Fixes for Python wrappers (tesseract-robotics#329)

rjoomen · Jun 27, 2023 · 53c3df8 · 53c3df8
1 parent 1596d75
commit 53c3df8
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diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -0,0 +1,75 @@
+name: Windows
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/windows.yml'
+      - '.github/workflows/windows_dependencies.repos'
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  ci:
+    name: ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [windows-2019, windows-2022]
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        path: workspace/src/tesseract_planning
+
+    - name: vcpkg build
+      uses: johnwason/vcpkg-action@v4
+      with:
+        pkgs: >- 
+          fcl bullet3[multithreading,double-precision,rtti] octomap 
+          console-bridge eigen3 yaml-cpp benchmark tinyxml2 assimp orocos-kdl pcl 
+          lapack-reference boost-dll boost-filesystem boost-serialization 
+          boost-program-options boost-graph urdfdom ccd[double-precision] gtest
+          ompl taskflow jsoncpp flann benchmark
+        triplet: x64-windows-release
+        extra-args: --clean-after-build
+        token: ${{ github.token }}
+        cache-key: ci-${{ matrix.os }}
+        revision: master
+
+    - name: install-depends
+      shell: cmd
+      run: |
+        python -m pip install vcstool -q
+        python -m pip install colcon-common-extensions -q
+        python -m pip install ninja -q
+
+    - name: configure-msvc
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64
+
+    - name: build-workspace
+      working-directory: workspace
+      shell: cmd
+      run: |
+        set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin
+        set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release
+        vcs import --input "${{ github.workspace }}/workspace/src/tesseract_planning/.github/workflows/windows_dependencies.repos" src/
+        if %ERRORLEVEL% GEQ 1 exit 1
+        colcon build --event-handlers console_direct+ --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
+        if %ERRORLEVEL% GEQ 1 exit 1
+
+    - name: run-test
+      working-directory: workspace
+      shell: cmd
+      run: |
+        call ./install/setup.bat
+        set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin
+        colcon test --event-handlers console_direct+ --return-code-on-test-failure  --packages-select tesseract_command_language tesseract_motion_planners tesseract_task_composer tesseract_time_parameterization
+        if %ERRORLEVEL% GEQ 1 exit 1
+        colcon test-result --verbose
+        if %ERRORLEVEL% GEQ 1 exit 1
diff --git a/...orkflows/dependencies_windows_build.repos → .github/workflows/windows_dependencies.repos b/...orkflows/dependencies_windows_build.repos → .github/workflows/windows_dependencies.repos
@@ -2,18 +2,14 @@
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
     version: 0.4.5
-- git:
-    local-name: tesseract_ext
-    uri: https://github.com/ros-industrial-consortium/tesseract_ext.git
-    version: master
 - git:
     local-name: tesseract
     uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: 0.17.0
+    version: master
 - git:
     local-name: trajopt
     uri: https://github.com/ros-industrial-consortium/trajopt_ros.git
-    version: 0.5.2
+    version: master
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git

diff --git a/.github/workflows/windows_noetic_build.yml b/.github/workflows/windows_noetic_build.yml
diff --git a/tesseract_examples/src/glass_upright_example.cpp b/tesseract_examples/src/glass_upright_example.cpp
@@ -25,7 +25,7 @@
  */
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <jsoncpp/json/json.h>
+#include <json/json.h>
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 

diff --git a/tesseract_examples/src/pick_and_place_example.cpp b/tesseract_examples/src/pick_and_place_example.cpp
@@ -25,7 +25,7 @@
  */
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <jsoncpp/json/json.h>
+#include <json/json.h>
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP