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Add build files 2026-03-22-2148
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‎.github/workflows/win.yml‎

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jobs:
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stage_0_job_0:
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name: controller-manager
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runs-on: windows-2022
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strategy:
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fail-fast: false
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needs: []
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env:
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CONDA_BLD_PATH: C:\\bld\\
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VINCA_CUSTOM_CMAKE_BUILD_DIR: C:\\x\\
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steps:
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- name: Checkout code
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uses: actions/checkout@v6
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- name: Setup pixi
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uses: prefix-dev/setup-pixi@v0.9.4
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with:
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pixi-version: v0.63.2
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cache: 'true'
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- uses: egor-tensin/cleanup-path@v5
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with:
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dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program
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Files\Git\mingw64\bin
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- shell: cmd
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run: |
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set "CI=true"
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:: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners
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:: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149
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set CPU_COUNT=4
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set PYTHONUNBUFFERED=1
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call setup_x64
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:: Set the conda-build working directory to a smaller path
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if "%CONDA_BLD_PATH%" == "" (
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set "CONDA_BLD_PATH=C:\\bld\\"
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)
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:: On azure, there are libcrypto*.dll & libssl*.dll under
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:: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder).
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:: They would be found before the openssl libs of the conda environment, so we delete them.
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if defined CI (
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DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll)
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DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll)
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)
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:: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
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set "PATH=%PATH:ostedtoolcache=%"
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name: conda-forge build setup
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- shell: cmd
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run: |
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setlocal EnableExtensions EnableDelayedExpansion
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set CONDA_BLD_PATH=C:\bld
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echo "PATH is %PATH%"
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rmdir /Q/S C:\Strawberry\
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rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"
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set "FEEDSTOCK_ROOT=%cd%"
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mkdir %CONDA_BLD_PATH%
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:: Enable long path names on Windows
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reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f
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for %%X in (%CURRENT_RECIPES%) do (
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echo "BUILDING RECIPE %%X"
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cd %FEEDSTOCK_ROOT%\recipes\%%X\
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pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^
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-m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^
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-c conda-forge -c robostack-staging ^
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--output-dir %CONDA_BLD_PATH%
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if errorlevel 1 exit 1
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rem -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml
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)
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:: Check if .conda files exist in the win-64 directory
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if exist "%CONDA_BLD_PATH%\win-64\*.conda" (
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echo Found .conda files, starting upload...
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for %%F in ("%CONDA_BLD_PATH%\win-64\*.conda") do (
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echo Uploading %%F
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pixi run upload "%%F" --force
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if errorlevel 1 exit 1
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)
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) else (
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echo Warning: No .conda files found in %CONDA_BLD_PATH%\win-64
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echo This might be due to all the packages being skipped
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)
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env:
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ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
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CURRENT_RECIPES: ros-humble-controller-manager
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PYTHONUNBUFFERED: 1
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name: Build ros-humble-controller-manager
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name: build_win
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on:
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push:
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branches:
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- buildbranch_win

‎buildorder.txt‎

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ros-humble-controller-manager

