Add Mac OSX support (#428)

tesseract-robotics · Dec 14, 2023 · aa87148 · aa87148
1 parent 788feaa
commit aa87148
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Showing 6 changed files with 109 additions and 8 deletions.
diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml
@@ -0,0 +1,92 @@
+name: Mac OSX
+
+on:
+  push:
+    branches:
+      - master
+      - 'dev**'
+  pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/mac.yml'
+      - '**.repos'
+  schedule:
+    - cron: '0 5 * * *'
+  release:
+    types:
+      - released
+
+env:
+  VCPKG_PKGS: >- 
+    boost-dll boost-program-options
+    boost-serialization boost-filesystem
+    tinyxml2 console-bridge assimp
+    urdfdom octomap orocos-kdl pcl
+    gtest benchmark flann jsoncpp
+    yaml-cpp eigen3
+    openblas
+    fcl ompl taskflow
+    bullet3[multithreading,double-precision,rtti]
+    ccd[double-precision] gperftools
+
+jobs:
+  build-macos:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        path: ws/src/tesseract_planning
+    - uses: actions/setup-python@v4
+      id: setup-python
+      with:
+        python-version: '3.12'
+    - name: brew
+      run: |
+        brew install libomp cmake automake autoconf libtool gcc ninja
+    - name: vcpkg build
+      uses: johnwason/vcpkg-action@v5
+      with:
+        pkgs: >-
+          ${{ env.VCPKG_PKGS }}
+        triplet: x64-osx-dynamic-release
+        extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/ws/src/tesseract_planning/.github/workflows/vcpkg_triplets
+        token: ${{ github.token }}
+        cache-key: osx-x64-vcpkg
+        revision: master
+    - name: pip3
+      run: |
+        python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool
+    - name: vcs import
+      working-directory: ws/src
+      run: vcs import --input tesseract_planning/.github/workflows/windows_dependencies.repos
+    - name: colcon build
+      working-directory: ws
+      run: |
+        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib
+        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
+
+        colcon build --merge-install \
+            --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \
+            --event-handlers console_cohesion+ \
+            --cmake-force-configure \
+            --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \
+            -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \
+            -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \
+            -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \
+            -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \
+            -DOpenMP_CXX_INCLUDE_DIR=/usr/local/opt/libomp/include \
+            -DOpenMP_C_INCLUDE_DIR=/usr/local/opt/libomp/include \
+            -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \
+            -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \
+            -DOpenMP_libomp_LIBRARY=/usr/local/opt/libomp/lib/libomp.dylib \
+            -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/x64-osx-dynamic-release/lib/libtcmalloc_minimal.dylib
+    - name: colcon test
+      working-directory: ws
+      run: |
+        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib
+        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
+
+        colcon test --merge-install \
+            --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \
+            --event-handlers console_cohesion+
+    
diff --git a/.github/workflows/vcpkg_triplets/x64-osx-dynamic-release.cmake b/.github/workflows/vcpkg_triplets/x64-osx-dynamic-release.cmake
@@ -0,0 +1,9 @@
+set(VCPKG_TARGET_ARCHITECTURE x64)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+
+set(VCPKG_CMAKE_SYSTEM_NAME Darwin)
+set(VCPKG_OSX_ARCHITECTURES x86_64)
+
+set(VCPKG_BUILD_TYPE release)
+set(VCPKG_OSX_DEPLOYMENT_TARGET 12.0)
diff --git a/tesseract_command_language/CMakeLists.txt b/tesseract_command_language/CMakeLists.txt
@@ -30,13 +30,13 @@ endif()
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-initialize_code_coverage()
+initialize_code_coverage(ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 set(COVERAGE_EXCLUDE
     /usr/*
     /opt/*
     ${CMAKE_CURRENT_LIST_DIR}/test/*
     /*/gtest/*)
-add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
+add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 
 add_library(
   ${PROJECT_NAME}

diff --git a/tesseract_motion_planners/CMakeLists.txt b/tesseract_motion_planners/CMakeLists.txt
@@ -34,7 +34,7 @@ endif()
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-initialize_code_coverage()
+initialize_code_coverage(ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 set(COVERAGE_EXCLUDE
     /usr/*
     /opt/*
@@ -44,7 +44,7 @@ set(COVERAGE_EXCLUDE
     /*/include/opw_kinematics/*
     /*/include/trajopt/*
     /*/include/trajopt_sco/*)
-add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
+add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 
 # Enable Testing
 if(TESSERACT_ENABLE_TESTING)

diff --git a/tesseract_task_composer/CMakeLists.txt b/tesseract_task_composer/CMakeLists.txt
@@ -30,13 +30,13 @@ endif()
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-initialize_code_coverage()
+initialize_code_coverage(ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 set(COVERAGE_EXCLUDE
     /usr/*
     /opt/*
     ${CMAKE_CURRENT_LIST_DIR}/test/*
     /*/gtest/*)
-add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
+add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 
 # Define compile-time default variables
 if(MSVC)

diff --git a/tesseract_time_parameterization/CMakeLists.txt b/tesseract_time_parameterization/CMakeLists.txt
@@ -30,13 +30,13 @@ endif()
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-initialize_code_coverage()
+initialize_code_coverage(ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 set(COVERAGE_EXCLUDE
     /usr/*
     /opt/*
     ${CMAKE_CURRENT_LIST_DIR}/test/*
     /*/gtest/*)
-add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
+add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 
 # Enable Testing
 if(TESSERACT_ENABLE_TESTING)