AppImage #10
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| name: AppImage | |
| on: | |
| push: | |
| tags: ['*'] | |
| workflow_dispatch: | |
| permissions: | |
| contents: write | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| appimage: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| environment: [humble, jazzy, kilted] | |
| runs-on: ubuntu-latest | |
| name: appimage-${{ matrix.environment }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: prefix-dev/setup-pixi@v0.9.4 | |
| with: | |
| environments: ${{ matrix.environment }} | |
| locked: true | |
| cache: true | |
| - name: Build | |
| run: pixi run -e ${{ matrix.environment }} build | |
| - name: Create AppImage | |
| run: | | |
| # Download linuxdeploy | |
| wget -q https://github.com/linuxdeploy/linuxdeploy/releases/download/continuous/linuxdeploy-x86_64.AppImage | |
| chmod +x linuxdeploy-x86_64.AppImage | |
| CONDA_PREFIX="$(pixi run -e ${{ matrix.environment }} printenv CONDA_PREFIX)" | |
| # Create AppDir structure | |
| mkdir -p AppDir/usr/{bin,lib,share} | |
| # Copy binary (colcon isolated-install layout) | |
| cp install/pj_bridge/lib/pj_bridge/pj_bridge_ros2 AppDir/usr/bin/ | |
| # Bundle shared libraries from the conda environment | |
| # (exclude glibc/ld-linux which must come from the host) | |
| ldd AppDir/usr/bin/pj_bridge_ros2 | \ | |
| grep "$CONDA_PREFIX" | \ | |
| awk '{print $3}' | \ | |
| xargs -I{} cp --no-dereference {} AppDir/usr/lib/ 2>/dev/null || true | |
| # Also copy transitive deps from conda lib/ | |
| for lib in AppDir/usr/lib/*.so*; do | |
| ldd "$lib" 2>/dev/null | \ | |
| grep "$CONDA_PREFIX" | \ | |
| awk '{print $3}' | \ | |
| xargs -I{} cp --no-dereference {} AppDir/usr/lib/ 2>/dev/null || true | |
| done | |
| # Copy ament index (needed for schema discovery at runtime) | |
| cp -r "$CONDA_PREFIX"/share/ament_index AppDir/usr/share/ 2>/dev/null || true | |
| # Copy message definitions (.msg/.srv/.idl files) | |
| for pkg_dir in "$CONDA_PREFIX"/share/*/msg "$CONDA_PREFIX"/share/*/srv; do | |
| [ -d "$pkg_dir" ] && cp -r --parents "$pkg_dir" AppDir/usr/share/ 2>/dev/null || true | |
| done | |
| # Create .desktop file | |
| cat > AppDir/pj_bridge.desktop <<'DESKTOP' | |
| [Desktop Entry] | |
| Name=pj_bridge | |
| Exec=pj_bridge_ros2 | |
| Icon=pj_bridge | |
| Type=Application | |
| Categories=Science; | |
| DESKTOP | |
| # Create minimal icon | |
| convert -size 256x256 xc:transparent AppDir/pj_bridge.png 2>/dev/null || \ | |
| touch AppDir/pj_bridge.png | |
| # Create AppRun wrapper that sets environment | |
| cat > AppDir/AppRun <<'APPRUN' | |
| #!/bin/bash | |
| SELF="$(readlink -f "$0")" | |
| HERE="${SELF%/*}" | |
| export LD_LIBRARY_PATH="${HERE}/usr/lib:${LD_LIBRARY_PATH}" | |
| export AMENT_PREFIX_PATH="${HERE}/usr" | |
| exec "${HERE}/usr/bin/pj_bridge_ros2" "$@" | |
| APPRUN | |
| chmod +x AppDir/AppRun | |
| # Generate AppImage (LD_LIBRARY_PATH needed for linuxdeploy to find conda libs) | |
| export LD_LIBRARY_PATH="$CONDA_PREFIX/lib:${LD_LIBRARY_PATH:-}" | |
| ARCH=x86_64 ./linuxdeploy-x86_64.AppImage \ | |
| --appdir AppDir \ | |
| --output appimage | |
| - name: Rename AppImage | |
| run: | | |
| rm -f linuxdeploy-x86_64.AppImage | |
| mv *.AppImage pj_bridge_ros2-${{ matrix.environment }}-x86_64.AppImage | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: appimage-${{ matrix.environment }} | |
| path: "*.AppImage" | |
| - name: Upload to GitHub Release | |
| if: startsWith(github.ref, 'refs/tags/') | |
| run: gh release upload "${{ github.ref_name }}" *.AppImage --clobber | |
| env: | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} |