mirror of
https://github.com/lopsided98/nix-ros-overlay.git
synced 2025-06-12 02:34:50 +03:00
Split up ROS1 and ROS2 overlays.
This commit is contained in:
Ben Wolsieffer
parent
a14ea6fb6a
commit
28fd95f2ca
4 changed files with 204 additions and 168 deletions
|
|
@ -6,26 +6,31 @@ self: super: {
|
|||
lib = super.lib // import ../lib { inherit lib self; };
|
||||
|
||||
melodicPython3 = import ./distro-overlay.nix {
|
||||
version = 1;
|
||||
distro = "melodic";
|
||||
python = self.python3;
|
||||
} self super;
|
||||
|
||||
noetic = import ./distro-overlay.nix {
|
||||
version = 1;
|
||||
distro = "noetic";
|
||||
python = self.python3;
|
||||
} self super;
|
||||
|
||||
foxy = import ./distro-overlay.nix {
|
||||
version = 2;
|
||||
distro = "foxy";
|
||||
python = self.python3;
|
||||
} self super;
|
||||
|
||||
galactic = import ./distro-overlay.nix {
|
||||
version = 2;
|
||||
distro = "galactic";
|
||||
python = self.python3;
|
||||
} self super;
|
||||
|
||||
humble = import ./distro-overlay.nix {
|
||||
version = 2;
|
||||
distro = "humble";
|
||||
python = self.python3;
|
||||
} self super;
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
{ distro, python }:
|
||||
{ version, distro, python }:
|
||||
self: super:
|
||||
let
|
||||
pythonOverridesFor = with self.lib; superPython: fix (python: superPython.override ({
|
||||
|
|
@ -51,82 +51,12 @@ let
|
|||
}) ];
|
||||
});
|
||||
|
||||
ament-cmake-core = rosSuper.ament-cmake-core.overrideAttrs ({
|
||||
propagatedBuildInputs ? [],
|
||||
nativeBuildInputs ? [], ...
|
||||
}: let
|
||||
setupHook = rosSelf.callPackage ./ament-cmake-core-setup-hook { };
|
||||
in {
|
||||
propagatedBuildInputs = [ setupHook ] ++ propagatedBuildInputs;
|
||||
nativeBuildInputs = [ setupHook ] ++ nativeBuildInputs;
|
||||
});
|
||||
|
||||
camera-calibration-parsers = patchBoostPython rosSuper.camera-calibration-parsers;
|
||||
|
||||
catkin = rosSuper.catkin.overrideAttrs ({
|
||||
propagatedBuildInputs ? [],
|
||||
patches ? [],
|
||||
postPatch ? "", ...
|
||||
}: let
|
||||
setupHook = rosSelf.callPackage ./catkin-setup-hook { };
|
||||
in {
|
||||
propagatedBuildInputs = [ self.cmake setupHook ] ++ propagatedBuildInputs;
|
||||
|
||||
patches = [
|
||||
# Fix compatibility with setuptools 61
|
||||
# https://github.com/ros/catkin/pull/1176
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/ros/catkin/commit/e082348c4992e1850ba5e2bd02bbd7bd0c4c4b82.patch";
|
||||
hash = "sha256-NNdV30gNWBf7p8IjyCmnvz9MnU4zFkd4aaXNjs411MA=";
|
||||
})
|
||||
];
|
||||
|
||||
postPatch = postPatch + ''
|
||||
patchShebangs cmake
|
||||
substituteInPlace cmake/templates/python_distutils_install.sh.in \
|
||||
--replace /usr/bin/env "${self.coreutils}/bin/env"
|
||||
'';
|
||||
});
|
||||
|
||||
# Packages that depend on catkin-pip still fail because they try to
|
||||
# download from the internet, but it should work outside of Nix builds.
|
||||
catkin-pip = rosSuper.catkin-pip.overrideAttrs ({
|
||||
postPatch ? "", ...
