Fix Linux CI

.github/ci/colcon_defaults.yaml

@@ -6,6 +6,10 @@
       "--no-warn-unused-cli",
       "-DCMAKE_BUILD_TYPE=RelWithDebInfo",
       "-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON",
+      # BFD in conda is not compiled with fPIC
+      "-DSTACK_DETAILS_AUTO_DETECT:BOOL=FALSE",
+      "-DSTACK_DETAILS_BFD:BOOL=FALSE",
+
     ],
     "event-handlers": [
       "console_cohesion+",

collection-ionic.yaml

@@ -0,0 +1,66 @@
+---
+repositories:
+  gz-cmake:
+    type: git
+    url: https://github.com/gazebosim/gz-cmake
+    version: main
+  gz-common:
+    type: git
+    url: https://github.com/gazebosim/gz-common
+    version: main
+  gz-fuel-tools:
+    type: git
+    url: https://github.com/gazebosim/gz-fuel-tools
+    version: main
+  gz-sim:
+    type: git
+    url: https://github.com/gazebosim/gz-sim
+    version: main
+  gz-gui:
+    type: git
+    url: https://github.com/gazebosim/gz-gui
+    version: main
+  gz-launch:
+    type: git
+    url: https://github.com/gazebosim/gz-launch
+    version: main
+  gz-math:
+    type: git
+    url: https://github.com/gazebosim/gz-math
+    version: main
+  gz-msgs:
+    type: git
+    url: https://github.com/gazebosim/gz-msgs
+    version: main
+  gz-physics:
+    type: git
+    url: https://github.com/gazebosim/gz-physics
+    version: main
+  gz-plugin:
+    type: git
+    url: https://github.com/gazebosim/gz-plugin
+    version: main
+  gz-rendering:
+    type: git
+    url: https://github.com/gazebosim/gz-rendering
+    version: mjcarroll/pixi_gl
+  gz-sensors:
+    type: git
+    url: https://github.com/gazebosim/gz-sensors
+    version: main
+  gz-tools:
+    type: git
+    url: https://github.com/gazebosim/gz-tools
+    version: gz-tools2
+  gz-transport:
+    type: git
+    url: https://github.com/gazebosim/gz-transport
+    version: main
+  gz-utils:
+    type: git
+    url: https://github.com/gazebosim/gz-utils
+    version: main
+  sdformat:
+    type: git
+    url: https://github.com/gazebosim/sdformat
+    version: main

gazebo.toml

@@ -1,3 +1,4 @@
-[ros]
+[gazebo]
 distro = "ionic"
 colcon_defaults = ".github/ci/colcon_defaults.yaml"
+repos_file = "collection-ionic.yaml"

helper.py

@@ -30,13 +30,19 @@
 
 def sync(args, rem_args):
     from vcstool.commands.vcs import main as vcs_main
-    if not os.path.exists(f'{args.distro}_ws/src'):
-        os.makedirs(os.path.join(args.curdir, f'{args.distro}_ws/src'))
-    urllib.request.urlretrieve(
+    workspace_name = f'{args.distro}_ws'
+    if args.repos_file:
+        repos_file = args.repos_file
+    else:
+        repos_file = f'{workspace_name}/gazebodistro.repos'
+        urllib.request.urlretrieve(
             f'https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-{args.distro}.yaml',
-            f'{args.distro}_ws/gazebodistro.repos')
+            repos_file)
 
-    argv = ['import', '--input', f'{args.distro}_ws/gazebodistro.repos', *rem_args, f'{args.distro}_ws/src']
+    if not os.path.exists(f'{workspace_name}/src'):
+        os.makedirs(os.path.join(args.curdir, f'{workspace_name}/src'))
+
+    argv = ['import', '--input', repos_file, *rem_args, f'{workspace_name}/src']
     return vcs_main(argv)
 
 
@@ -59,14 +65,18 @@ def clean(args, rem_args):
     # Read some configuration defaults from the toml file
     with open('gazebo.toml', 'rb') as f:
         data = tomllib.load(f)
-        defaults = data['ros']
+        defaults = data['gazebo']
+
+        if 'repos_file' not in defaults:
+            defaults['repos_file'] = None
 
     parser = argparse.ArgumentParser(
                     prog='Pixi Task Helper',
                     description='Help with common pixi tasks')
 
     parser.add_argument('--distro', type=str, default=defaults['distro'])
     parser.add_argument('--colcon-defaults', type=str, default=defaults['colcon_defaults'])
+    parser.add_argument('--repos-file', type=str, default=defaults['repos_file'])
 
     subparsers = parser.add_subparsers()
     sync_parser = subparsers.add_parser('sync')