Add cpack support for debian and nuget package creation

.github/workflows/unstable.yml

@@ -57,4 +57,4 @@ jobs:
           before-script: source /opt/tesseract/install/setup.bash && source /opt/tesseract_planning/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}
           target-path: target_ws/src
-          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_PACKAGE=ON

.run-cpack

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+# Get default extension based on OS
+unameOut="$(uname -s)"
+case "${unameOut}" in
+    Linux*)     default_ext=deb;;
+    Darwin*)    default_ext=osx;;
+    CYGWIN*)    default_ext=nupkg;;
+    MINGW*)     default_ext=nupkg;;
+    *)          default_ext=deb
+esac
+
+# The defaults assume this was ran from the package directory
+artifact_dir=${CPACK_ARTIFACTS_DIR:-`pwd`}
+build_dir=${CPACK_WORKING_DIR:-$(dirname $0)/../../build}
+artifact_ext=${CPACK_ARTIFACTS_EXT:-$default_ext}
+
+echo "Input Parameters:"
+echo "   artifact_dir: $artifact_dir"
+echo "   artifact_ext: $artifact_ext"
+echo "   build_dir: $build_dir"
+
+declare -a StringArray=("tesseract_qt")
+
+# Iterate the packages using for loop
+for val in ${StringArray[@]}; do
+  if [ -d "$build_dir/$val" ] && [ -f "$build_dir/$val/CPackConfig.cmake" ]; then
+    cd $build_dir/$val
+    cpack --config CPackConfig.cmake
+    cp ./*.$artifact_ext $artifact_dir
+    cp ./*.tar.xz $artifact_dir
+  fi
+done

CMakeLists.txt

@@ -53,6 +53,47 @@ set(DEPS
     tesseract_visualization
     tesseract_command_language)
 
+set(LINUX_DEPENDS
+    "libboost-program-options-dev"
+    "libqt5gui5"
+    "libqt5widgets5"
+    "libqt5svg5"
+    "libqt5opengl5"
+    "libqt5xml5"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-scene-graph
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-urdf"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-srdf"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-visualization"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-collision-core"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-kinematics-core"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-kinematics-opw"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-core"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-planning"
+)
+
+set(WINDOWS_DEPENDS
+  "libboost-program-options-dev"
+  "libqt5gui5"
+  "libqt5widgets5"
+  "libqt5svg5"
+  "libqt5opengl5"
+  "libqt5xml5"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
+  "${TESSERACT_PACKAGE_PREFIX}tesseract-scene-graph
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-environment"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-urdf"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-srdf"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-visualization"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-command-language"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-collision-core"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-kinematics-core"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-kinematics-opw"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-core"
+    "${TESSERACT_PACKAGE_PREFIX}tesseract-task-composer-planning")
+
 if(${BUILD_RENDERING})
   message("Building rendering module")
   add_subdirectory(rendering)
@@ -67,12 +108,33 @@ if(${BUILD_RENDERING})
     ${GZ_RENDERING}
     gz-math7-eigen3
     "gz-common5 COMPONENTS profiler events av")
+  list(
+    APPEND
+    LINUX_DEPENDS
+    lib${GZ_RENDERING}-dev
+    libgz-common5-dev
+    libgz-math7-dev)
+  list(
+    APPEND
+    WINDOWS_DEPENDS
+    lib${GZ_RENDERING}-dev
+    libgz-common5-dev
+    libgz-math7-dev)
 endif()
 
 if(${BUILD_STUDIO} AND ${BUILD_RENDERING})
   message("Building studio module")
   list(APPEND DEPS "qtadvanceddocking NAMES qtadvanceddocking qt5advanceddocking qt6advanceddocking")
   add_subdirectory(studio)
+
+  if((EXISTS LSB_RELEASE_CODE_SHORT) AND (LSB_RELEASE_CODE_SHORT STREQUAL "noble"))
+    set(QT_ADS libqt-advanced-docking-system-dev)
+  else()
+    set(QT_ADS qt-advanced-docking-system)
+  endif()
+
+  list(APPEND LINUX_DEPENDS ${QT_ADS})
+  list(APPEND WINDOWS_DEPENDS ${QT_ADS})
 endif()
 
 install(FILES "${CMAKE_CURRENT_LIST_DIR}/cmake/FindQwt.cmake" "${CMAKE_CURRENT_LIST_DIR}/cmake/FindGraphviz.cmake"
@@ -84,3 +146,24 @@ configure_package(
   TARGETS ${PROJECT_TARGETS}
   DEPENDENCIES ${DEPS}
   CFG_EXTRAS cmake/tesseract_qt-extras.cmake)
+
+if(TESSERACT_PACKAGE)
+  cpack(
+    VERSION ${pkg_extracted_version}
+    MAINTAINER_NAME ${pkg_extracted_maintainer_name}
+    MAINTAINER_EMAIL ${pkg_extracted_maintainer_email}
+    DESCRIPTION ${pkg_extracted_description}
+    LICENSE_FILE ${CMAKE_CURRENT_LIST_DIR}/LICENSE
+    README_FILE ${CMAKE_CURRENT_LIST_DIR}/README.md
+    LINUX_DEPENDS ${LINUX_DEPENDS}
+    WINDOWS_DEPENDS ${WINDOWS_DEPENDS})
+
+  if(UNIX AND TESSERACT_PACKAGE_SOURCE)
+    cpack_debian_source_package(
+      CHANGLELOG ${CMAKE_CURRENT_LIST_DIR}/CHANGELOG.rst
+      UPLOAD ${TESSERACT_PACKAGE_SOURCE_UPLOAD}
+      DPUT_HOST ${TESSERACT_PACKAGE_SOURCE_DPUT_HOST}
+      DEBIAN_INCREMENT ${TESSERACT_PACKAGE_SOURCE_DEBIAN_INCREMENT}
+      DISTRIBUTIONS ${TESSERACT_PACKAGE_SOURCE_DISTRIBUTIONS})
+  endif()
+endif()