|
||||
}: {
|
||||
postPatch = postPatch + ''
|
||||
patchShebangs cmake
|
||||
substituteInPlace cmake/scripts/path_prepend.sh \
|
||||
--replace /bin/sed "${self.gnused}/bin/sed"
|
||||
substituteInPlace cmake/catkin-pip-prefix.cmake.in \
|
||||
--replace NO_SYSTEM_ENVIRONMENT_PATH ""
|
||||
'';
|
||||
});
|
||||
|
||||
cob-light = patchBoostSignals rosSuper.cob-light;
|
||||
|
||||
cv-bridge = patchBoostPython rosSuper.cv-bridge;
|
||||
|
||||
cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
|
||||
patches ? [],
|
||||
cmakeFlags ? [], ...
|
||||
}: {
|
||||
patches = [
|
||||
# Fix paths in pkg-config file
|
||||
# https://github.com/eclipse-cyclonedds/cyclonedds/pull/1453
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/eclipse-cyclonedds/cyclonedds/commit/3ff967e32b8078d497a8b9c70735849c04eaebf6.patch";
|
||||
hash = "sha256-F5zofoO0YbYfqLrb6s30un9k9+R8rQazLHw+uND1UxE=";
|
||||
})
|
||||
];
|
||||
|
||||
cmakeFlags = cmakeFlags ++ [
|
||||
# Tries to download something with maven
|
||||
"-DBUILD_IDLC=OFF"
|
||||
# src/tools/ddsperf/CMakeFiles/ddsperf_types_generate.dir/build.make:74: *** target pattern contains no '%'. Stop.
|
||||
"-DBUILD_DDSPERF=OFF"
|
||||
];
|
||||
});
|
||||
|
||||
dynamic-reconfigure = rosSuper.dynamic-reconfigure.overrideAttrs ({
|
||||
postPatch ? "", ...
|
||||
}: {
|
||||
|
|
@ -138,29 +68,6 @@ let
|
|||
|
||||
fake-localization = patchBoostSignals rosSuper.fake-localization;
|
||||
|
||||
fcl-catkin = patchVendorUrl rosSuper.fcl-catkin {
|
||||
url = "https://github.com/flexible-collision-library/fcl/archive/v0.6.1.zip";
|
||||
sha256 = "0nryr4hg3lha1aaz35wbqr42lb6l8alfcy6slj2yn2dgb5syrmn2";
|
||||
};
|
||||
|
||||
fmilibrary-vendor = patchVendorGit rosSuper.fmilibrary-vendor {
|
||||
url = "https://github.com/modelon-community/fmi-library.git";
|
||||
fetchgitArgs = {
|
||||
rev = "2.1";
|
||||
sha256 = "177rlw1ba1y0ahi8qfpg0sflh8mjdl6fmffwjg2a5vxyxwdwrjvh";
|
||||
};
|
||||
};
