create-deb-deploy: cleanup due to base image switch

Author: mich-pest

scripts/create-deb-deploy.sh

@@ -84,24 +84,6 @@ CLEAN_BUILD="${CLEAN_BUILD:-0}"
 CMAKE_ARGS="${CMAKE_ARGS:-}"
 BUILD_ARGS="${BUILD_ARGS:--j${JOBS}}"
 
-DEPLOY_FLAGS=(
-  DLS_DEPLOY_gazebo_sim
-  DLS_DEPLOY_pid_controller
-  DLS_DEPLOY_periodic_generator
-  DLS_DEPLOY_foot_traj_generator
-  DLS_DEPLOY_gait_timer
-  DLS_DEPLOY_terrain_estimator
-  DLS_DEPLOY_trunk_controller
-  DLS_DEPLOY_dls_keyboard
-  DLS_DEPLOY_dls_gamepad
-)
-
-CMAKE_DEPLOY_ARGS=()
-for flag in "${DEPLOY_FLAGS[@]}"; do
-  value="${!flag:-ON}"
-  CMAKE_DEPLOY_ARGS+=("-D${flag}=${value}")
-done
-
 mkdir -p "${ART_DIR}"
 rm -f "${DEB_PATH}" "${ART_DIR}/pkg_files.txt" "${BUILD_LOG}"
 
@@ -129,7 +111,6 @@ run_pipeline() {
 
   cmake -S "${ROOT_DIR}" -B "${build_dir}" -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_INSTALL_PREFIX=/ \
-    "${CMAKE_DEPLOY_ARGS[@]}" \
     "${cmake_user_args[@]}"
 
   if [[ "${BUILD_VERBOSE}" == "1" ]]; then
@@ -151,86 +132,24 @@ run_pipeline() {
   strip "${stage_dir}/usr/bin/dls2/child_process_launcher" || true
   strip "${stage_dir}/usr/lib/librobotlib.so" || true
 
-  copy_into_stage() {
-    local src="$1"
-    local dst="${stage_dir}${src}"
-    [[ -f "${src}" ]] || return 0
-    mkdir -p "$(dirname "${dst}")"
-    if [[ -L "${src}" ]]; then
-      cp -a --no-dereference "${src}" "${dst}"
-      local resolved
-      resolved="$(readlink -f "${src}" || true)"
-      if [[ -n "${resolved}" && "${resolved}" != "${src}" && -f "${resolved}" ]]; then
-        copy_into_stage "${resolved}"
-      fi
-    else
-      cp -a "${src}" "${dst}"
-    fi
-  }
-
-  copy_ldd_closure() {
-    local target="$1"
-    [[ -e "${target}" ]] || return 0
-    (ldd "${target}" 2>/dev/null || true) \
-      | awk '
-          /=> \/ {print $3}
-          /^\// {print $1}
-        ' \
-      | sort -u \
-      | while IFS= read -r lib; do
-          [[ -f "${lib}" ]] || continue
-          case "$(basename "${lib}")" in
-            libfastdds.so*|libfastcdr.so*|libfastdds_statistics_backend.so*|libpinocchio*.so*|libcoal.so*)
-              continue
-              ;;
-            liburdfdom_model.so*|liburdfdom_model_state.so*|liburdfdom_sensor.so*|liburdfdom_world.so*)
-              continue
-              ;;
-            libgz-math*.so*|libgz-utils*.so*)
-              continue
-              ;;
-          esac
-          case "${lib}" in
-            /usr/local/lib/*)
-              copy_into_stage "${lib}"
-              ;;
-            *)
-              ;;
-          esac
-        done
-  }
-
-  for p in /usr/local/lib/liburdfdom*.so*; do
-    for f in $p; do
-      [[ -e "${f}" ]] || continue
-      copy_into_stage "${f}"
-    done
-  done
-
-  if [[ -d "${stage_dir}/usr/lib/dls2" ]]; then
-    while IFS= read -r sofile; do
-      copy_ldd_closure "${sofile}"
-    done < <(find "${stage_dir}/usr/lib/dls2" -type f -name '*.so*' | sort -u)
-  fi
-  if [[ -d "${stage_dir}/usr/bin/dls2" ]]; then
-    while IFS= read -r exe; do
-      copy_ldd_closure "${exe}"
-    done < <(find "${stage_dir}/usr/bin/dls2" -type f -perm -111 | sort -u)
-  fi
-  if [[ -x "${stage_dir}/usr/bin/dls" ]]; then
-    copy_ldd_closure "${stage_dir}/usr/bin/dls"
-  fi
-
   if [[ -f "${stage_dir}/usr/bin/dls" ]]; then
     awk '
       NR == 1 {
         print
-        print "export LD_LIBRARY_PATH=\"/opt/ros/jazzy/lib/x86_64-linux-gnu:/usr/local/lib:/usr/lib:${LD_LIBRARY_PATH:-}\""
+        print "export LD_LIBRARY_PATH=\"/opt/ros/jazzy/lib/x86_64-linux-gnu:/usr/local/lib:/usr/lib:/usr/lib/dls2:/usr/lib/dls2/motion_generators:/usr/lib/dls2/controllers:/usr/lib/dls2/estimators:/usr/lib/dls2/messages:${LD_LIBRARY_PATH:-}\""
+        print "export DLS_SERVERS_PATH=\"${DLS_SERVERS_PATH:-/usr/include/dls2/util/messaging/servers.yaml}\""
+        print "export DLS_SAFETY_LAYER_PATH=\"${DLS_SAFETY_LAYER_PATH:-/usr/include/dls2/supervisor/data/safety_layer.yaml}\""
+        print "export DLS_SCHEDULER_PATH=\"${DLS_SCHEDULER_PATH:-/usr/include/dls2/schedulers}\""
+        print "export GZ_SIM_RESOURCE_PATH=\"${GZ_SIM_RESOURCE_PATH:-/usr/local/share/dls-gazebo/worlds}\""
         next
       }
       /fastdds shm clean/ {
         print "command -v fastdds >/dev/null 2>&1 && fastdds shm clean > /dev/null 2>/dev/null || true"
-        print
+        next
+      }
+      /dynamic_legged_systems_framework / {
+        sub(/^[[:space:]]*/, "")
+        print "exec " $0
         next
       }
       { print }