From 0db015db60acf441503b9ac4c2e015869b2bcb6d Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Fri, 19 Nov 2021 12:50:32 -0800 Subject: [PATCH 01/15] Default to Focal for CI Signed-off-by: Louise Poubel --- jenkins-scripts/dsl/_configs_/Globals.groovy | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/jenkins-scripts/dsl/_configs_/Globals.groovy b/jenkins-scripts/dsl/_configs_/Globals.groovy index f6b121d61..72f079014 100644 --- a/jenkins-scripts/dsl/_configs_/Globals.groovy +++ b/jenkins-scripts/dsl/_configs_/Globals.groovy @@ -57,12 +57,12 @@ class Globals // Main CI platform static ArrayList get_ci_distro() { - return [ 'bionic' ] + return [ 'focal' ] } static ArrayList get_abi_distro() { - return [ 'bionic' ] + return [ 'focal' ] } static ArrayList get_ci_gpu() @@ -72,7 +72,7 @@ class Globals static ArrayList get_other_supported_distros() { - return [ 'bionic' ] + return [ 'focal' ] } static ArrayList get_supported_arches() From 63a543607b428c5108d706e48dfc7ed75cd9b4cf Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Sun, 21 Nov 2021 00:03:58 -0800 Subject: [PATCH 02/15] Remove Globals.get_gz11_ubuntu_distro Signed-off-by: Steve Peters --- jenkins-scripts/dsl/_configs_/Globals.groovy | 10 ---------- jenkins-scripts/dsl/sdformat.dsl | 16 +++------------- 2 files changed, 3 insertions(+), 23 deletions(-) diff --git a/jenkins-scripts/dsl/_configs_/Globals.groovy b/jenkins-scripts/dsl/_configs_/Globals.groovy index 72f079014..f88f9020b 100644 --- a/jenkins-scripts/dsl/_configs_/Globals.groovy +++ b/jenkins-scripts/dsl/_configs_/Globals.groovy @@ -108,14 +108,4 @@ class Globals static String get_ros2_development_distro() { return 'rolling' } - - static String get_gz11_ubuntu_distro() - { - return 'bionic' - } - - static String get_gz11_mac_distro() - { - return 'mojave' - } } diff --git a/jenkins-scripts/dsl/sdformat.dsl b/jenkins-scripts/dsl/sdformat.dsl index 3da399eea..9d9389c82 100644 --- a/jenkins-scripts/dsl/sdformat.dsl +++ b/jenkins-scripts/dsl/sdformat.dsl @@ -61,7 +61,7 @@ abi_distro.each { distro -> // MAIN CI job // CI JOBS @ SCM/5 min -[ Globals.get_gz11_ubuntu_distro() ].each { distro -> +ci_distro.each { distro -> supported_arches.each { arch -> // -------------------------------------------------------------- // 1. Create the main ci jobs @@ -139,10 +139,6 @@ other_supported_distros.each { distro -> // BRANCHES CI JOB @ SCM/DAILY sdformat_supported_branches.each { branch -> ci_distro.each { distro -> - // special check to modify ci_distro if the branch is part of gz11 - if (branch in sdformat_gz11_branches) - distro = Globals.get_gz11_ubuntu_distro() - supported_arches.each { arch -> // ci_main job for the rest of arches / scm@daily def sdformat_ci_job = job("sdformat-ci-${branch}-${distro}-${arch}") @@ -171,7 +167,7 @@ sdformat_supported_branches.each { branch -> // // EXPERIMENTAL ARCHES @ SCM/WEEKLY -[ Globals.get_gz11_ubuntu_distro() ].each { distro -> +ci_distro.each { distro -> experimental_arches.each { arch -> def sdformat_ci_job = job("sdformat-ci-main-${distro}-${arch}") OSRFLinuxCompilation.create(sdformat_ci_job) @@ -198,13 +194,7 @@ sdformat_supported_branches.each { branch -> // INSTALL LINUX -DEV PACKAGES ALL PLATFORMS @ CRON/DAILY sdformat_supported_branches.each { branch -> - // special check to modify ci_distro if the branch is part of gz11 - if (branch in sdformat_gz11_branches) - ref_distro = [ Globals.get_gz11_ubuntu_distro() ] - else - ref_distro = ci_distro - - ref_distro.each { distro -> + ci_distro.each { distro -> supported_arches.each { arch -> // -------------------------------------------------------------- def