|
||||
|
||||
# This is a newer version than the build system tries to download, but this
|
||||
# version doesn't try run host platform binaries on the build platform.
|
||||
foonathan-memory-vendor = patchVendorGit rosSuper.foonathan-memory-vendor {
|
||||
url = "https://github.com/foonathan/memory.git";
|
||||
fetchgitArgs = {
|
||||
rev = "v0.7-2";
|
||||
sha256 = "sha256-5nJNW0xwjSCc0Egq1zv0tIsGvAh1Xbnu8190A1ZP+VA=";
|
||||
};
|
||||
};
|
||||
|
||||
gazebo-ros = rosSuper.gazebo-ros.overrideAttrs ({ ... }:{
|
||||
setupHook = ./gazebo-ros-setup-hook.sh;
|
||||
});
|
||||
|
|
@ -244,6 +151,10 @@ let
|
|||
ROS_PYTHON_VERSION = if rosSelf.python.isPy3k then 3 else 2;
|
||||
});
|
||||
|
||||
mavros = rosSuper.mavros.overrideAttrs ({ ... }: {
|
||||
outputs = [ "out" "dev" ];
|
||||
});
|
||||
|
||||
message-filters = patchBoostSignals rosSuper.message-filters;
|
||||
|
||||
message-relay = rosSuper.message-relay.overrideAttrs ({
|
||||
|
|
@ -273,15 +184,6 @@ let
|
|||
|
||||
pr2-tilt-laser-interface = patchBoostSignals rosSuper.pr2-tilt-laser-interface;
|
||||
|
||||
python-cmake-module = rosSuper.python-cmake-module.overrideAttrs ({ ... }: let
|
||||
python = rosSelf.python;
|
||||
in {
|
||||
pythonExecutable = python.pythonForBuild.interpreter;
|
||||
pythonLibrary = "${python}/lib/lib${python.libPrefix}.so";
|
||||
pythonIncludeDir = "${python}/include/${python.libPrefix}";
|
||||
setupHook = ./python-cmake-module-setup-hook.sh;
|
||||
});
|
||||
|
||||
python-qt-binding = rosSuper.python-qt-binding.overrideAttrs ({
|
||||
propagatedNativeBuildInputs ? [],
|
||||
postPatch ? "", ...
|
||||
|
|
@ -304,55 +206,6 @@ let
|
|||
'';
|
||||
});
|
||||
|
||||
rcutils = rosSuper.rcutils.overrideAttrs ({
|
||||
patches ? [], ...
|
||||
}: {
|
||||
patches = patches ++ [
|
||||
# Fix linking to libatomic
|
||||
# https://github.com/ros2/rcutils/pull/384
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/ros2/rcutils/commit/05e7336b2160739915be0e2c4a81710806fd2f9c.patch";
|
||||
hash = "sha256-EiO1AJnhvOk81TzFMP4E8NhB+9ymef2oA7l26FZFb1M=";
|
||||
})
|
||||
];
|
||||
});
|
||||
|
||||
roscpp = patchBoostSignals rosSuper.roscpp;
|
||||
|
||||
rosidl-generator-py = rosSuper.rosidl-generator-py.overrideAttrs ({
|
||||
postPatch ? "",
|
||||
patches ? [], ...
|
||||
}: let
|
||||
python = rosSelf.python;
|
||||
in {
|
||||
patches = patches ++ [
|
||||
# Remove stray numpy import in template
|
||||
# https://github.com/ros2/rosidl_python/pull/185
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/ros2/rosidl_python/commit/bf866089baeb918834d9d16e05668d9f28887b87.patch";
|
||||
hash = "sha256-tOb0t50TbV29+agDupm5XUZJJErfaujgIRtmb2vZxWo=";
|
||||
stripLen = 1;
|
||||
})
|
||||
];
|
||||
# Fix finding NumPy headers
|
||||
postPatch = postPatch + ''
|
||||
substituteInPlace cmake/rosidl_generator_py_generate_interfaces.cmake \
|
||||
--replace '"import numpy"' "" \
|
||||
--replace 'numpy.get_include()' "'${python.pkgs.numpy}/${python.sitePackages}/numpy/core/include'"
|
||||
'';
|
||||
setupHook = ./rosidl-generator-py-setup-hook.sh;
|
||||
});
|
||||
|
||||
rmw-implementation = rosSuper.rmw-implementation.overrideAttrs ({
|
||||
propagatedBuildInputs ? [], ...
|
||||
}: {
|
||||
# The default implementation must be available to all dependent packages
|
||||
# at build time.
|
||||
propagatedBuildInputs = with rosSelf; [
|
||||
rmw-fastrtps-cpp
|
||||
] ++ propagatedBuildInputs;
|
||||
});
|
||||
|
||||
rqt-graph = rosSuper.rqt-graph.overrideAttrs ({
|
||||
nativeBuildInputs ? [], postFixup ? "", ...
|
||||
}: {
|
||||
|
|
@ -543,20 +396,6 @@ let
|
|||
};
|
||||
|
||||
urdf = patchBoostPython rosSuper.urdf;
|
||||
|
||||
# The build hangs forever while running CMake, causing problems with CI
|
||||
visp = rosSuper.visp.overrideAttrs ({
|
||||
meta ? {}, ...
|
||||
}: {
|
||||
meta = meta // {
|
||||
broken = true;
|
||||
};
|
||||
});
|
||||
|
||||
yaml-cpp-vendor = patchVendorUrl rosSuper.yaml-cpp-vendor {
|
||||
url = "https://github.com/jbeder/yaml-cpp/archive/0f9a586ca1dc29c2ecb8dd715a315b93e3f40f79.zip";
|
||||
sha256 = "1g45f71mk4gyca550177qf70v5cvavlsalmg7x8bi59j6z6f0mgz";
|
||||
};
|
||||
};
|
||||
|
||||
otherSplices = {
|
||||
|
|
@ -576,9 +415,13 @@ in self.lib.makeScopeWithSplicing
|
|||
otherSplices
|
||||
keep
|
||||
(_: {})
|
||||
(rosSelf: self.lib.composeManyExtensions [
|
||||
(rosSelf: self.lib.composeManyExtensions ([
|
||||
base
|
||||
(import (./. + "/${distro}/generated.nix"))
|
||||
overrides
|
||||
]
|
||||
++ self.lib.optional (version == 1) (import ./ros1-overlay.nix self)
|
||||
++ self.lib.optional (version == 2) (import ./ros2-overlay.nix self)
|
||||
++ [
|
||||
(import (./. + "/${distro}/overrides.nix") self)
|
||||
] rosSelf {})
|
||||
]) rosSelf {})
|
||||
|
|
|
|||
49
distros/ros1-overlay.nix
Normal file
49
distros/ros1-overlay.nix
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
self:
|
||||
rosSelf: rosSuper: with rosSelf.lib; {
|
||||
|
||||
catkin = rosSuper.catkin.overrideAttrs ({
|
||||
propagatedBuildInputs ? [],
|
||||
patches ? [],
|
||||
postPatch ? "", ...
|
||||
}: let
|
||||
setupHook = rosSelf.callPackage ./catkin-setup-hook { };
|
||||
in {
|
||||
propagatedBuildInputs = [ self.cmake setupHook ] ++ propagatedBuildInputs;
|
||||
|
||||
patches = [
|
||||
# Fix compatibility with setuptools 61
|
||||
# https://github.com/ros/catkin/pull/1176
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/ros/catkin/commit/e082348c4992e1850ba5e2bd02bbd7bd0c4c4b82.patch";
|
||||
hash = "sha256-NNdV30gNWBf7p8IjyCmnvz9MnU4zFkd4aaXNjs411MA=";
|
||||
})
|
||||
];
|
||||
|
||||
postPatch = postPatch + ''
|
||||
patchShebangs cmake
|
||||
substituteInPlace cmake/templates/python_distutils_install.sh.in \
|
||||
--replace /usr/bin/env "${self.coreutils}/bin/env"
|
||||
'';
|
||||
});
|
||||
|
||||
# Packages that depend on catkin-pip still fail because they try to
|
||||
# download from the internet, but it should work outside of Nix builds.
|
||||
catkin-pip = rosSuper.catkin-pip.overrideAttrs ({
|
||||
postPatch ? "", ...
