packets_creation: add the icub packet creation via gh action

robotology · Jan 7, 2021 · 5c016e1 · 5c016e1
1 parent 12d4458
commit 5c016e1
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Showing 5 changed files with 303 additions and 122 deletions.
diff --git a/.ci/create_icub-common_deb.sh b/.ci/create_icub-common_deb.sh
@@ -185,10 +185,10 @@ fini()
     rm "$_CONTROL_FILE"
   fi
 
-  export ICUB_PACKAGE_NAME="icub-common_${ICUB_PACKAGE_VERSION}-${ICUB_DEBIAN_REVISION_NUMBER}~${PLATFORM_RELEASE}_${PLATFORM_HARDWARE}.deb"
-  echo $ICUB_PACKAGE_NAME > ICUB_PACKAGE_NAME.txt
+  export ICUB_COMMON_PACKAGE_NAME="icub-common_${ICUB_PACKAGE_VERSION}-${ICUB_DEBIAN_REVISION_NUMBER}~${PLATFORM_RELEASE}_${PLATFORM_HARDWARE}.deb"
+  echo $ICUB_COMMON_PACKAGE_NAME > ICUB_COMMON_PACKAGE_NAME.txt
   ls
-  log "${COL_OK}${ICUB_PACKAGE_NAME} CREATED"
+  log "${COL_OK}${ICUB_COMMON_PACKAGE_NAME} CREATED"
 }
 
 check_and_install_deps()

diff --git a/.ci/create_icub-main_deb.sh b/.ci/create_icub-main_deb.sh
@@ -32,9 +32,12 @@ VARS_FILE="${SCRIPT_PATH}/packages_vars.sh"
 _WHO_AM_I=$(whoami)
 _EQUIVS_BIN=$(which equivs-build || true)
 _LSB_BIN=$(which lsb_release || true)
-_PLATFORM_KEY=""
+__PLATFORM_RELEASE=""
 _PLATFORM_HARDWARE=""
 _CONTROL_FILE=""
+ICUB_SCRIPT_DIR=$(pwd)
+
+
 # #####################################################
 
 print_defs ()
@@ -52,7 +55,7 @@ print_defs ()
   echo "  _WHO_AM_I is $_WHO_AM_I"
   echo "  _EQUIVS_BIN is $_EQUIVS_BIN"
   echo "  _LSB_BIN is $_LSB_BIN"
-  echo "  _PLATFORM_KEY is $_PLATFORM_KEY"
+  echo "  __PLATFORM_RELEASE is $__PLATFORM_RELEASE"
   echo "  _PLATFORM_HARDWARE is $_PLATFORM_HARDWARE"
   echo "  _CONTROL_FILE is $_CONTROL_FILE "
 }
@@ -161,9 +164,9 @@ init()
       ;;
   esac
 
-  _CONTROL_FILE="icub-common.${_PLATFORM_RELEASE}-${PLATFORM_HARDWARE}.control"
+  _CONTROL_FILE="icub.${_PLATFORM_RELEASE}-${PLATFORM_HARDWARE}.control"
 
-  if [ "$PACKAGE_VERSION" == "" ]; then
+  if [ "$ICUB_PACKAGE_VERSION" == "" ]; then
     exit_err "Package version string is empty"
   fi
 
@@ -179,31 +182,34 @@ init()
     exit_err "Distro $_PLATFORM_HARDWARE is not supported, we support only $SUPPORTED_TARGET_LIST"
   fi
 
+  if [ "$_WHO_AM_I" != "root" ]; then
+    sudo apt-get update
+  else
+    apt-get update
+  fi
+
   log "$0 ${COL_OK}STARTED"
 }
 
 fini()
 {
-  if [ -f "$_CONTROL_FILE" ]; then
-    rm "$_CONTROL_FILE"
-  fi
-
-  log "$0 ${COL_OK}ENDED"
+  echo $ICUB_MAIN_PACKAGE_NAME > ${ICUB_SCRIPT_DIR}/ICUB_MAIN_PACKAGE_NAME.txt
+  mv $ICUB_MAIN_PACKAGE_NAME ${ICUB_SCRIPT_DIR}
+  ls
+  log "${COL_OK}${ICUB_MAIN_PACKAGE_NAME} CREATED"
 }
 
 check_and_install_deps()
 {
   export DEBIAN_FRONTEND=noninteractive
 
   if [ "$_WHO_AM_I" != "root" ]; then
-    sudo apt-get update
-  else
-    apt-get update
+    export _SUDO=sudo
   fi
   if [ "$_LSB_BIN" == "" ]; then
     if [ "$_WHO_AM_I" != "root" ]; then
       log "installing lsb_release, so we may need your password"
-      sudo apt-get install -y lsb-release
+      $_SUDO apt-get install -y lsb-release
     else
       log "installing lsb_release"
       apt-get install -y lsb-release
@@ -213,7 +219,7 @@ check_and_install_deps()
   if [ "$_EQUIVS_BIN" == "" ]; then
     if [ "$_WHO_AM_I" != "root" ]; then
       log "installing equivs, so we may need your password"
-      sudo apt-get install -y equivs
+      $_SUDO apt-get install -y equivs
     else
       log "installing equivs"
       apt-get install -y equivs
@@ -222,45 +228,175 @@ check_and_install_deps()
   fi
 }
 
-create_control_file()
+
+create_deb()
 {
-  _ICUB_COMMON_DEPENDENCIES=""
-  for dep in $ICUB_DEPS_COMMON ; do
-    if [ "$_ICUB_COMMON_DEPENDENCIES" == "" ]; then
-      _ICUB_COMMON_DEPENDENCIES="$dep"
-    else
-      _ICUB_COMMON_DEPENDENCIES="${_ICUB_COMMON_DEPENDENCIES}, $dep"
-    fi
-  done
-  _PLAT_DEPS_TAG="ICUB_DEPS_${_PLATFORM_RELEASE}"
-  for pdep in ${!_PLAT_DEPS_TAG} ; do
-    if [ "$_ICUB_COMMON_DEPENDENCIES" == "" ]; then
-      _ICUB_COMMON_DEPENDENCIES="$pdep"
-    else
-      _ICUB_COMMON_DEPENDENCIES="${_ICUB_COMMON_DEPENDENCIES}, $pdep"
-    fi
-  done
-  echo "Package: icub-common
-Version: ${PACKAGE_VERSION}-${ICUB_DEBIAN_REVISION_NUMBER}~${_PLATFORM_RELEASE}
+  # Generate dpkg DEBIAN folder
+  mkdir -p ${D_ICUB_INSTALL_DIR}/DEBIAN
+  # Generate 'conffiles' file
+  touch ${D_ICUB_INSTALL_DIR}/DEBIAN/conffiles
+
+  # Generate dpkg DEBIAN/control file
+  touch ${D_ICUB_INSTALL_DIR}/DEBIAN/control
+  mkdir -p ${D_ICUB_INSTALL_DIR}/usr/share/doc/icub
+  cp ${D_ICUB_ROOT}/COPYING ${D_ICUB_INSTALL_DIR}/usr/share/doc/icub/copyright
+  cp ${D_ICUB_ROOT}/AUTHORS ${D_ICUB_INSTALL_DIR}/usr/share/doc/icub/AUTHORS
+  touch ${D_ICUB_INSTALL_DIR}/DEBIAN/md5sums
+
+  _CONTROL_FILE=${D_ICUB_INSTALL_DIR}/DEBIAN/control
+
+  SIZE=$(du -s $D_ICUB_INSTALL_DIR/)
+  SIZE=$(echo $SIZE | awk '{ split($0, array, "/" ); print array[1] }')
+  echo "Size: $SIZE"
+  echo "Package: icub
+Version: ${ICUB_PACKAGE_VERSION}-${ICUB_DEBIAN_REVISION_NUMBER}~${_PLATFORM_RELEASE}
 Section: contrib/science
 Priority: optional
 Architecture: $_PLATFORM_HARDWARE
-Depends: $_ICUB_COMMON_DEPENDENCIES, cmake (>=${CMAKE_MIN_REQ_VER})
+Depends: icub-common (= ${ICUB_PACKAGE_VERSION}~${_PLATFORM_RELEASE}), yarp (>= ${YARP_REQUIRED_VERSION})
+Installed-Size:  $SIZE
 Homepage: http://www.icub.org
 Maintainer: ${ICUB_PACKAGE_MAINTAINER}
-Description: List of dependencies for iCub software (metapackage)
- This metapackage lists all the dependencies needed to install the icub platform software or to download the source code and compile it directly onto your machine." | tee $_CONTROL_FILE
+Description: Software platform for iCub humanoid robot with simulator.
+ The iCub is the humanoid robot developed as part of the European project
+ RobotCub and subsequently adopted by more than 20 laboratories worldwide.
+ It has 53 motors that move the head, arms & hands, waist, and legs. It can
+ see and hear, it has the sense of proprioception and movement.
+ .
+ This package provides the standard iCub software platform and apps to
+ interact with the real iCub robot, or with the included simulator." | tee $_CONTROL_FILE
+
+  # Build package
+  export ICUB_MAIN_PACKAGE_NAME="iCub${ICUB_PACKAGE_VERSION}-${ICUB_DEBIAN_REVISION_NUMBER}~${_PLATFORM_RELEASE}.deb"
+  echo $ICUB_MAIN_PACKAGE_NAME
+  cd ${D_ICUB_INSTALL_DIR} && dpkg -b ${D_ICUB_INSTALL_DIR} $ICUB_MAIN_PACKAGE_NAME
+  if [ "$?" != "0" ]; then
+    echo "Error: unable to build the package"
+    exit 1
+  fi
 
