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Add build files 2026-01-17-0013
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‎.github/workflows/build_linux_aarch64.yml‎

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jobs:
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stage_0_job_0:
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name: mavlink mavros-msgs libmavconn
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runs-on: ubuntu-24.04-arm
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strategy:
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fail-fast: false
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needs: []
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Build ros-humble-mavlink ros-humble-mavros-msgs ros-humble-libmavconn
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env:
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ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
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CURRENT_RECIPES: ros-humble-mavlink ros-humble-mavros-msgs ros-humble-libmavconn
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BUILD_TARGET: linux-aarch64
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run: |
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export CI=azure
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export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
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export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
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.scripts/build_unix.sh --target $BUILD_TARGET
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name: build_linux_aarch64
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on:
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push:
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branches:
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- buildbranch_linux_aarch64

‎buildorder.txt‎

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ros-humble-mavlink
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ros-humble-mavros-msgs
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ros-humble-libmavconn

‎recipes/ros-humble-libmavconn/bld_ament_cmake.bat‎

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:: Generated by vinca http://github.com/RoboStack/vinca.
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:: DO NOT EDIT!
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setlocal EnableDelayedExpansion
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set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
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:: MSVC is preferred.
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set CC=cl.exe
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set CXX=cl.exe
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rd /s /q build
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mkdir build
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pushd build
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:: set "CMAKE_GENERATOR=Ninja"
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:: We use the Visual Studio generator as a workaround for
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:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467
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:: Once those are solved, we can switch back to use Ninja
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set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
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:: PYTHON_INSTALL_DIR should be a relative path, see
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:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md
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:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX,
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:: but it is not trivial to do this in Command Prompt scripting, so let's do it via
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:: python
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:: This line is scary, but it basically assigns the output of the command inside (` and `)
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:: to the variable specified after DO SET
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:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...`
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FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i
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cmake ^
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-G "%CMAKE_GENERATOR%" ^
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-DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
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-DPYTHON_EXECUTABLE=%PYTHON% ^
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-DPython_EXECUTABLE=%PYTHON% ^
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-DPython3_EXECUTABLE=%PYTHON% ^
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-DSETUPTOOLS_DEB_LAYOUT=OFF ^
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-DBUILD_SHARED_LIBS=ON ^
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-DBUILD_TESTING=OFF ^
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-DCMAKE_OBJECT_PATH_MAX=255 ^
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--compile-no-warning-as-error ^
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-DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^
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^
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%SRC_DIR%\%PKG_NAME%\src\work\
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if errorlevel 1 exit 1
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:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja,
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:: see the comment before setting the CMAKE_GENERATOR env variable
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cmake --build . --config Release --parallel %CPU_COUNT% --target install
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if errorlevel 1 exit 1

‎recipes/ros-humble-libmavconn/build_ament_cmake.sh‎

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# Generated by vinca http://github.com/RoboStack/vinca.
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# DO NOT EDIT!
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set -eo pipefail
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rm -rf build
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mkdir build
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cd build
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# necessary for correctly linking SIP files (from python_qt_bindings)
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export LINK=$CXX
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if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
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PYTHON_EXECUTABLE=$PREFIX/bin/python
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PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
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OSX_DEPLOYMENT_TARGET="10.15"
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else
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PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
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PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
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OSX_DEPLOYMENT_TARGET="11.0"
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fi
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if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then
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export QT_HOST_PATH="$BUILD_PREFIX"
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else
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export QT_HOST_PATH="$PREFIX"
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fi
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echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
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echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
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export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
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echo "Using Python ${ROS_PYTHON_VERSION}"
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# see https://github.com/conda-forge/cross-python-feedstock/issues/24
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if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
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find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/share/rosidl* -type f -exec sed -i "s~${PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
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fi
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if [[ $target_platform =~ linux.* ]]; then
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export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
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export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
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fi;
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# Needed for qt-gui-cpp ..
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if [[ $target_platform =~ linux.* ]]; then
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ln -s $GCC ${BUILD_PREFIX}/bin/gcc
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ln -s $GXX ${BUILD_PREFIX}/bin/g++
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fi;
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# PYTHON_INSTALL_DIR should be a relative path, see
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# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md
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# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX,
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# but it is not trivial to do this in bash scripting, so let's do it via python
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export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"`
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echo "Using PYTHON_INSTALL_DIR: $PYTHON_INSTALL_DIR"
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if [[ $target_platform =~ emscripten.* ]]; then
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export CONDA_BUILD_CROSS_COMPILATION="1"
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PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python$PY_VER
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echo "set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS TRUE)"> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_STRIP FALSE) # used by default in pybind11 on .so modules">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH) # fixes an error where numpy header files are not found correctly">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# if [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-publisher" ] || [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-subscriber" ] || [ "${PKG_NAME}" == "ros-humble-rclcpp-components" ]; then
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# echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -sALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# else
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echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -sALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# fi
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export BUILD_TYPE="Debug"
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export EXTRA_CMAKE_ARGS=" \
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-DPYTHON_SOABI="cpython-${ROS_PYTHON_VERSION//./}-wasm32-emscripten" \
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-DRMW_IMPLEMENTATION=rmw_wasm_cpp \
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-DCMAKE_FIND_ROOT_PATH=$PREFIX \
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-DCMAKE_POSITION_INDEPENDENT_CODE=TRUE \
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-DCMAKE_PROJECT_INCLUDE=$SRC_DIR/__vinca_shared_lib_patch.cmake \
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"
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unset -f cmake
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export CMAKE_GEN="emcmake cmake"
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export CMAKE_BLD="cmake"
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export STATIC_ROSIDL_TYPESUPPORT_C=rosidl_typesupport_introspection_c
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export STATIC_ROSIDL_TYPESUPPORT_CPP=rosidl_typesupport_introspection_cpp
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else
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export BUILD_TYPE="Release"
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export CMAKE_GEN="cmake"
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export CMAKE_BLD="cmake"
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fi;
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if [ "${PKG_NAME}" == "ros-humble-rmw-wasm-cpp" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/rmw_wasm_cpp
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elif [ "${PKG_NAME}" == "ros-humble-wasm-cpp" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/wasm_cpp
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elif [ "${PKG_NAME}" == "dynmsg" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/dynmsg
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else
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/
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fi;
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$CMAKE_GEN \
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-G "Ninja" \
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-DCMAKE_BUILD_TYPE=$BUILD_TYPE \
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-DCMAKE_INSTALL_PREFIX=$PREFIX \
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-DCMAKE_PREFIX_PATH=$PREFIX \
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-DAMENT_PREFIX_PATH=$PREFIX \
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-DCMAKE_INSTALL_LIBDIR=lib \
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-DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython3_FIND_STRATEGY=LOCATION \
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-DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
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-DPYTHON_INSTALL_DIR=$PYTHON_INSTALL_DIR \
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-DSETUPTOOLS_DEB_LAYOUT=OFF \
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-DCATKIN_SKIP_TESTING=$SKIP_TESTING \
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-DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
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-DBUILD_SHARED_LIBS=ON \
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-DBUILD_TESTING=OFF \
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-DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \
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-DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
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--compile-no-warning-as-error \
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$EXTRA_CMAKE_ARGS \
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\
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$WORK_DIR
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$CMAKE_BLD --build . --config $BUILD_TYPE --target install