|
||||
}: {
|
||||
postPatch = postPatch + ''
|
||||
patchShebangs cmake
|
||||
substituteInPlace cmake/scripts/path_prepend.sh \
|
||||
--replace /bin/sed "${self.gnused}/bin/sed"
|
||||
substituteInPlace cmake/catkin-pip-prefix.cmake.in \
|
||||
--replace NO_SYSTEM_ENVIRONMENT_PATH ""
|
||||
'';
|
||||
});
|
||||
|
||||
fcl-catkin = patchVendorUrl rosSuper.fcl-catkin {
|
||||
url = "https://github.com/flexible-collision-library/fcl/archive/v0.6.1.zip";
|
||||
sha256 = "0nryr4hg3lha1aaz35wbqr42lb6l8alfcy6slj2yn2dgb5syrmn2";
|
||||
};
|
||||
|
||||
roscpp = patchBoostSignals rosSuper.roscpp;
|
||||
}
|
||||
139
distros/ros2-overlay.nix
Normal file
139
distros/ros2-overlay.nix
Normal file
|
|
@ -0,0 +1,139 @@
|
|||
self:
|
||||
rosSelf: rosSuper: with rosSelf.lib; {
|
||||
|
||||
ament-cmake-core = rosSuper.ament-cmake-core.overrideAttrs ({
|
||||
propagatedBuildInputs ? [],
|
||||
nativeBuildInputs ? [], ...
|
||||
}: let
|
||||
setupHook = rosSelf.callPackage ./ament-cmake-core-setup-hook { };
|
||||
in {
|
||||
propagatedBuildInputs = [ setupHook ] ++ propagatedBuildInputs;
|
||||
nativeBuildInputs = [ setupHook ] ++ nativeBuildInputs;
|
||||
outputs = [ "out" "dev" ];
|
||||
});
|
||||
|
||||
cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
|
||||
patches ? [],
|
||||
cmakeFlags ? [], ...
|
||||
}: {
|
||||
patches = [
|
||||
# Fix paths in pkg-config file
|
||||
# https://github.com/eclipse-cyclonedds/cyclonedds/pull/1453
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/eclipse-cyclonedds/cyclonedds/commit/3ff967e32b8078d497a8b9c70735849c04eaebf6.patch";
|
||||
hash = "sha256-F5zofoO0YbYfqLrb6s30un9k9+R8rQazLHw+uND1UxE=";
|
||||
})
|
||||
];
|
||||
|
||||
cmakeFlags = cmakeFlags ++ [
|
||||
# Tries to download something with maven
|
||||
"-DBUILD_IDLC=OFF"
|
||||
# src/tools/ddsperf/CMakeFiles/ddsperf_types_generate.dir/build.make:74: *** target pattern contains no '%'. Stop.
|
||||
"-DBUILD_DDSPERF=OFF"
|
||||
];
|
||||
});
|
||||
|
||||
fmilibrary-vendor = patchVendorGit rosSuper.fmilibrary-vendor {
|
||||
url = "https://github.com/modelon-community/fmi-library.git";
|
||||
fetchgitArgs = {
|
||||
rev = "2.1";
|
||||
sha256 = "177rlw1ba1y0ahi8qfpg0sflh8mjdl6fmffwjg2a5vxyxwdwrjvh";
|
||||
};
|
||||
};
|
||||
|
||||
# This is a newer version than the build system tries to download, but this
|
||||
# version doesn't try run host platform binaries on the build platform.
|
||||
foonathan-memory-vendor = patchVendorGit rosSuper.foonathan-memory-vendor {
|
||||
url = "https://github.com/foonathan/memory.git";
|
||||
fetchgitArgs = {
|
||||
rev = "v0.7-2";
|
||||
sha256 = "sha256-5nJNW0xwjSCc0Egq1zv0tIsGvAh1Xbnu8190A1ZP+VA=";
|
||||
};
|
||||
};
|
||||
|
||||
gmock-vendor = rosSuper.gmock-vendor.overrideAttrs ({
|
||||
nativeBuildInputs ? [], ...
|
||||
}: {
|
||||
buildInputs = [];
|
||||
nativeBuildInputs = nativeBuildInputs ++ [ self.cmake ];
|
||||
});
|
||||
|
||||
gtest-vendor = rosSuper.gtest-vendor.overrideAttrs ({
|
||||
nativeBuildInputs ? [], ...
