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mich-pestmich-pest
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deb workflow added
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‎scripts/create-deb-deploy.sh‎

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#!/usr/bin/env bash
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if [ -z "${BASH_VERSION:-}" ]; then
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echo "ERROR: run this script with bash"
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exit 1
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fi
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set -euo pipefail
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# -----------------------------------------------------------------------------
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# Build + package script (deployment CI on runner host)
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# Produces: dls2_<version>_amd64.deb at repo root.
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# -----------------------------------------------------------------------------
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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ROOT_DIR="$(cd "${SCRIPT_DIR}/.." && pwd)"
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ART_DIR="${ROOT_DIR}/deb_pipeline_artifacts"
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BUILD_LOG="${ART_DIR}/build.log"
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VERSION="${VERSION_OVERRIDE:-0.0.0-local}"
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DEB_CONTROL_VERSION="$(echo "${VERSION}" | sed -E 's/^[^0-9]*//')"
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if [[ -z "${DEB_CONTROL_VERSION}" ]]; then
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echo "ERROR: VERSION '${VERSION}' cannot be converted to a Debian control version"
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exit 1
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fi
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PACKAGE_NAME="${PACKAGE_NAME:-dls2}"
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MAINTAINER="${DEB_MAINTAINER:-Michele Pestarino <michele.pestarino@iit.it>}"
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PACKAGE_DESCRIPTION="${DEB_DESCRIPTION:-DLS2 runtime package}"
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DEB_DEPENDS="${DEB_DEPENDS:-python3, python3-psutil, libyaml-cpp0.8, libtinyxml2-10, libgtk-3-0, libcairo2, libglib2.0-0, libboost-filesystem1.83.0, libconsole-bridge1.0, libcap2-bin}"
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DEB_NAME="${PACKAGE_NAME}_${VERSION}_amd64.deb"
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DEB_PATH="${ROOT_DIR}/${DEB_NAME}"
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JOBS="${JOBS:-4}"
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LIVE_BUILD_OUTPUT="${LIVE_BUILD_OUTPUT:-0}"
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BUILD_VERBOSE="${BUILD_VERBOSE:-0}"
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CLEAN_BUILD="${CLEAN_BUILD:-0}"
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CMAKE_ARGS="${CMAKE_ARGS:-}"
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BUILD_ARGS="${BUILD_ARGS:--j${JOBS}}"
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DEPLOY_FLAGS=(
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DLS_DEPLOY_gazebo_sim
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DLS_DEPLOY_pid_controller
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DLS_DEPLOY_periodic_generator
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DLS_DEPLOY_foot_traj_generator
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DLS_DEPLOY_gait_timer
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DLS_DEPLOY_terrain_estimator
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DLS_DEPLOY_trunk_controller
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DLS_DEPLOY_dls_keyboard
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DLS_DEPLOY_dls_gamepad
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)
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CMAKE_DEPLOY_ARGS=()
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for flag in "${DEPLOY_FLAGS[@]}"; do
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value="${!flag:-ON}"
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CMAKE_DEPLOY_ARGS+=("-D${flag}=${value}")
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done
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mkdir -p "${ART_DIR}"
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rm -f "${DEB_PATH}" "${ART_DIR}/pkg_files.txt" "${BUILD_LOG}"
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run_pipeline() {
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local build_dir="${ROOT_DIR}/build"
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local stage_dir="${ROOT_DIR}/.deb_stage"
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cleanup_stage() {
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rm -rf "${stage_dir}" "${ROOT_DIR}/stage"
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}
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trap cleanup_stage EXIT
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if [[ "${CLEAN_BUILD}" == "1" ]]; then
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rm -rf "${build_dir}"
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fi
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rm -rf "${stage_dir}"
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# shellcheck disable=SC2206
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local cmake_user_args=(${CMAKE_ARGS})
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# shellcheck disable=SC2206
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local build_user_args=(${BUILD_ARGS})
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cmake -S "${ROOT_DIR}" -B "${build_dir}" -DCMAKE_BUILD_TYPE=Release \
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"${CMAKE_DEPLOY_ARGS[@]}" \
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"${cmake_user_args[@]}"
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if [[ "${BUILD_VERBOSE}" == "1" ]]; then
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cmake --build "${build_dir}" -- "${build_user_args[@]}" --verbose
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else
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cmake --build "${build_dir}" -- "${build_user_args[@]}"
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fi
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# Expected setcap warnings during staged install are tolerated.