install_default_job = job("sdformat-install-${branch}_pkg-${distro}-${arch}") From 929dd182183b462067a09587fe19d746c204d324 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Fri, 10 Dec 2021 10:50:27 -0800 Subject: [PATCH 03/15] Update jenkins-scripts/dsl/_configs_/Globals.groovy Co-authored-by: Jose Luis Rivero --- jenkins-scripts/dsl/_configs_/Globals.groovy | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jenkins-scripts/dsl/_configs_/Globals.groovy b/jenkins-scripts/dsl/_configs_/Globals.groovy index f88f9020b..8fd517ae9 100644 --- a/jenkins-scripts/dsl/_configs_/Globals.groovy +++ b/jenkins-scripts/dsl/_configs_/Globals.groovy @@ -72,7 +72,7 @@ class Globals static ArrayList get_other_supported_distros() { - return [ 'focal' ] + return [ ] } static ArrayList get_supported_arches() From 26b6e6ce18ce3506a258b01ccf97ce66652829de Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 15 Dec 2021 15:57:50 +0100 Subject: [PATCH 04/15] Add testing jobs for Focal and Jammy Ubuntu packages --- jenkins-scripts/dsl/gazebo.dsl | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/jenkins-scripts/dsl/gazebo.dsl b/jenkins-scripts/dsl/gazebo.dsl index 201b1c3a9..9b5f93fc7 100644 --- a/jenkins-scripts/dsl/gazebo.dsl +++ b/jenkins-scripts/dsl/gazebo.dsl @@ -7,8 +7,9 @@ def gazebo_supported_build_types = [ 'Release', 'Debug', 'Coverage' ] // the one used to generate the corresponding debbuild job. def nightly_gazebo_branch = [ 'gazebo11' ] // testing official packages without osrf repo -def ubuntu_official_packages_distros = [ 'bionic' : 'gazebo9' ] - +def ubuntu_official_packages_distros = [ 'bionic' : 'gazebo9', + 'focal' : 'gazebo9', + 'jammy' : 'gazebo11'] // Main platform using for quick CI def ci_distro_default = [ 'bionic' ] def ci_distro = Globals.get_ci_distro() From d40d8632c351bf04a797e12e1706f1b14da757d0 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 15 Dec 2021 15:58:25 +0100 Subject: [PATCH 05/15] Remove nightly support --- jenkins-scripts/dsl/gazebo.dsl | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/jenkins-scripts/dsl/gazebo.dsl b/jenkins-scripts/dsl/gazebo.dsl index 9b5f93fc7..60f6d9814 100644 --- a/jenkins-scripts/dsl/gazebo.dsl +++ b/jenkins-scripts/dsl/gazebo.dsl @@ -3,9 +3,6 @@ import javaposse.jobdsl.dsl.Job def gazebo_supported_branches = [ 'gazebo9', 'gazebo11' ] def gazebo_supported_build_types = [ 'Release', 'Debug', 'Coverage' ] -// nightly_gazebo_branch is not the branch used to get the code from but -// the one used to generate the corresponding debbuild job. -def nightly_gazebo_branch = [ 'gazebo11' ] // testing official packages without osrf repo def ubuntu_official_packages_distros = [ 'bionic' : 'gazebo9', 'focal' : 'gazebo9', @@ -460,7 +457,7 @@ ubuntu_official_packages_distros.each { distro, branch -> // -------------------------------------------------------------- // DEBBUILD: linux package builder -all_debbuild_branches = gazebo_supported_branches + nightly_gazebo_branch +all_debbuild_branches = gazebo_supported_branches all_debbuild_branches.each { branch -> def build_pkg_job = job("${branch}-debbuilder") OSRFLinuxBuildPkg.create(build_pkg_job) From 9457549b5d77c22ff8efc6667d55846ef07674b9 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 15 Dec 2021 16:06:06 +0100 Subject: [PATCH 06/15] Remove ci_distro_default hack --- jenkins-scripts/dsl/gazebo.dsl | 24 +++++------------------- 1 file changed, 5 insertions(+), 19 deletions(-) diff --git a/jenkins-scripts/dsl/gazebo.dsl b/jenkins-scripts/dsl/gazebo.dsl index 60f6d9814..4e07ff508 100644 --- a/jenkins-scripts/dsl/gazebo.dsl +++ b/jenkins-scripts/dsl/gazebo.dsl @@ -8,7 +8,6 @@ def ubuntu_official_packages_distros = [ 'bionic' : 'gazebo9', 'focal' : 'gazebo9', 'jammy' : 'gazebo11'] // Main platform using for quick CI -def ci_distro_default = [ 'bionic' ] def ci_distro = Globals.get_ci_distro() def ci_gpu = Globals.get_ci_gpu() def abi_distro = Globals.get_abi_distro() @@ -23,7 +22,6 @@ def all_supported_gpus = Globals.get_all_supported_gpus() def DISABLE_TESTS = false def DISABLE_GITHUB_INTEGRATION = false -String ci_distro_default_str = ci_distro_default[0] String ci_distro_str = ci_distro[0] String ci_gpu_str = ci_gpu[0] String ci_build_any_job_name_linux = "gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-${ci_gpu_str}" @@ -139,11 +137,7 @@ ci_distro.each { distro -> // -------------------------------------------------------------- // 2. Create the master ci jobs - def gazebo_ci_job = job("gazebo-ci-master-${ci_distro_default_str}-${arch}-gpu-${gpu}") - if (is_watched_by_buildcop('master', ci_distro_default_str, gpu)) - { - Globals.extra_emails = Globals.build_cop_email - } + def gazebo_ci_job = job("gazebo-ci-master-${distro}-${arch}-gpu-${gpu}") OSRFLinuxCompilation.create(gazebo_ci_job) OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo") @@ -159,7 +153,7 @@ ci_distro.each { distro -> shell("""\ #!/bin/bash -xe - export DISTRO=${ci_distro_default_str} + export DISTRO=${distro} export ARCH=${arch} export GPU_SUPPORT_NEEDED=true /bin/bash -xe ./scripts/jenkins-scripts/docker/gazebo-compilation.bash @@ -257,10 +251,6 @@ ci_distro.each { distro -> // BRANCHES CI JOB @ SCM/DAILY gazebo_supported_branches.each { branch -> distros = ci_distro - if (branch == 'gazebo11') - { - distros = ci_distro_default - } distros.each { distro -> supported_arches.each { arch -> ci_gpu.each { gpu -> @@ -301,7 +291,7 @@ gazebo_supported_branches.each { branch -> } // end of branch // EXPERIMENTAL ARCHES @ SCM/WEEKLY -ci_distro_default.each { distro -> +ci_distro.each { distro -> experimental_arches.each { arch -> def gazebo_ci_job = job("gazebo-ci-master-${distro}-${arch}-gpu-none") OSRFLinuxCompilation.create(gazebo_ci_job) @@ -330,7 +320,7 @@ ci_distro_default.each { distro -> } // COVERAGE TYPE @ SCM/DAILY -ci_distro_default.each { distro -> +ci_distro.each { distro -> supported_arches.each { arch -> ci_gpu.each { gpu -> def gazebo_ci_job = job("gazebo-ci-coverage-${distro}-${arch}-gpu-${gpu}") @@ -365,7 +355,7 @@ ci_distro_default.each { distro -> } // BUILD TYPES CI JOBS @ SCM/DAILY -ci_distro_default.each { distro -> +ci_distro.each { distro -> supported_arches.each { arch -> gazebo_supported_build_types.each { build_type -> def gazebo_ci_job = job("gazebo-ci_BT${build_type}-master-${distro}-${arch}-gpu-none") @@ -427,10 +417,6 @@ all_supported_distros.each { distro -> // INSTALL LINUX -DEV PACKAGES ALL PLATFORMS @ CRON/DAILY gazebo_supported_branches.each { branch -> distros = ci_distro - if (branch == 'gazebo11') - { - distros = ci_distro_default - } distros.each { distro -> supported_arches.each { arch -> // -------------------------------------------------------------- From 579eeb4a2b6312a751d571af755207226df9e2eb Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 15 Dec 2021 16:12:23 +0100 Subject: [PATCH 07/15] Move master jobs to gazebo11 --- jenkins-scripts/dsl/gazebo.dsl | 44 +++++++--------------------------- 1 file changed, 9 insertions(+), 35 deletions(-) diff --git a/jenkins-scripts/dsl/gazebo.dsl b/jenkins-scripts/dsl/gazebo.dsl index 4e07ff508..6318814fc 100644 --- a/jenkins-scripts/dsl/gazebo.dsl +++ b/jenkins-scripts/dsl/gazebo.dsl @@ -135,39 +135,13 @@ ci_distro.each { distro -> } } - // -------------------------------------------------------------- - // 2. Create the master ci jobs - def gazebo_ci_job = job("gazebo-ci-master-${distro}-${arch}-gpu-${gpu}") - OSRFLinuxCompilation.create(gazebo_ci_job) - OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo") - - gazebo_ci_job.with - { - label "gpu-reliable && large-memory" - - triggers { - scm('*/5 * * * *') - } - - steps { - shell("""\ - #!