‎recipes/ros-humble-controller-manager/bld_ament_cmake.bat‎

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:: Generated by vinca http://github.com/RoboStack/vinca.
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:: DO NOT EDIT!
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setlocal EnableDelayedExpansion
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set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
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:: MSVC is preferred.
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set CC=cl.exe
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set CXX=cl.exe
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:: If defined, can use a custom CMake build directory which can be useful
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:: to avoid too long path problems on windows
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if defined VINCA_CUSTOM_CMAKE_BUILD_DIR (
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if not exist "%VINCA_CUSTOM_CMAKE_BUILD_DIR%\" (
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mkdir "%VINCA_CUSTOM_CMAKE_BUILD_DIR%"
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)
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cd /d "%VINCA_CUSTOM_CMAKE_BUILD_DIR%"
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)
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rd /s /q build
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mkdir build
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pushd build
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:: set "CMAKE_GENERATOR=Ninja"
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:: We use the Visual Studio generator as a workaround for
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:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467
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:: Once those are solved, we can switch back to use Ninja
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set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
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:: PYTHON_INSTALL_DIR should be a relative path, see
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:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md
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:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX,
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:: but it is not trivial to do this in Command Prompt scripting, so let's do it via
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:: python
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:: This line is scary, but it basically assigns the output of the command inside (` and `)
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:: to the variable specified after DO SET
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:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...`
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FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i
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cmake ^
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-G "%CMAKE_GENERATOR%" ^
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-DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
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-DPYTHON_EXECUTABLE=%PYTHON% ^
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-DPython_EXECUTABLE=%PYTHON% ^
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-DPython3_EXECUTABLE=%PYTHON% ^
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-DSETUPTOOLS_DEB_LAYOUT=OFF ^
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-DBUILD_SHARED_LIBS=ON ^
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-DBUILD_TESTING=OFF ^
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-DCMAKE_OBJECT_PATH_MAX=255 ^
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--compile-no-warning-as-error ^
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-DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^
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^
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%SRC_DIR%\%PKG_NAME%\src\work\
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if errorlevel 1 exit 1
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:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja,
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:: see the comment before setting the CMAKE_GENERATOR env variable
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cmake --build . --config Release --parallel %CPU_COUNT% --target install
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if errorlevel 1 exit 1

‎recipes/ros-humble-controller-manager/build_ament_cmake.sh‎

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# Generated by vinca http://github.com/RoboStack/vinca.
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# DO NOT EDIT!
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set -eo pipefail
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if [[ -n "$VINCA_CUSTOM_CMAKE_BUILD_DIR" ]]; then
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mkdir -p "$VINCA_CUSTOM_CMAKE_BUILD_DIR"
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cd "$VINCA_CUSTOM_CMAKE_BUILD_DIR"
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fi
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rm -rf build
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mkdir build
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cd build
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# necessary for correctly linking SIP files (from python_qt_bindings)
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export LINK=$CXX
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if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
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PYTHON_EXECUTABLE=$PREFIX/bin/python
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PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
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OSX_DEPLOYMENT_TARGET="10.15"
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else
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PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
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PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
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OSX_DEPLOYMENT_TARGET="11.0"
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fi
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if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then
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export QT_HOST_PATH="$BUILD_PREFIX"
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else
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export QT_HOST_PATH="$PREFIX"
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fi
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echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
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echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
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export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
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echo "Using Python ${ROS_PYTHON_VERSION}"
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export ROS_DISTRO="humble"
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# see https://github.com/conda-forge/cross-python-feedstock/issues/24
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if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
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find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/share/rosidl* -type f -exec sed -i "s~${PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
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fi
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if [[ $target_platform =~ linux.* ]]; then
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export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
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export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
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fi;
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# Needed for qt-gui-cpp ..
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if [[ $target_platform =~ linux.* ]]; then
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ln -s $GCC ${BUILD_PREFIX}/bin/gcc
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ln -s $GXX ${BUILD_PREFIX}/bin/g++
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fi;
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# PYTHON_INSTALL_DIR should be a relative path, see
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# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md
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# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX,
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# but it is not trivial to do this in bash scripting, so let's do it via python
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export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"`
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echo "Using PYTHON_INSTALL_DIR: $PYTHON_INSTALL_DIR"
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if [[ $target_platform =~ emscripten.* ]]; then
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export CONDA_BUILD_CROSS_COMPILATION="1"
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PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python$PY_VER
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echo "set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS TRUE)"> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_STRIP FALSE) # used by default in pybind11 on .so modules">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH) # fixes an error where numpy header files are not found correctly">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# if [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-publisher" ] || [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-subscriber" ] || [ "${PKG_NAME}" == "ros-humble-rclcpp-components" ]; then
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# echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -sALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# else
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echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -sALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# fi
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export BUILD_TYPE="Debug"
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export EXTRA_CMAKE_ARGS=" \
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-DPYTHON_SOABI="cpython-${ROS_PYTHON_VERSION//./}-wasm32-emscripten" \
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-DRMW_IMPLEMENTATION=rmw_wasm_cpp \
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-DCMAKE_FIND_ROOT_PATH=$PREFIX \
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-DCMAKE_POSITION_INDEPENDENT_CODE=TRUE \
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-DCMAKE_PROJECT_INCLUDE=$SRC_DIR/__vinca_shared_lib_patch.cmake \
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"
92+
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unset -f cmake
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export CMAKE_GEN="emcmake cmake"
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export CMAKE_BLD="cmake"
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export STATIC_ROSIDL_TYPESUPPORT_C=rosidl_typesupport_introspection_c
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export STATIC_ROSIDL_TYPESUPPORT_CPP=rosidl_typesupport_introspection_cpp
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else
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export BUILD_TYPE="Release"
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export CMAKE_GEN="cmake"
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export CMAKE_BLD="cmake"
103+
fi;
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if [ "${PKG_NAME}" == "ros-humble-rmw-wasm-cpp" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/rmw_wasm_cpp
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elif [ "${PKG_NAME}" == "ros-humble-wasm-cpp" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/wasm_cpp
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elif [ "${PKG_NAME}" == "dynmsg" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/dynmsg
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else
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/
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fi;
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115+
$CMAKE_GEN \
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-G "Ninja" \
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-DCMAKE_BUILD_TYPE=$BUILD_TYPE \
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-DCMAKE_INSTALL_PREFIX=$PREFIX \
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-DCMAKE_PREFIX_PATH=$PREFIX \
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-DAMENT_PREFIX_PATH=$PREFIX \
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-DCMAKE_INSTALL_LIBDIR=lib \
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-DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython3_FIND_STRATEGY=LOCATION \
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-DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
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-DPYTHON_INSTALL_DIR=$PYTHON_INSTALL_DIR \
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-DSETUPTOOLS_DEB_LAYOUT=OFF \
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-DCATKIN_SKIP_TESTING=$SKIP_TESTING \
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-DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
131+
-DBUILD_SHARED_LIBS=ON \
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-DBUILD_TESTING=OFF \
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-DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \
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-DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
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--compile-no-warning-as-error \
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$EXTRA_CMAKE_ARGS \
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\
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$WORK_DIR
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$CMAKE_BLD --build . --config $BUILD_TYPE --target install

‎recipes/ros-humble-controller-manager/patch/ros-humble-controller-manager.patch‎

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diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
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index 6e088a2e..feca559f 100644
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--- a/controller_manager/src/controller_manager.cpp
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+++ b/controller_manager/src/controller_manager.cpp
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@@ -94,7 +94,7 @@ bool controller_name_compare(const controller_manager::ControllerSpec & a, const
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* \return true if interface has a controller name as prefix, false otherwise.
7+
*/
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bool command_interface_is_reference_interface_of_controller(
9+
- const std::string interface_name,
10+
+ const std::string & interface_name,
11+
const std::vector<controller_manager::ControllerSpec> & controllers,
12+
controller_manager::ControllersListIterator & following_controller_it)
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{
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@@ -146,7 +146,7 @@ bool command_interface_is_reference_interface_of_controller(
15+
* empty.
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*/
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std::vector<std::string> get_following_controller_names(
18+
- const std::string controller_name,
19+
+ const std::string & controller_name,
20+
const std::vector<controller_manager::ControllerSpec> & controllers)
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{
22+
std::vector<std::string> following_controllers;
23+
@@ -208,7 +208,7 @@ std::vector<std::string> get_following_controller_names(
24+
* empty.
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*/
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std::vector<std::string> get_preceding_controller_names(
27+
- const std::string controller_name,
28+
+ const std::string & controller_name,
29+
const std::vector<controller_manager::ControllerSpec> & controllers)
30+
{
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std::vector<std::string> preceding_controllers;
32+
@@ -1319,7 +1319,7 @@ controller_interface::return_type ControllerManager::switch_controller(
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switch_params_.do_switch = true;
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// wait until switch is finished
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RCLCPP_DEBUG(get_logger(), "Requested atomic controller switch from realtime loop");
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- std::unique_lock<std::mutex> switch_params_guard(switch_params_.mutex, std::defer_lock);
37+
+ std::unique_lock<std::mutex> switch_params_guard(switch_params_.mutex);
38+
if (!switch_params_.cv.wait_for(
39+
switch_params_guard, switch_params_.timeout, [this] { return !switch_params_.do_switch; }))
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{
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