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DESTDIR="${stage_dir}" cmake --install "${build_dir}" || true
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# Ensure robot description assets are packaged when available.
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if [[ -d "${ROOT_DIR}/robots/aliengo/aliengo-description" ]]; then
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mkdir -p "${stage_dir}/usr/include/aliengo_description"
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for dir in gazebo launch meshes robcogen robots rviz urdfs yarf foxglove default_postures kinematics; do
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if [[ -d "${ROOT_DIR}/robots/aliengo/aliengo-description/${dir}" ]]; then
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cp -a "${ROOT_DIR}/robots/aliengo/aliengo-description/${dir}" "${stage_dir}/usr/include/aliengo_description/"
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fi
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done
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fi
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strip "${stage_dir}/usr/bin/dls2/dynamic_legged_systems_framework" || true
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strip "${stage_dir}/usr/bin/dls2/child_process_launcher" || true
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strip "${stage_dir}/usr/lib/librobotlib.so" || true
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copy_into_stage() {
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local src="$1"
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local dst="${stage_dir}${src}"
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[[ -f "${src}" ]] || return 0
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mkdir -p "$(dirname "${dst}")"
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if [[ -L "${src}" ]]; then
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cp -a --no-dereference "${src}" "${dst}"
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local resolved
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resolved="$(readlink -f "${src}" || true)"
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if [[ -n "${resolved}" && "${resolved}" != "${src}" && -f "${resolved}" ]]; then
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copy_into_stage "${resolved}"
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fi
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else
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cp -a "${src}" "${dst}"
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fi
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}
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copy_ldd_closure() {
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local target="$1"
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[[ -e "${target}" ]] || return 0
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(ldd "${target}" 2>/dev/null || true) \
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| awk '
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/=> \// {print $3}
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/^\// {print $1}
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' \
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| sort -u \
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| while IFS= read -r lib; do
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[[ -f "${lib}" ]] || continue
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case "$(basename "${lib}")" in
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libfastdds.so*|libfastcdr.so*|libfastdds_statistics_backend.so*|libpinocchio*.so*|libcoal.so*)
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continue
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;;
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liburdfdom_model.so*|liburdfdom_model_state.so*|liburdfdom_sensor.so*|liburdfdom_world.so*)
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continue
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;;
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libgz-math*.so*|libgz-utils*.so*)
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continue
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;;
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esac
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case "${lib}" in
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/usr/local/lib/*)
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copy_into_stage "${lib}"
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;;
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*)
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# Avoid bundling core distro libs from /lib and /usr/lib.
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;;
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esac
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done
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}
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for p in /usr/local/lib/liburdfdom*.so*; do
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for f in $p; do
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[[ -e "${f}" ]] || continue
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copy_into_stage "${f}"
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done
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done
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if [[ -d "${stage_dir}/usr/lib/dls2" ]]; then
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while IFS= read -r sofile; do
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copy_ldd_closure "${sofile}"
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done < <(find "${stage_dir}/usr/lib/dls2" -type f -name '*.so*' | sort -u)
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fi
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if [[ -d "${stage_dir}/usr/bin/dls2" ]]; then
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while IFS= read -r exe; do
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copy_ldd_closure "${exe}"
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done < <(find "${stage_dir}/usr/bin/dls2" -type f -perm -111 | sort -u)
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fi
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if [[ -x "${stage_dir}/usr/bin/dls" ]]; then
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copy_ldd_closure "${stage_dir}/usr/bin/dls"
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fi
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# Patch launcher script:
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# - prioritize packaged runtime paths
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# - make FastDDS cleanup best-effort
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if [[ -f "${stage_dir}/usr/bin/dls" ]]; then
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awk '
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NR == 1 {
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print
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print "export LD_LIBRARY_PATH=\"/opt/ros/jazzy/lib/x86_64-linux-gnu:/usr/local/lib:/usr/lib:${LD_LIBRARY_PATH:-}\""
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next
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}
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/fastdds shm clean/ {