/bin/bash -xe - - export DISTRO=${distro} - export ARCH=${arch} - export GPU_SUPPORT_NEEDED=true - /bin/bash -xe ./scripts/jenkins-scripts/docker/gazebo-compilation.bash - """.stripIndent()) - } - } - // reset build cop email in global list of mails Globals.extra_emails = '' } // end of gpu } // end of arch } // end of distro -// OTHER CI SUPPORTED JOBS (master branch) @ SCM/DAILY +// OTHER CI SUPPORTED JOBS (gazebo11 branch) @ SCM/DAILY other_supported_distros.each { distro -> supported_arches.each { arch -> @@ -177,8 +151,8 @@ other_supported_distros.each { distro -> gpus = [ 'none' ] gpus.each { gpu -> - // ci_master job for the rest of arches / scm@daily - def gazebo_ci_job = job("gazebo-ci-master-${distro}-${arch}-gpu-${gpu}") + // gazebo11 job for the rest of arches / scm@daily + def gazebo_ci_job = job("gazebo-ci-gazebo11-${distro}-${arch}-gpu-${gpu}") OSRFLinuxCompilation.create(gazebo_ci_job) OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo") @@ -293,9 +267,9 @@ gazebo_supported_branches.each { branch -> // EXPERIMENTAL ARCHES @ SCM/WEEKLY ci_distro.each { distro -> experimental_arches.each { arch -> - def gazebo_ci_job = job("gazebo-ci-master-${distro}-${arch}-gpu-none") + def gazebo_ci_job = job("gazebo-ci-gazebo11-${distro}-${arch}-gpu-none") OSRFLinuxCompilation.create(gazebo_ci_job) - OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo") + OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo", "gazebo11") gazebo_ci_job.with { @@ -325,7 +299,7 @@ ci_distro.each { distro -> ci_gpu.each { gpu -> def gazebo_ci_job = job("gazebo-ci-coverage-${distro}-${arch}-gpu-${gpu}") OSRFLinuxCompilation.create(gazebo_ci_job) - OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo", "master") + OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo", "gazebo11") gazebo_ci_job.with { triggers { @@ -358,9 +332,9 @@ ci_distro.each { distro -> ci_distro.each { distro -> supported_arches.each { arch -> gazebo_supported_build_types.each { build_type -> - def gazebo_ci_job = job("gazebo-ci_BT${build_type}-master-${distro}-${arch}-gpu-none") + def gazebo_ci_job = job("gazebo-ci_BT${build_type}-gazebo11-${distro}-${arch}-gpu-none") OSRFLinuxCompilation.create(gazebo_ci_job) - OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo") + OSRFGitHub.create(gazebo_ci_job, "osrf/gazebo", "gazebo11") gazebo_ci_job.with { @@ -500,7 +474,7 @@ install_brew_job.with // 2. default in all branches @SCM/daily // No gazebo2 for brew -all_branches = gazebo_supported_branches + 'master' +all_branches = gazebo_supported_branches all_branches.each { branch -> if (is_watched_by_buildcop(branch)) Globals.extra_emails = Globals.build_cop_email From 8bc61766eada198131c3d40917fec260881f0eb8 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Thu, 16 Dec 2021 19:50:04 +0100 Subject: [PATCH 08/15] Use libdart Ubuntu's packages on Focal and newer --- jenkins-scripts/lib/dependencies_archive.sh | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/jenkins-scripts/lib/dependencies_archive.sh b/jenkins-scripts/lib/dependencies_archive.sh index 6ff1d4621..10b89526c 100644 --- a/jenkins-scripts/lib/dependencies_archive.sh +++ b/jenkins-scripts/lib/dependencies_archive.sh @@ -128,7 +128,12 @@ bullet_pkg="libbullet-dev" # choose dart version if $DART_FROM_PKGS; then - dart_pkg="libdart6-utils-urdf-dev" + # Use custom packages on Bionic/Xenial and Ubuntu official from Focal on + if [[ ${DISTRO} == 'bionic' ]] || [[ ${DISTRO} == 'xenial' ]]; then + dart_pkg="libdart6-utils-urdf-dev" + else + dart_pkg="libdart-utils-urdf-dev" + fi fi # By default, the stable version of gazebo From 386d653127fbf3458291a6cefaf07d7a8de47e86 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Thu, 16 Dec 2021 20:23:07 +0100 Subject: [PATCH 09/15] Use right fuel-tools-dev file --- jenkins-scripts/lib/dependencies_archive.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jenkins-scripts/lib/dependencies_archive.sh b/jenkins-scripts/lib/dependencies_archive.sh index 10b89526c..05b541933 100644 --- a/jenkins-scripts/lib/dependencies_archive.sh +++ b/jenkins-scripts/lib/dependencies_archive.sh @@ -180,7 +180,7 @@ if ! ${GAZEBO_EXPERIMENTAL_BUILD}; then elif [[ ${GAZEBO_MAJOR_VERSION} -ge 9 ]]; then GAZEBO_BASE_DEPENDENCIES_NO_SDFORMAT="${GAZEBO_BASE_DEPENDENCIES_NO_SDFORMAT} \\ libignition-common-dev \\ - libignition-fuel-tools-dev \\ + libignition-fuel-tools1-dev \\ libignition-transport4-dev \\ libignition-math4-dev \\ libignition-msgs-dev" From 550b0478a6685a63fdc3ee0c2bcffe5e145059e1 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Thu, 16 Dec 2021 21:12:44 +0100 Subject: [PATCH 10/15] Support dart packages in Gazebo11 --- jenkins-scripts/lib/dependencies_archive.sh | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/jenkins-scripts/lib/dependencies_archive.sh b/jenkins-scripts/lib/dependencies_archive.sh index 05b541933..bc01b7fad 100644 --- a/jenkins-scripts/lib/dependencies_archive.sh +++ b/jenkins-scripts/lib/dependencies_archive.sh @@ -128,11 +128,16 @@ bullet_pkg="libbullet-dev" # choose dart version if $DART_FROM_PKGS; then - # Use custom packages on Bionic/Xenial and Ubuntu official from Focal on + dart_pkgs="libdart-utils-urdf-dev" + if [[ ${GAZEBO_MAJOR_VERSION} -ge 11 ]]; then + dart_pkgs="${dart_pkgs} \" + libdart-collision-bullet-dev \ + libdart-collision-ode-dev" + fi + # If on Bionic/Xenial use custom dart packages, these have a different name + # dart -> dart6 if [[ ${DISTRO} == 'bionic' ]] || [[ ${DISTRO} == 'xenial' ]]; then - dart_pkg="libdart6-utils-urdf-dev" - else - dart_pkg="libdart-utils-urdf-dev" + dart_pkgs="${dart_pkgs//dart/dart6}" fi fi @@ -168,7 +173,7 @@ if ! ${GAZEBO_EXPERIMENTAL_BUILD}; then libboost-iostreams-dev \\ ${bullet_pkg} \\ libsimbody-dev \\ - ${dart_pkg}" + ${dart_pkgs}" if [[ ${GAZEBO_MAJOR_VERSION} -ge 11 ]]; then GAZEBO_BASE_DEPENDENCIES_NO_SDFORMAT="${GAZEBO_BASE_DEPENDENCIES_NO_SDFORMAT} \\ From 012caef9d3be8bf90193909e4a84c0d2307795b9 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Thu, 16 Dec 2021 21:18:08 +0100 Subject: [PATCH 11/15] Missing dart packages --- jenkins-scripts/lib/dependencies_archive.sh | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/jenkins-scripts/lib/dependencies_archive.sh b/jenkins-scripts/lib/dependencies_archive.sh index bc01b7fad..4935cda2d 100644 --- a/jenkins-scripts/lib/dependencies_archive.sh +++ b/jenkins-scripts/lib/dependencies_archive.sh @@ -128,10 +128,9 @@ bullet_pkg="libbullet-dev" # choose dart version if $DART_FROM_PKGS; then - dart_pkgs="libdart-utils-urdf-dev" + dart_pkgs="libdart-utils-urdf-dev libdart-external-odelcpsolver" if [[ ${GAZEBO_MAJOR_VERSION} -ge 11 ]]; then - dart_pkgs="${dart_pkgs} \" - libdart-collision-bullet-dev \ + dart_pkgs="${dart_pkgs} libdart-collision-bullet-dev \ libdart-collision-ode-dev" fi # If on Bionic/Xenial use custom dart packages, these have a different name From e20496453772f8032191b88246dc340336ea85f0 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Thu, 16 Dec 2021 21:31:46 +0100 Subject: [PATCH 12/15] Fix package name --- jenkins-scripts/lib/dependencies_archive.