|
||||
}: {
|
||||
buildInputs = [];
|
||||
nativeBuildInputs = nativeBuildInputs ++ [ self.cmake ];
|
||||
});
|
||||
|
||||
python-cmake-module = rosSuper.python-cmake-module.overrideAttrs ({ ... }: let
|
||||
python = rosSelf.python;
|
||||
in {
|
||||
pythonExecutable = python.pythonForBuild.interpreter;
|
||||
pythonLibrary = "${python}/lib/lib${python.libPrefix}.so";
|
||||
pythonIncludeDir = "${python}/include/${python.libPrefix}";
|
||||
setupHook = ./python-cmake-module-setup-hook.sh;
|
||||
outputs = [ "out" "dev" ];
|
||||
});
|
||||
|
||||
rcutils = rosSuper.rcutils.overrideAttrs ({
|
||||
patches ? [], ...
|
||||
}: {
|
||||
patches = patches ++ [
|
||||
# Fix linking to libatomic
|
||||
# https://github.com/ros2/rcutils/pull/384
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/ros2/rcutils/commit/05e7336b2160739915be0e2c4a81710806fd2f9c.patch";
|
||||
hash = "sha256-EiO1AJnhvOk81TzFMP4E8NhB+9ymef2oA7l26FZFb1M=";
|
||||
})
|
||||
];
|
||||
});
|
||||
|
||||
rosidl-generator-py = rosSuper.rosidl-generator-py.overrideAttrs ({
|
||||
postPatch ? "",
|
||||
patches ? [], ...
|
||||
}: let
|
||||
python = rosSelf.python;
|
||||
in {
|
||||
patches = patches ++ [
|
||||
# Remove stray numpy import in template
|
||||
# https://github.com/ros2/rosidl_python/pull/185
|
||||
(self.fetchpatch {
|
||||
url = "https://github.com/ros2/rosidl_python/commit/bf866089baeb918834d9d16e05668d9f28887b87.patch";
|
||||
hash = "sha256-tOb0t50TbV29+agDupm5XUZJJErfaujgIRtmb2vZxWo=";
|
||||
stripLen = 1;
|
||||
})
|
||||
];
|
||||
# Fix finding NumPy headers
|
||||
postPatch = postPatch + ''
|
||||
substituteInPlace cmake/rosidl_generator_py_generate_interfaces.cmake \
|
||||
--replace '"import numpy"' "" \
|
||||
--replace 'numpy.get_include()' "'${python.pkgs.numpy}/${python.sitePackages}/numpy/core/include'"
|
||||
'';
|
||||
setupHook = ./rosidl-generator-py-setup-hook.sh;
|
||||
});
|
||||
|
||||
rmw-implementation = rosSuper.rmw-implementation.overrideAttrs ({
|
||||
propagatedBuildInputs ? [], ...
|
||||
}: {
|
||||
# The default implementation must be available to all dependent packages
|
||||
# at build time.
|
||||
propagatedBuildInputs = with rosSelf; [
|
||||
rmw-fastrtps-cpp
|
||||
] ++ propagatedBuildInputs;
|
||||
});
|
||||
|
||||
# The build hangs forever while running CMake, causing problems with CI
|
||||
visp = rosSuper.visp.overrideAttrs ({
|
||||
meta ? {}, ...
|
||||
}: {
|
||||
meta = meta // {
|
||||
broken = true;
|
||||
};
|
||||
});
|
||||
|
||||
yaml-cpp-vendor = patchVendorUrl rosSuper.yaml-cpp-vendor {
|
||||
url = "https://github.com/jbeder/yaml-cpp/archive/0f9a586ca1dc29c2ecb8dd715a315b93e3f40f79.zip";
|
||||
sha256 = "1g45f71mk4gyca550177qf70v5cvavlsalmg7x8bi59j6z6f0mgz";
|
||||
};
|
||||
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue