Use the source version of drake's install_prereqs for external examples

Previously, the binary version of the script was called in addition to replicating much of the source version. With this change, the copy-and-paste is removed.
RobotLocomotion · Nov 14, 2024 · f4555d7 · f4555d7
1 parent b01ab48
commit f4555d7
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Showing 12 changed files with 105 additions and 344 deletions.
diff --git a/Jenkinsfile b/Jenkinsfile
@@ -17,11 +17,13 @@ node('linux-jammy-unprovisioned') {
           stage('checkout') {
             checkout scm
           }
+        }
+        dir('src/drake_bazel_external'){
           stage('bazel_external setup') {
-            sh './drake_bazel_external/.github/setup'
+            sh './.github/setup'
           }
           stage('bazel_external build and test') {
-            sh './drake_bazel_external/.github/ci_build_test'
+            sh './.github/ci_build_test'
           }
         }
       } catch (e) {
@@ -58,11 +60,13 @@ node('linux-jammy-unprovisioned') {
           stage('checkout') {
             checkout scm
           }
+        }
+        dir('src/drake_cmake_external'){
           stage('cmake_external setup') {
-            sh './drake_cmake_external/.github/setup'
+            sh './.github/setup'
           }
           stage('cmake_external build and test') {
-            sh './drake_cmake_external/.github/ci_build_test'
+            sh './.github/ci_build_test'
           }
         }
       } catch (e) {

diff --git a/drake_bazel_external/.github/ci_build_test b/drake_bazel_external/.github/ci_build_test
@@ -3,9 +3,5 @@
 
 set -euxo pipefail
 
-pushd drake_bazel_external
-
 bazel version
 bazel test //...
-
-popd
diff --git a/drake_bazel_external/.github/setup b/drake_bazel_external/.github/setup
@@ -3,11 +3,15 @@
 
 set -euxo pipefail
 
-cd $(dirname "${BASH_SOURCE}")
-sudo ./ubuntu_setup
-
-cat > "${HOME}/.bazelrc" << EOF
-startup --output_user_root=${WORKSPACE}/_bazel_${USER}
-test --color=yes
-test --keep_going
-EOF
+# CI setup
+sudo ./.github/ubuntu_setup
+
+# Download the drake source
+mkdir ~/drake_install
+wget -O drake.tar.gz \
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+trap 'rm -f drake.tar.gz' EXIT
+tar -xf drake.tar.gz -C ~/drake_install
+
+# Install the source prereqs
+sudo ~/drake_install/drake-master/setup/ubuntu/install_prereqs.sh
diff --git a/drake_bazel_external/.github/ubuntu_setup b/drake_bazel_external/.github/ubuntu_setup
@@ -3,10 +3,25 @@
 
 set -euxo pipefail
 
+if [[ "${EUID:-}" -ne 0 ]]; then
+  echo 'This script must be run as root' >&2
+  exit 2
+fi
+
 echo 'APT::Acquire::Retries "4";' > /etc/apt/apt.conf.d/80-acquire-retries
 echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-cd $(dirname "${BASH_SOURCE}")/..
-setup/install_prereqs
+apt-get update
+apt-get install --no-install-recommends lsb-release
+
+if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
+  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
+  exit 3
+fi
+
+apt-get install --no-install-recommends $(cat <<EOF
+  wget
+EOF
+)
diff --git a/drake_bazel_external/README.md b/drake_bazel_external/README.md
@@ -7,13 +7,19 @@ For an introduction to Bazel, refer to
 
 ## Instructions
 
-First, install the required Ubuntu packages:
+First, download the drake source to a location of your choice, importantly
+not this directory, and run the source setup script to install the required
+Ubuntu packages:
 
 ```
-sudo setup/install_prereqs
+mkdir ~/drake_install
+wget -O drake.tar.gz \
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+tar -xf drake.tar.gz -C ~/drake_install
+sudo ~/drake_install/drake-master/setup/ubuntu/install_prereqs.sh
 ```
 
-Then, to build and test all apps:
+Then, build and test all apps:
 ```
 bazel test //...
 ```

diff --git a/drake_bazel_external/setup/install_prereqs b/drake_bazel_external/setup/install_prereqs
diff --git a/drake_cmake_external/.github/ci_build_test b/drake_cmake_external/.github/ci_build_test
@@ -5,15 +5,13 @@ set -euxo pipefail
 
 cmake --version
 
-pushd drake_cmake_external
-
 mkdir build
 pushd build
 
 export LD_LIBRARY_PATH="${PWD}/install/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
 
 cmake ..
-make
+cmake --build .
 
 cd drake_external_examples
 ctest -V .
@@ -23,4 +21,3 @@ popd
 chmod -R a+w build || true
 rm -rf build
 
-popd
diff --git a/drake_cmake_external/.github/setup b/drake_cmake_external/.github/setup
@@ -3,11 +3,16 @@
 
 set -euxo pipefail
 
-cd $(dirname "${BASH_SOURCE}")
-sudo ./ubuntu_setup
-
-cat > "${HOME}/.bazelrc" << EOF
-startup --output_user_root=${WORKSPACE}/_bazel_${USER}
-test --color=yes
-test --keep_going
-EOF
+# CI setup
+sudo ./.github/ubuntu_setup
+
+# Download the drake source
+mkdir ~/drake_install
+wget -O drake.tar.gz \
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+trap 'rm -f drake.tar.gz' EXIT
+tar -xf drake.tar.gz -C ~/drake_install
+
+# Install the source prereqs
+sudo ~/drake_install/drake-master/setup/ubuntu/install_prereqs.sh
+
diff --git a/drake_cmake_external/.github/ubuntu_setup b/drake_cmake_external/.github/ubuntu_setup
@@ -3,10 +3,25 @@
 
 set -euxo pipefail
 
+if [[ "${EUID:-}" -ne 0 ]]; then
+  echo 'This script must be run as root' >&2
+  exit 2
+fi
+
 echo 'APT::Acquire::Retries "4";' > /etc/apt/apt.conf.d/80-acquire-retries
 echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-cd $(dirname "${BASH_SOURCE}")/..
-setup/install_prereqs
+apt-get update
+apt-get install --no-install-recommends lsb-release
+
+if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
+  echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
+  exit 3
+fi
+
+apt-get install --no-install-recommends $(cat <<EOF
+  wget
+EOF
+)
diff --git a/drake_cmake_external/README.md b/drake_cmake_external/README.md
@@ -2,14 +2,33 @@
 
 This pulls in Drake using the CMake `ExternalProject_Add(drake)` mechanism.
 
-To build all apps using CMake and Make:
+## Instructions
+
+First, download the drake source to a location of your choice and run the
+source setup script to install the required Ubuntu packages:
+
+```
+mkdir ~/drake_install
+wget -O drake.tar.gz \
+  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+tar -xf drake.tar.gz -C ~/drake_install
+sudo ~/drake_install/drake-master/setup/ubuntu/install_prereqs.sh
+```
+
+Keep in mind that within the top-level CMakeLists, the drake source is once
+again downloaded as an external project. If the CMakeLists is modified to use
+a specific version of drake other than master, and any dependencies have
+changed within that version, then the same version must also be used above.
+
+Once all necessary dependencies have been installed, build and run tests
+using CMake:
 
 ```
 mkdir build
 cd build
 cmake ..
-make
-```
-
-**Under Construction**
+cmake --build .
 
+cd drake_external_examples
+ctest -V .
+```