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jenkins-scripts/lib/dependencies_archive.sh b/jenkins-scripts/lib/dependencies_archive.sh index 4935cda2d..8f0cccf2f 100644 --- a/jenkins-scripts/lib/dependencies_archive.sh +++ b/jenkins-scripts/lib/dependencies_archive.sh @@ -128,7 +128,7 @@ bullet_pkg="libbullet-dev" # choose dart version if $DART_FROM_PKGS; then - dart_pkgs="libdart-utils-urdf-dev libdart-external-odelcpsolver" + dart_pkgs="libdart-utils-urdf-dev libdart-external-odelcpsolver-dev" if [[ ${GAZEBO_MAJOR_VERSION} -ge 11 ]]; then dart_pkgs="${dart_pkgs} libdart-collision-bullet-dev \ libdart-collision-ode-dev" From e33f8c1c9ff4e06d447e7e77b55f3a7702eb4ffe Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Fri, 17 Dec 2021 17:38:09 +0100 Subject: [PATCH 13/15] Add ikfast to dart --- jenkins-scripts/lib/dependencies_archive.sh | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/jenkins-scripts/lib/dependencies_archive.sh b/jenkins-scripts/lib/dependencies_archive.sh index 8f0cccf2f..74077434c 100644 --- a/jenkins-scripts/lib/dependencies_archive.sh +++ b/jenkins-scripts/lib/dependencies_archive.sh @@ -128,7 +128,9 @@ bullet_pkg="libbullet-dev" # choose dart version if $DART_FROM_PKGS; then - dart_pkgs="libdart-utils-urdf-dev libdart-external-odelcpsolver-dev" + dart_pkgs="libdart-utils-urdf-dev \ + libdart-external-odelcpsolver-dev + libdart-external-ikfast-dev" if [[ ${GAZEBO_MAJOR_VERSION} -ge 11 ]]; then dart_pkgs="${dart_pkgs} libdart-collision-bullet-dev \ libdart-collision-ode-dev" From 2bec89ab5ee4c090c5db1a18eb559d4716d42863 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Fri, 17 Dec 2021 18:31:42 +0100 Subject: [PATCH 14/15] Fix syntax --- jenkins-scripts/lib/dependencies_archive.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jenkins-scripts/lib/dependencies_archive.sh b/jenkins-scripts/lib/dependencies_archive.sh index 74077434c..920afe371 100644 --- a/jenkins-scripts/lib/dependencies_archive.sh +++ b/jenkins-scripts/lib/dependencies_archive.sh @@ -129,7 +129,7 @@ bullet_pkg="libbullet-dev" # choose dart version if $DART_FROM_PKGS; then dart_pkgs="libdart-utils-urdf-dev \ - libdart-external-odelcpsolver-dev + libdart-external-odelcpsolver-dev \ libdart-external-ikfast-dev" if [[ ${GAZEBO_MAJOR_VERSION} -ge 11 ]]; then dart_pkgs="${dart_pkgs} libdart-collision-bullet-dev \ From f30b94d1429b3a5f8a6701efbef070bd43b0e87d Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Tue, 21 Dec 2021 00:03:53 +0100 Subject: [PATCH 15/15] Back to use bionic for Gazebo --- jenkins-scripts/dsl/gazebo.dsl | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jenkins-scripts/dsl/gazebo.dsl b/jenkins-scripts/dsl/gazebo.dsl index 6318814fc..bbb02cb5a 100644 --- a/jenkins-scripts/dsl/gazebo.dsl +++ b/jenkins-scripts/dsl/gazebo.dsl @@ -8,7 +8,8 @@ def ubuntu_official_packages_distros = [ 'bionic' : 'gazebo9', 'focal' : 'gazebo9', 'jammy' : 'gazebo11'] // Main platform using for quick CI -def ci_distro = Globals.get_ci_distro() +// Using bionic until https://github.com/osrf/gazebo/issues/3151 is fixed +def ci_distro = [ 'bionic' ] def ci_gpu = Globals.get_ci_gpu() def abi_distro = Globals.get_abi_distro() // Other supported platform to be checked but no for quick