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print "command -v fastdds >/dev/null 2>&1 && fastdds shm clean > /dev/null 2>/dev/null || true"
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print
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next
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}
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{ print }
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' "${stage_dir}/usr/bin/dls" > "${stage_dir}/usr/bin/dls.tmp"
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mv "${stage_dir}/usr/bin/dls.tmp" "${stage_dir}/usr/bin/dls"
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chmod +x "${stage_dir}/usr/bin/dls"
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fi
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mkdir -p "${stage_dir}/etc/profile.d" "${stage_dir}/DEBIAN"
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cat > "${stage_dir}/etc/profile.d/dls2.sh" << "EOPROFILE"
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#!/bin/sh
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export GZ_SIM_RESOURCE_PATH="/usr/local/share/dls-gazebo/worlds"
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export DLS_SERVERS_PATH="/usr/include/dls2/util/messaging/servers.yaml"
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export DLS_SAFETY_LAYER_PATH="/usr/include/dls2/supervisor/data/safety_layer.yaml"
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export DLS_SCHEDULER_PATH="/usr/include/dls2/schedulers"
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EOPROFILE
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chmod +x "${stage_dir}/etc/profile.d/dls2.sh"
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cat > "${stage_dir}/DEBIAN/control" << EOCONTROL
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Package: ${PACKAGE_NAME}
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Version: ${DEB_CONTROL_VERSION}
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Section: base
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Priority: optional
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Architecture: amd64
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Maintainer: ${MAINTAINER}
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Depends: ${DEB_DEPENDS}
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Description: ${PACKAGE_DESCRIPTION}
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EOCONTROL
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cat > "${stage_dir}/DEBIAN/postinst" << 'EOPOSTINST'
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#!/bin/sh
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set -e
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if command -v setcap >/dev/null 2>&1; then
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setcap cap_sys_nice=eip /usr/bin/dls2/dynamic_legged_systems_framework || true
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setcap cap_sys_nice=eip /usr/bin/dls2/child_process_launcher || true
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fi
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if command -v ldconfig >/dev/null 2>&1; then
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ldconfig || true
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fi
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exit 0
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EOPOSTINST
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chmod 0755 "${stage_dir}/DEBIAN/postinst"
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dpkg-deb --build "${stage_dir}" "${DEB_NAME}"
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dpkg-deb -c "${DEB_NAME}" \
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| awk '
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$1 !~ /^d/ {
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for (i = 1; i <= NF; i++) {
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if ($i ~ /^\.\//) {
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print $i
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break
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}
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}
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}
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' \
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| sed -E 's#^\./#/#; s#/$##; s#//+#/#g' \
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| sort -u > "${ART_DIR}/pkg_files.txt"
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}
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echo "[build] building and packaging on host in ${ROOT_DIR}"
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if [[ "${LIVE_BUILD_OUTPUT}" == "1" ]]; then
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if ! run_pipeline 2>&1 | tee "${BUILD_LOG}"; then
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echo "ERROR: build/package failed. See ${BUILD_LOG}"
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tail -n 120 "${BUILD_LOG}" || true
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exit 1
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fi
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else
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if ! run_pipeline > "${BUILD_LOG}" 2>&1; then
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echo "ERROR: build/package failed. See ${BUILD_LOG}"
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tail -n 120 "${BUILD_LOG}" || true
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exit 1
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fi
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fi
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if [[ ! -f "${DEB_PATH}" ]]; then
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echo "ERROR: .deb not created at ${DEB_PATH}"
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echo "See ${BUILD_LOG}"
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tail -n 120 "${BUILD_LOG}" || true
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exit 1
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fi
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echo "[build] OK: ${DEB_PATH}"
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echo "${DEB_PATH}"

‎workflows/create-release-deb.yml‎

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name: Create Release and .deb Files Project
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on:
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push:
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tags:
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- 'v*.*.*'
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- 'v*.*.*-rc*'
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env:
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GNUTLS_CPUID_OVERRIDE: 0x1
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jobs:
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create-release-ci-cd:
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uses: iit-DLSLab/cicd_tools/.github/workflows/create-release-deb.yml@main
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with:
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package-name: "dls2"
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deb-script-path: "scripts/create-deb-deploy.sh"

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