Build: update macOS CI scripts

- Remove macOS-12 build. - Add builds for macOS-14 and macOS-15. - Use Python virtual environment. - Remove --user installs. - Update to Gazebo Harmonic - Install libboost-iostreams-dev - Install libboost-filesystem-dev Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring · Dec 31, 2024 · 80abdee · 80abdee
1 parent d2ec631
commit 80abdee
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diff --git a/.github/scripts/brew_install_deps.sh b/.github/scripts/brew_install_deps.sh
@@ -22,7 +22,7 @@ brew tap osrf/simulation
 
 # packages to install 
 PKGS=(
-  gz-garden
+  gz-harmonic
   cgal
   fftw
 )

diff --git a/.github/scripts/macos_build.sh b/.github/scripts/macos_build.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Configure build dependencies
-# https://gazebosim.org/docs/garden/install_osx_src#install-dependencies
+# https://gazebosim.org/docs/harmonic/install_osx_src#install-dependencies
 
 # dartsim@6.10.0
 export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/dartsim@6.10.0
@@ -10,10 +10,5 @@ export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/opt/dartsim@6.10.0/lib/pkgc
 # qt5
 export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5
 
-# Python scripts installed with: `pip3 install --user <package>`
-export PATH=$PATH:$HOME/Library/Python/3.11/bin:$HOME/Library/Python/3.12/bin
-
-# Use desktop_notification- to suppress error:
-#   ERROR:colcon.colcon_notification.desktop_notification.terminal_notifier:
-#   Could not find the colcon-terminal-notifier.app in the install prefix '/Users/runner/Library/Python/3.12'
-colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib --event-handlers desktop_notification-
+export GZ_VERSION=harmonic
+colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib
diff --git a/.github/scripts/macos_test.sh b/.github/scripts/macos_test.sh
@@ -1,7 +1,5 @@
 #!/bin/bash
 
-# Python scripts installed with: `pip3 install --user <package>`
-export PATH=$PATH:$HOME/Library/Python/3.11/bin:$HOME/Library/Python/3.12/bin
-
+export GZ_VERSION=harmonic
 colcon test --merge-install
 colcon test-result --all --verbose
diff --git a/.github/workflows/macos12-monterey-build-tools.yml b/.github/workflows/macos12-monterey-build-tools.yml
diff --git a/.github/workflows/macos12-monterey-ci.yml b/.github/workflows/macos12-monterey-ci.yml
diff --git a/.github/workflows/macos13-ventura-build-tools.yml b/.github/workflows/macos13-ventura-build-tools.yml
@@ -12,13 +12,15 @@ jobs:
 
       - name: Install Build Tools
         run: |
-          pip3 install --user vcstool
-          pip3 install --user colcon-common-extensions
+          python3 -m venv /Users/runner/venv
+          source /Users/runner/venv/bin/activate
+          python3 -m pip install vcstool
+          python3 -m pip install colcon-common-extensions
 
       - name: Check Build Tools
         run: |
+          source /Users/runner/venv/bin/activate
           which pip3
           which python3
           python3 --version
-          export PATH=$PATH:/Users/runner/Library/Python/3.11/bin:/Users/runner/Library/Python/3.12/bin
           colcon graph
diff --git a/.github/workflows/macos13-ventura-ci.yml b/.github/workflows/macos13-ventura-ci.yml
@@ -30,13 +30,19 @@ jobs:
 
       - name: Install Build Tools
         run: |
-          python3 -m pip install --user vcstool
-          python3 -m pip install --user colcon-common-extensions
+          python3 -m venv /Users/runner/venv
+          source /Users/runner/venv/bin/activate
+          python3 -m pip install vcstool
+          python3 -m pip install colcon-common-extensions
 
       - name: Build Wave Sim
         run: |
+          source /Users/runner/venv/bin/activate
+          export GZ_VERSION=harmonic
           bash ./.github/scripts/macos_build.sh
 
       - name: Test Wave Sim
         run: |
+          source /Users/runner/venv/bin/activate
+          export GZ_VERSION=harmonic
           bash ./.github/scripts/macos_test.sh
diff --git a/.github/workflows/macos14-sonoma-build-tools.yml b/.github/workflows/macos14-sonoma-build-tools.yml
@@ -0,0 +1,26 @@
+name: macOS Sonoma Build Tools
+
+on: [pull_request]
+
+jobs:
+  macos-14-ci:
+    runs-on: macos-14
+    name: macOS Sonoma Build Tools
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Install Build Tools
+        run: |
+          python3 -m venv /Users/runner/venv
+          source /Users/runner/venv/bin/activate
+          python3 -m pip install vcstool
+          python3 -m pip install colcon-common-extensions
+
+      - name: Check Build Tools
+        run: |
+          source /Users/runner/venv/bin/activate
+          which pip3
+          which python3
+          python3 --version
+          colcon graph
diff --git a/.github/workflows/macos15-sequoia-build-tools.yml b/.github/workflows/macos15-sequoia-build-tools.yml
@@ -0,0 +1,26 @@
+name: macOS Sequoia Build Tools
+
+on: [pull_request]
+
+jobs:
+  macos-15-ci:
+    runs-on: macos-15
+    name: macOS Sequoia Build Tools
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Install Build Tools
+        run: |
+          python3 -m venv /Users/runner/venv
+          source /Users/runner/venv/bin/activate
+          python3 -m pip install vcstool
+          python3 -m pip install colcon-common-extensions
+
+      - name: Check Build Tools
+        run: |
+          source /Users/runner/venv/bin/activate
+          which pip3
+          which python3
+          python3 --version
+          colcon graph
diff --git a/.github/workflows/ubuntu-jammy-ci.yml b/.github/workflows/ubuntu-jammy-ci.yml
@@ -15,7 +15,7 @@ jobs:
       - name: Install Build Essentials
         run: |
           sudo apt-get update
-          sudo apt-get install wget lsb-release gnupg curl
+          sudo apt-get install wget lsb-release gnupg curl libboost-iostreams-dev libboost-filesystem-dev
 
       - name: Install Build Tools
         run: |
@@ -24,12 +24,12 @@ jobs:
           sudo apt-get update
           sudo apt-get install python3-pip python3-vcstool python3-colcon-common-extensions
 
-      - name: Install Gazebo Garden
+      - name: Install Gazebo Harmonic
         run: |
           sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
           echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
           sudo apt-get update
-          sudo apt-get install gz-garden
+          sudo apt-get install gz-harmonic
 
       - name: Install Wave Sim Dependencies
         run: |
@@ -38,9 +38,11 @@ jobs:
 
       - name: Build Wave Sim
         run: |
+          export GZ_VERSION=harmonic
           colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING=ON
 
       - name: Test Wave Sim
         run: |
+          export GZ_VERSION=harmonic
           colcon test --merge-install
           colcon test-result --all --verbose
-Original file line number
+Diff line change
@@ Expand Up / @@ -22,7 +22,7 @@ brew tap osrf/simulation @@
     # packages to install
     PKGS=(
-      gz-garden
+      gz-harmonic
       cgal
       fftw
     )
@@ Expand Down @@