‎recipes/ros-humble-libmavconn/recipe.yaml‎

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# yaml-language-server: $schema=https://raw.githubusercontent.com/prefix-dev/recipe-format/main/schema.json
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package:
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name: ros-humble-libmavconn
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version: 2.10.1
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source:
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git: https://github.com/ros2-gbp/mavros-release.git
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tag: release/humble/libmavconn/2.10.1-1
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target_directory: ros-humble-libmavconn/src/work
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build:
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script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix or wasm32 else '%RECIPE_DIR%\\bld_ament_cmake.bat' }}
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number: 14
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post_process:
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- files:
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- '*.pc'
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regex: (?:-L|-I)?"?([^;\s]+/sysroot/)
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replacement: $$(CONDA_BUILD_SYSROOT_S)
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- files:
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- '*.cmake'
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regex: ([^;\s"]+/sysroot)
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replacement: $$ENV{CONDA_BUILD_SYSROOT}
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- files:
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- '*.cmake'
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regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk)
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replacement: $$ENV{CONDA_BUILD_SYSROOT}
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about:
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homepage: http://wiki.ros.org/mavros
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repository: https://github.com/mavlink/mavros.git
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license: GPL-3.0-only OR LGPL-3.0-only OR BSD-3-Clause
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summary: MAVLink communication library. This library provide unified connection handling classes and URL to connection object mapper. This library can be used in standalone programs.
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extra:
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recipe-maintainers:
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- ros-forge
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requirements:
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build:
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- ${{ compiler('cxx') }}
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- ${{ compiler('c') }}
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- if: target_platform!='emscripten-wasm32'
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then:
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- ${{ stdlib('c') }}
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- ninja
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- python
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- setuptools
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- git
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- git-lfs
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- if: unix
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then:
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- patch
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- make
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- coreutils
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- if: win
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then:
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- m2-patch
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- if: osx
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then:
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- tapi
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- if: build_platform != target_platform
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then:
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- pkg-config
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- cmake
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- cython
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- if: build_platform != target_platform
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then:
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- python
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- cross-python_${{ target_platform }}
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- numpy
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host:
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- asio
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- if: build_platform == target_platform
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then:
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- pkg-config
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- console_bridge
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- empy
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- numpy
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- pip
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- python
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- ros-humble-ament-cmake
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- ros-humble-ament-cmake-gtest
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- ros-humble-ament-lint-auto
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- ros-humble-ament-lint-common
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- ros-humble-mavlink
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- ros-humble-ros-environment
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- ros-humble-ros-workspace
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- ros2-distro-mutex 0.7.* humble_*
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run:
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- asio
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- console_bridge
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- python
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- ros-humble-mavlink
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- ros-humble-ros-workspace
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- ros2-distro-mutex 0.7.* humble_*
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- if: osx and x86_64
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then:
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- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

‎recipes/ros-humble-mavlink/bld_catkin.bat‎

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:: Generated by vinca http://github.com/RoboStack/vinca.
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:: DO NOT EDIT!
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setlocal
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set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
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:: MSVC is preferred.
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set CC=cl.exe
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set CXX=cl.exe
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:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin
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:: if ROS (1) is build as shared library . However, some packages are not
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:: passing compilation flags from CMake to other build systems (such as qmake),
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:: so we enable it explicitly via the CL environment variable, see
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:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
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set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
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set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1"
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if "%PKG_NAME%" == "ros-humble-catkin" (
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:: create catkin cookie to make it is a catkin workspace
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type NUL > %LIBRARY_PREFIX%\.catkin
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:: keep the workspace activation scripts (e.g., local_setup.bat)
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set CATKIN_BUILD_BINARY_PACKAGE_ARGS=
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)
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rd /s /q build
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mkdir build
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pushd build
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set SKIP_TESTING=ON
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cmake ^
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-G "Ninja" ^
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--compile-no-warning-as-error ^
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-DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^
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-DBUILD_SHARED_LIBS=ON ^
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-DPYTHON_EXECUTABLE=%PYTHON% ^
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-DPython_EXECUTABLE=%PYTHON% ^
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-DPython3_EXECUTABLE=%PYTHON% ^
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-DSETUPTOOLS_DEB_LAYOUT=OFF ^
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-DBoost_USE_STATIC_LIBS=OFF ^
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%CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^
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-DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^
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^
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%SRC_DIR%\%PKG_NAME%\src\work\
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if errorlevel 1 exit 1
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if "%PKG_NAME%" == "ros-humble-eigenpy" (
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cmake --build . --config Release --target all --parallel 1
51+
if errorlevel 1 exit 1
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) else (
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cmake --build . --config Release --target all
54+
if errorlevel 1 exit 1
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)
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if "%SKIP_TESTING%" == "OFF" (
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cmake --build . --config Release --target run_tests
59+
if errorlevel 1 exit 1
60+
)
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cmake --build . --config Release --target install
63+
if errorlevel 1 exit 1
64+
65+
if "%PKG_NAME%" == "ros-humble-catkin" (
66+
:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
67+
:: This will allow them to be run on environment activation.
68+
for %%F in (activate deactivate) DO (
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if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
70+
copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
71+
)
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)
73+
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if "%PKG_NAME%" == "ros-humble-ros-workspace" (
75+
:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
76+
:: This will allow them to be run on environment activation.
77+
for %%F in (activate deactivate) DO (
78+
if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
79+
copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
80+
copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
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)
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)

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