
| echo Warning: No .conda files found in %CONDA_BLD_PATH%\win-64 | |
| echo This might be due to all the packages being skipped | |
| ) | |
| env: | |
| ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} | |
| CURRENT_RECIPES: ros-lyrical-pybind11-vendor ros-lyrical-rviz-marker-tools | |
| ros-lyrical-py-binding-tools ros-lyrical-moveit-task-constructor-msgs ros-lyrical-teleop-tools-msgs | |
| ros-lyrical-key-teleop ros-lyrical-mouse-teleop ros-lyrical-moveit-py ros-lyrical-joy-teleop | |
| PYTHONUNBUFFERED: 1 | |
| name: Build ros-lyrical-pybind11-vendor ros-lyrical-rviz-marker-tools ros-lyrical-py-binding-tools | |
| ros-lyrical-moveit-task-constructor-msgs ros-lyrical-teleop-tools-msgs ros-lyrical-key-teleop | |
| ros-lyrical-mouse-teleop ros-lyrical-moveit-py ros-lyrical-joy-teleop | |
| permissions: | |
| id-token: write | |
| attestations: write | |
| stage_1_job_1: | |
| name: moveit-task-constructor-core teleop-tools moveit-task-constructor-visualization | |
| moveit-task-constructor-capabilities moveit-task-constructor-demo | |
| runs-on: windows-2022 | |
| strategy: | |
| fail-fast: false | |
| needs: | |
| - stage_0_job_0 | |
| env: | |
| CONDA_BLD_PATH: C:\\bld\\ | |
| VINCA_CUSTOM_CMAKE_BUILD_DIR: C:\\x\\ | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v6 | |
| - name: Setup pixi | |
| uses: prefix-dev/setup-pixi@v0.9.5 | |
| with: | |
| pixi-version: v0.68.1 | |
| cache: 'true' | |
| - uses: egor-tensin/cleanup-path@v5 | |
| with: | |
| dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program | |
| Files\Git\mingw64\bin | |
| - shell: cmd | |
| run: | | |
| set "CI=true" | |
| :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners | |
| :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149 | |
| set CPU_COUNT=4 | |
| set PYTHONUNBUFFERED=1 | |
| call setup_x64 | |
| :: Set the conda-build working directory to a smaller path | |
| if "%CONDA_BLD_PATH%" == "" ( | |
| set "CONDA_BLD_PATH=C:\\bld\\" | |
| ) | |
| :: On azure, there are libcrypto*.dll & libssl*.dll under | |
| :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder). | |
| :: They would be found before the openssl libs of the conda environment, so we delete them. | |
| if defined CI ( | |
| DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll) | |
| DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll) | |
| ) | |
| :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage | |
| set "PATH=%PATH:ostedtoolcache=%" | |
| name: conda-forge build setup | |
| - shell: cmd | |
| run: | | |
| setlocal EnableExtensions EnableDelayedExpansion | |
| set CONDA_BLD_PATH=C:\bld | |
| echo "PATH is %PATH%" | |
| rmdir /Q/S C:\Strawberry\ | |
| rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\" | |
| set "FEEDSTOCK_ROOT=%cd%" | |
| mkdir %CONDA_BLD_PATH% | |
| :: Enable long path names on Windows | |
| reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f | |
| for %%X in (%CURRENT_RECIPES%) do ( | |
| echo "BUILDING RECIPE %%X" | |
| cd %FEEDSTOCK_ROOT%\recipes\%%X\ | |
| pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^ | |
| -m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^ | |
| -c https://prefix.dev/robostack-lyrical -c https://prefix.dev/conda-forge ^ | |
| --output-dir %CONDA_BLD_PATH% | |
| if errorlevel 1 exit 1 | |
| rem -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml | |
| ) | |
| :: Check if .conda files exist in the win-64 directory | |
| if exist "%CONDA_BLD_PATH%\win-64\*.conda" ( | |
| echo Found .conda files, starting upload... | |
| rem Upload packages one-by-one to avoid rattler-upload returning after the first | |
| rem package skipped by --skip-existing. | |
| for %%F in ("%CONDA_BLD_PATH%\win-64\*.conda") do ( | |
| echo Uploading %%~fF | |
| pixi run upload "%%~fF" --skip-existing | |
| if errorlevel 1 exit 1 | |
| ) | |
| ) else ( | |
| echo Warning: No .conda files found in %CONDA_BLD_PATH%\win-64 | |
| echo This might be due to all the packages being skipped | |
| ) | |
| env: | |
| ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }} | |
| CURRENT_RECIPES: ros-lyrical-moveit-task-constructor-core ros-lyrical-teleop-tools | |
| ros-lyrical-moveit-task-constructor-visualization ros-lyrical-moveit-task-constructor-capabilities | |
| ros-lyrical-moveit-task-constructor-demo | |
| PYTHONUNBUFFERED: 1 | |
| name: Build ros-lyrical-moveit-task-constructor-core ros-lyrical-teleop-tools | |
| ros-lyrical-moveit-task-constructor-visualization ros-lyrical-moveit-task-constructor-capabilities | |
| ros-lyrical-moveit-task-constructor-demo | |
| permissions: | |
| id-token: write | |
| attestations: write | |
| name: build_win | |
| on: | |
| push: | |
| branches: | |
| - buildbranch_win |