Big refactor
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327d559f71
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25 changed files with 304 additions and 247 deletions
288
flake.nix
288
flake.nix
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@ -2,247 +2,51 @@
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description = "Robossembler Development Environments on Nix";
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inputs = {
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nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
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flake-utils.follows = "ros-flake/flake-utils";
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ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=develop";
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gazebo = {
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flake-utils.follows = "ros-overlay/flake-utils";
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ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
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ros-nixpkgs.follows = "ros-overlay/nixpkgs";
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gazebo-overlay = {
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url = "github:movefasta/gazebo-sim-overlay";
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inputs.flake-utils.follows = "ros-flake/flake-utils";
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inputs.nixpkgs.follows = "ros-flake/nixpkgs";
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inputs.flake-utils.follows = "ros-overlay/flake-utils";
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inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
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# Transitive inputs "not in registry" https://github.com/NixOS/nix/issues/5790
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# inputs.nixgl.inputs.nixpkgs.follows = "ros-flake/nixpkgs";
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# inputs.nixgl.inputs.flake-utils.follows = "ros-flake/flake-utils";
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# inputs.nixgl.inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
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# inputs.nixgl.inputs.flake-utils.follows = "ros-overlay/flake-utils";
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};
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};
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outputs = { self, nixpkgs, ros-flake, gazebo, flake-utils }:
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outputs = { self, nixpkgs, ros-overlay, ros-nixpkgs, gazebo-overlay, flake-utils }:
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flake-utils.lib.eachDefaultSystem
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(system:
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let
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# pkgs = nixpkgs.legacyPackages.${system}.extend overlay;
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ros = ros-flake.legacyPackages.${system};
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# single source for Robossembler Framework packages
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rbsFrameworkSrc = pkgs.fetchgit {
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url = "https://gitlab.com/robossembler/framework";
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hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
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rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
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};
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pkgs = import nixpkgs { inherit system; overlays = [ overlay gazebo.overlays.default ]; };
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overlay = final: prev: {
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# -- PLACEHOLDER for overlay
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# freecad = prev.freecad.overrideAttrs
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# (old: { cmakeFlags = old.cmakeFlags ++ [ "-DBUILD_GUI=OFF" ]; });
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# cmakeFlag -BUILD_GUI=OFF for build without gui
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pythonPackagesExtensions = prev.pythonPackagesExtensions ++ [
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(
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python-final: python-prev: {
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iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
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version = "unstable";
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src = pkgs.fetchFromGitHub {
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owner = "facebookresearch";
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repo = "iopath";
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rev = "9dcb63a46447556460fdb65c21aa6d094a7a788c";
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hash = "sha256-X1LTOfbIAMy6gToNYS0JpeJpHi0jHPsEjrnCq2c9U0E=";
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};
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});
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}
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)
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pkgs = import nixpkgs { inherit system; overlays = [
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(import ./overlay.nix)
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gazebo-overlay.overlays.default
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];
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};
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# overrided packages and attributes for nix-ros-overlay
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humble-overrided = ros.humble.overrideScope (final: prev: {
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# remove after update github:lopsided98/nixpkgs/nix-ros for https://github.com/NixOS/nixpkgs/pull/224099
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behaviortree-cpp-v3 = prev.behaviortree-cpp-v3.overrideAttrs (old: {
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propagatedBuildInputs = old.propagatedBuildInputs ++ [ pkgs.zeromq ];
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});
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moveit-core = prev.moveit-core.overrideAttrs (old: {
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propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];
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});
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moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: {
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propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];
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});
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});
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# robossembler custom packages; defined here for share between devShells and packages
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cg_preferences = pkgs.fetchgit {
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url = "https://gitflic.ru/project/brothermechanic/cg_preferences.git";
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sha256 = "sha256-/mNNjvrhIxSZVv1/LSJ7+c/dXH3E0Orh5Zr0oVPLquY=";
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};
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rs_logo = pkgs.fetchgit {
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url = "https://gitlab.com/robossembler/logo.git";
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rev = "0a0235cd154a59b711e87456206ccd7ba69a7e4e";
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sha256 = "sha256-/QsgKdtDHNymsTEmhIzSrOKNUqqkXl8coy+5LwIEkas=";
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fetchLFS = true;
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};
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blender' = pkgs.blender.override {
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cudaSupport = true;
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spaceNavSupport = false;
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waylandSupport = false;
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};
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blender = blender'.overrideAttrs (old: {
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optix = pkgs.fetchzip {
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# url taken from the archlinux blender PKGBUILD
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url = "https://developer.download.nvidia.com/redist/optix/v7.4/OptiX-7.4.0-Include.zip";
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sha256 = "sha256-ca08XetwaUYC9foeP5bff9kcDfuFgEzopvjspn2s8RY=";
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};
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patches = old.patches ++ [ "${cg_preferences}/patches/cg-defaults.patch" ];
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buildInputs = old.buildInputs ++ [ pkgs.imath pkgs.git ];
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postPatch = old.postPatch + ''
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cp ${cg_preferences}/share/00_cg_preferences_service.py scripts/startup/
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cp ${cg_preferences}/share/startup.blend release/datafiles/
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cp ${rs_logo}/raster/robossembler_1024x512_roboty-rossii.png release/datafiles/splash.png
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'';
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env.NIX_CFLAGS_COMPILE = old.env.NIX_CFLAGS_COMPILE + " -I${pkgs.imath}/include/Imath";
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postInstall = old.postInstall + ''
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cp -r ${cg_preferences}/cg_preferences $out/share/blender/${
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pkgs.lib.versions.majorMinor pkgs.blender.version
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}/scripts/addons/
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'';
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});
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bpy = blender.overrideAttrs (old: {
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pname = "bpy";
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src = pkgs.fetchurl {
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url = "https://download.blender.org/source/${old.pname}-${old.version}.tar.xz";
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hash = "sha256-3AAtguPDQMk4VcZoRzDQGAG2aaKbHMa3XuuZC6aecj8=";
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};
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cmakeFlags = old.cmakeFlags ++ [
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"-DWITH_PYTHON_INSTALL=OFF"
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"-DWITH_AUDASPACE=OFF"
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"-DWITH_PYTHON_MODULE=ON"
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"-DWITH_MEM_JEMALLOC=OFF"
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"-DWITH_INSTALL_PORTABLE=ON"
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];
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postInstall = ''
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mkdir -p $out/nix-support
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mkdir -p $out/lib/python${pkgs.python3.pythonVersion}/site-packages
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ln -s $out/bpy $out/lib/python${pkgs.python3.pythonVersion}/site-packages/bpy
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echo ${pkgs.python3} >> $out/nix-support/propagated-build-inputs
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'';
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});
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bpy-wheel = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy-wheel { };
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pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
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pytorch3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pytorch3d { };
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mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
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fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
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open3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/open3d { };
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unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
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blenderproc = pkgs.python3Packages.callPackage ./blenderproc.nix { };
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test-script = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/test-script { };
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webdataset = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/webdataset { };
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ansitable = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/ansitable { };
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megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { inherit webdataset; };
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spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
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rcg-pipeline = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/rcg-pipeline { bpy = bpy-lib; inherit rbsFrameworkSrc; };
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rbs-workbench = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/freecad.robossembler { inherit freecad-lib; inherit rbsFrameworkSrc; };
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freecad-lib = pkgs.python3Packages.toPythonModule (pkgs.callPackage ./pkgs/misc/freecad-lib { });
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bpy-lib = pkgs.python3Packages.toPythonModule bpy;
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cad-gen =
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let
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cad_export_script = pkgs.writers.writePython3 "cad_export_script.py"
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{ libraries = [ rbs-workbench ]; }
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''
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import FreeCAD as App
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import freecad.robossembler.utils.freecad_exporters as rbs
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import sys
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path = sys.argv[4]
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print(path)
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doc = App.openDocument(path)
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rbs.publish_project_database(doc)
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App.closeDocument(doc.Name)
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'';
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in
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pkgs.writeShellScriptBin "cad-gen"
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''
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export PYTHONPATH="${rbs-workbench}/${pkgs.python3.sitePackages}"
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${pkgs.freecad}/bin/freecadcmd ${cad_export_script} -- --pass $1
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'';
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cg-gen = pkgs.writers.writePython3Bin "cg-gen"
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{ libraries = [ rcg-pipeline ]; }
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''
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from rcg_pipeline import rcg_full_pipeline
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import sys
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rcg_full_pipeline(sys.argv[1])
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'';
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ros = import ros-nixpkgs { inherit system; overlays = [
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ros-overlay.overlays.default
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(import ./ros)
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];};
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in
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{
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inherit pkgs;
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rlib = import ./. {
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inherit pkgs;
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inherit (pkgs) lib mayo rbs-workbench cad-gen cg-gen;
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inherit (pkgs.stdenv) mkDerivation;
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inherit (pkgs) lib;
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inherit mayo;
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inherit (pkgs.libsForQt5) wrapQtAppsHook;
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};
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packages = {
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inherit unified-planning test-script cad-gen cg-gen blender bpy;
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inherit (pkgs) cad-gen cg-gen blender;
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};
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devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
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inherit ros pkgs;
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devShells.gazebo = gazebo.devShells.${system}.default;
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devShells.ros =
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pkgs.mkShell {
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buildInputs = (with humble-overrided; [
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ros2run
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rmw-fastrtps-dynamic-cpp
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urdf
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ament-pep257
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ament-lint-auto
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xacro
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ament-cmake
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rclcpp-action
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tf2
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action-msgs
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ament-copyright
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pythonPackages.pytest
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rosidl-default-generators
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behaviortree-cpp-v3
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geometry-msgs
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rosidl-default-runtime
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rclpy
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std-msgs
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ament-lint-common
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ament-flake8
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tf2-ros
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rclcpp
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moveit-core
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moveit-msgs
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moveit-ros-planning
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moveit-ros-planning-interface
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gazebo-ros2-control
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plansys2-bringup
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image-transport
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cv-bridge
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example-interfaces
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]) ++ (with pkgs; [ nlohmann_json glog lua5_3_compat gazebo_sim ]);
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RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
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};
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devShells.all = pkgs.mkShell {
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packages = [ blender fstl mayo ];
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};
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devShells.perception =
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let
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rbs-packages = p: with p; [
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torch
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torchvision
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torchaudio
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detectron2
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];
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in
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pkgs.mkShell {
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packages = [ (pkgs.python3.withPackages rbs-packages) ];
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};
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devShells.default =
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devShells = {
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default =
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let
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my-python-packages = p: with p; [
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unified-planning
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@ -251,22 +55,46 @@
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spatialmath
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rcg-pipeline
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rbs-workbench
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ledger
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];
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in
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pkgs.mkShell {
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packages = with pkgs; [
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freecad
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mayo
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bashInteractive
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] ++ [ (pkgs.python3.withPackages my-python-packages) ];
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buildInputs = [ ];
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# Run when the shell is started up
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shellHook = ''
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${pkgs.python3}/bin/python --version
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'';
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packages = (with pkgs; [ freecad mayo ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
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};
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ros = pkgs.mkShell {
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name = "ROS environment";
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packages = [
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ros.colcon
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(with ros.rosPackages.humble; buildEnv {
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paths = [
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ros-core
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rmw-fastrtps-dynamic-cpp
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];
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})
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];
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# ROS 2 middleware variants, for Cyclone DDS replace with "rmw_cyclonedds_cpp" and add rmw-cyclonedds-cpp to paths
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RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
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};
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all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
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ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
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gazebo = gazebo-overlay.devShells.${system}.default;
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perception =
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let
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perception-packages = p: with p; [
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torch
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torchvision
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torchaudio
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detectron2
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];
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in
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pkgs.mkShell {
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packages = [ (pkgs.python3.withPackages perception-packages) ];
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};
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};
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}
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);
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