 }
 
-create_deb()
+install_deps()
 {
-  $_EQUIVS_BIN $_CONTROL_FILE
+  ###------------------- Handle cmake ----------------------###
+  echo "Installing CMAKE in the environment"
+
+  if [ "$_PLATFORM_RELEASE" == "bionic" ]; then
+    wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | $_SUDO apt-key add -
+    $_SUDO apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
+    DEBIAN_FRONTEND=noninteractive; $_SUDO apt-get install $APT_OPTIONS cmake
+  else
+    DEBIAN_FRONTEND=noninteractive; $_SUDO apt-get install $APT_OPTIONS cmake
+  fi
+
+  if [ "$?" != "0" ]; then
+    echo "Error: unable to install cmake"
+    exit 1
+  fi
+
+###------------------- Handle YCM ----------------------###
+  echo "Installing YCM package"
+  YCM_URL_TAG="YCM_PACKAGE_URL_${_PLATFORM_RELEASE}"
+  wget ${!YCM_URL_TAG} -O /tmp/ycm.deb
+  DEBIAN_FRONTEND=noninteractive; $_SUDO dpkg --ignore-depends=libjs-sphinxdoc -i /tmp/ycm.deb; $_SUDO apt-get install $APT_OPTIONS -f
+
+  if [ "$?" != "0" ]; then
+    echo "Error: unable to install ycm"
+    exit 1
+  fi
+
+###----------- Handle iCub deps from icub-common -------###
+  echo "Installing icub-common dependencies in the environment"
+  DEP_TAG="ICUB_DEPS_${_PLATFORM_RELEASE}"
+  _DEPENDENCIES="$ICUB_DEPS_COMMON ${!DEP_TAG}"
+  DEBIAN_FRONTEND=noninteractive; $_SUDO apt-get install $APT_OPTIONS $_DEPENDENCIES
+
+  if [ "$?" != "0" ]; then
+    echo "Error: unable to install dependencies"
+    exit 1
+  fi
+
+###------------------- Handle IpOpt --------------------###
+## It seems already handeled by $_SUDO apt install coinor-libipopt-dev
+
+###------------------- Handle YARP --------------------###
+  echo "Installing YARP package"
+  YARP_URL_TAG="YARP_PACKAGE_URL_${_PLATFORM_RELEASE}"
+  wget ${!YARP_URL_TAG} -O /tmp/yarp.deb
+  DEBIAN_FRONTEND=noninteractive; $_SUDO dpkg -i /tmp/yarp.deb
+
+  if [ "$?" != "0" ]; then
+    echo "Error: unable to install yarp"
+    exit 1
+  fi
+}
+
+build_icub() {
+
+  #echo "Cloning icub sources from ${ICUB_REPO_URL}"
+  #git clone $ICUB_REPO_URL
+  #if [ "$?" != "0" ]; then
+  #  echo "Error: unable to clone icub repositoy from ${ICUB_REPO_URL}"
+  #  exit 1
+  #fi
+  cd ${ICUB_SCRIPT_DIR}
+  export D_ICUB_ROOT=$(pwd)
+  git checkout v$ICUB_PACKAGE_VERSION
+  if [ "$?" != "0" ]; then
+    echo "Error: unable to checkout to v$ICUB_PACKAGE_VERSION"
+    exit 1
+  fi
+
+  mkdir build && cd build
+
+  CMAKE_OPTIONS_TAG="CMAKE_OPTIONS_${PLATFORM_KEY}"
+  _SPECIAL_DIST_CMAKE_OPTIONS="${!CMAKE_OPTIONS_TAG}"
+  export D_ICUB_INSTALL_DIR=$(pwd)/install
+  cmake $ICUB_CMAKE_OPTIONS -DCMAKE_INSTALL_PREFIX=$D_ICUB_INSTALL_DIR/usr ..
+
+  make -j && make install
+  if [ "$?" != "0" ]; then
+    echo "Error: unable to checkout to build and/or install icub-main"
+    exit 1
+  fi
+}
+
+fix_relocatable_files(){
+  ICUB_INI_PATH="$D_ICUB_INSTALL_DIR/usr/share/yarp/config/path.d"
+  ICUB_INI_FILE="iCub.ini"
+
+  echo "Fixing iCub.ini in path.d"
+  # this fixes missing iCub.ini file
+  if [ ! -e "${ICUB_INI_PATH}/${ICUB_INI_FILE}" ]
+  then
+    mkdir -p $ICUB_INI_PATH
+    ls  $ICUB_INI_PATH
+    touch ${ICUB_INI_PATH}/${ICUB_INI_FILE}
+    echo ###### This file is automatically generated by CMake. >> ${ICUB_INI_PATH}/${ICUB_INI_FILE}
+    echo [search iCub] >> ${ICUB_INI_PATH}/${ICUB_INI_FILE}
+    echo path "/usr/share/iCub">> ${ICUB_INI_PATH}/${ICUB_INI_FILE}
+  fi
+  echo "Fix path inside cmake files"
+  _cmake_files=$(find ${D_ICUB_INSTALL_DIR} -name "*.cmake")
+  for f in $_cmake_files ; do
+    sed -i "s|$D_ICUB_INSTALL_DIR||g" $f
+  done
+
+  echo "Fix path inside  ini files"
+  _ini_files=$(find ${D_ICUB_INSTALL_DIR} -name "*.ini")
+  for f in $_ini_files ; do
+    sed -i "s|$D_ICUB_INSTALL_DIR||g" $f
+  done
+
 }
 
 main()
 {
-  create_control_file
+  install_deps
+  build_icub
+  # Probably this step is not needed anymore after cmake components/modernization
+  fix_relocatable_files
   create_deb
 }
 

diff --git a/.ci/packages_vars.sh b/.ci/packages_vars.sh
@@ -9,16 +9,47 @@
 # LATEST MODIFICATION DATE (YYYY-MM-DD): 2020-06-11
 #
 YCM_PACKAGE="ycm-cmake-modules"
-YCM_PACKAGE_URL_bionic="https://launchpad.net/~robotology/+archive/ubuntu/ppa/+files/${YCM_PACKAGE}_0.12.0-1~ubuntu18.04~robotology1_all.deb"
-YCM_PACKAGE_URL_buster="https://launchpad.net/~robotology/+archive/ubuntu/ppa/+files/${YCM_PACKAGE}_0.12.0-1_all.deb"
-YCM_PACKAGE_URL_focal="https://launchpad.net/~robotology/+archive/ubuntu/ppa/+files/${YCM_PACKAGE}_0.12.0-1_all.deb"
+YCM_REQUIRED_VERSION="0.12.0"
+YCM_PACKAGE_URL_buster="https://github.com/robotology/ycm/releases/download/v${YCM_REQUIRED_VERSION}/${YCM_PACKAGE}_${YCM_REQUIRED_VERSION}-1.debian10.robotology1_all.deb"
+YCM_PACKAGE_URL_bionic="https://github.com/robotology/ycm/releases/download/v${YCM_REQUIRED_VERSION}/${YCM_PACKAGE}_${YCM_REQUIRED_VERSION}-1.ubuntu18.04.robotology2_all.deb"
+YCM_PACKAGE_URL_focal="https://github.com/robotology/ycm/releases/download/v${YCM_REQUIRED_VERSION}/${YCM_PACKAGE}_${YCM_REQUIRED_VERSION}-1.ubuntu20.04.robotology1_all.deb"
+
+YARP_REQUIRED_VERSION="3.4.0"
+YARP_PACKAGE_URL_buster="https://github.com/robotology/yarp/releases/download/v${YARP_REQUIRED_VERSION}/yarp-${YARP_REQUIRED_VERSION}-2.buster_amd64.deb"
+YARP_PACKAGE_URL_bionic="https://github.com/robotology/yarp/releases/download/v${YARP_REQUIRED_VERSION}/yarp-${YARP_REQUIRED_VERSION}-2.bionic_amd64.deb"
+YARP_PACKAGE_URL_focal="https://github.com/robotology/yarp/releases/download/v${YARP_REQUIRED_VERSION}/yarp-${YARP_REQUIRED_VERSION}-2.focal_amd64.deb"
+
+APT_OPTIONS="-q -y"
+
 SUPPORTED_DISTRO_LIST="buster bionic focal"
 SUPPORTED_TARGET_LIST="amd64"
 CMAKE_MIN_REQ_VER="3.12.0"
 ICUB_DEPS_COMMON="libace-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libc6 python3 libgsl0-dev libncurses5-dev libsdl1.2-dev subversion git gfortran libxmu-dev libode-dev wget unzip qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5svg5 libqt5opengl5-dev libopencv-dev freeglut3-dev libtinyxml-dev libblas-dev coinor-libipopt-dev liblapack-dev libmumps-dev qml-module-qtmultimedia qml-module-qtquick-dialogs qml-module-qtquick-controls libedit-dev libeigen3-dev libjpeg-dev libsimbody-dev libxml2-dev libjs-underscore portaudio19-dev ${YCM_PACKAGE}"
 ICUB_DEPS_bionic="libode6"
 ICUB_DEPS_focal="libode8"
 ICUB_DEPS_buster="libode8"
-ICUB_REPO_URL="https://github.com/robotology/icub-main"
+#TO BE CHANGED!!!
+ICUB_REPO_URL="https://github.com/Nicogene/icub-main.git"
 ICUB_PACKAGE_MAINTAINER="Matteo Brunettini <matteo.brunettini@iit.it>"
 export ICUB_DEBIAN_REVISION_NUMBER="1" # Always use a revision number >=1
+
+ICUB_CMAKE_OPTIONS="\
+ -DCMAKE_BUILD_TYPE=Release \
+ -DICUB_USE_SDL=ON \
+ -DICUB_USE_ODE=ON \
+ -DIPOPT_DIR=/usr \
+ -DICUB_USE_IPOPT=ON \
+ -DICUB_USE_GLUT=ON \
+ -DENABLE_icubmod_canmotioncontrol=OFF \
+ -DENABLE_icubmod_cartesiancontrollerclient=ON \
+ -DENABLE_icubmod_cartesiancontrollerserver=ON \
+ -DENABLE_icubmod_fakecan=ON \
+ -DENABLE_icubmod_gazecontrollerclient=ON \
+ -DENABLE_icubmod_skinprototype=ON \
+ -DENABLE_icubmod_socketcan=ON \
+ -DENABLE_icubmod_static_grabber=ON \
+ -DENABLE_icubmod_xsensmtx=OFF \
+ -DYARP_FORCE_DYNAMIC_PLUGINS=ON"
+CMAKE_OPTIONS_focal=""
+CMAKE_OPTIONS_bionic=""
+CMAKE_OPTIONS_buster=""