ci: add Ubuntu 26.04 to CI + minor flags #14
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| name: Build and Publish pylibfranka Wheels | |
| on: | |
| push: | |
| tags: | |
| - '[0-9]+.[0-9]+.[0-9]+' # Also trigger on tags like 0.19.0 | |
| pull_request: | |
| branches: ['main', 'master'] | |
| workflow_dispatch: | |
| env: | |
| REGISTRY: ghcr.io | |
| IMAGE_NAME: ${{ github.repository }}/pylibfranka-build | |
| jobs: | |
| build_wheels: | |
| name: Build wheels for Python ${{ matrix.python-version }} | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: write | |
| packages: read | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - python-version: '3.9' | |
| python-tag: 'cp39' | |
| ubuntu-version: '20.04' | |
| manylinux-tag: 'manylinux_2_31_x86_64' | |
| - python-version: '3.10' | |
| python-tag: 'cp310' | |
| ubuntu-version: '22.04' | |
| manylinux-tag: 'manylinux_2_34_x86_64' | |
| - python-version: '3.11' | |
| python-tag: 'cp311' | |
| ubuntu-version: '22.04' | |
| manylinux-tag: 'manylinux_2_34_x86_64' | |
| - python-version: '3.12' | |
| python-tag: 'cp312' | |
| ubuntu-version: '22.04' | |
| manylinux-tag: 'manylinux_2_34_x86_64' | |
| - python-version: '3.14' | |
| python-tag: 'cp314' | |
| ubuntu-version: '26.04' | |
| manylinux-tag: 'manylinux_2_43_x86_64' | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| fetch-depth: 0 | |
| - name: Get Package Version | |
| id: get_version | |
| run: | | |
| VERSION=$(grep -oP 'set\(libfranka_VERSION\s+\K[\d.]+' CMakeLists.txt) | |
| if [ -z "$VERSION" ]; then | |
| echo "Error: Could not extract version from CMakeLists.txt" | |
| exit 1 | |
| fi | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| echo "Package version: $VERSION" | |
| shell: bash | |
| - name: Log in to GitHub Container Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ${{ env.REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Pull pre-built Docker image | |
| run: | | |
| echo "Pulling pre-built image for Python ${{ matrix.python-version }}..." | |
| docker pull ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:py${{ matrix.python-version }} | |
| docker tag ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:py${{ matrix.python-version }} pylibfranka-build:py${{ matrix.python-version }} | |
| - name: Build Wheel for Python ${{ matrix.python-version }} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: pylibfranka-build:py${{ matrix.python-version }} | |
| options: -v ${{ github.workspace }}:/workspace | |
| run: | | |
| cd /workspace | |
| # Verify Python version | |
| echo "Python version:" | |
| python3 --version | |
| # Clean previous builds | |
| rm -rf build dist *.egg-info | |
| # Build the wheel (version is auto-extracted from CMakeLists.txt by setup.py) | |
| echo "Building wheel for Python ${{ matrix.python-version }}..." | |
| python3 -m build --wheel | |
| # Create wheelhouse directory | |
| mkdir -p wheelhouse | |
| echo "Built wheel:" | |
| ls -la dist/*.whl | |
| - name: Repair Wheels with Auditwheel | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: pylibfranka-build:py${{ matrix.python-version }} | |
| options: -v ${{ github.workspace }}:/workspace | |
| run: | | |
| cd /workspace | |
| mkdir -p wheelhouse | |
| echo "Repairing wheels with auditwheel..." | |
| for whl in dist/*.whl; do | |
| if [ -f "$whl" ]; then | |
| echo "Repairing: $whl" | |
| echo "Target platform: ${{ matrix.manylinux-tag }}" | |
| # Use the manylinux tag from matrix for this Python version | |
| auditwheel repair "$whl" -w wheelhouse/ --plat ${{ matrix.manylinux-tag }} || \ | |
| auditwheel repair "$whl" -w wheelhouse/ || \ | |
| cp "$whl" wheelhouse/ | |
| fi | |
| done | |
| echo "Final wheels in wheelhouse:" | |
| ls -la wheelhouse/ | |
| - name: Test Installation | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: python:${{ matrix.python-version }}-slim | |
| options: -v ${{ github.workspace }}:/workspace | |
| run: | | |
| # Install the wheel from wheelhouse | |
| pip install /workspace/wheelhouse/*.whl | |
| # IMPORTANT: Change to /tmp to avoid importing from local pylibfranka folder | |
| cd /tmp | |
| # Test import and version | |
| python -c " | |
| import pylibfranka | |
| print('pylibfranka imported successfully') | |
| print(f'Version: {pylibfranka.__version__}') | |
| # Verify key classes are available | |
| from pylibfranka import Robot, Gripper, Model, RobotState | |
| print('All core classes imported successfully') | |
| # Test creating objects | |
| from pylibfranka import JointPositions, JointVelocities, Torques | |
| jp = JointPositions([0.0] * 7) | |
| print(f'JointPositions: {jp.q}') | |
| print('All tests passed!') | |
| " | |
| - name: Upload Wheel Artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheel-python${{ matrix.python-version }} | |
| path: wheelhouse/*.whl | |
| retention-days: 30 | |
| build_sdist: | |
| name: Build source distribution | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| fetch-depth: 0 | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: Install build dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install build setuptools wheel | |
| - name: Build source distribution | |
| # Version is auto-extracted from CMakeLists.txt by setup.py | |
| run: python -m build --sdist | |
| - name: Upload sdist artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: sdist | |
| path: dist/*.tar.gz | |
| retention-days: 30 | |
| release: | |
| name: Create GitHub Release | |
| needs: [build_wheels, build_sdist] | |
| runs-on: ubuntu-latest | |
| if: startsWith(github.ref, 'refs/tags/') | |
| permissions: | |
| contents: write | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Get release info | |
| id: get_release_info | |
| run: | | |
| TAG=${GITHUB_REF#refs/tags/} | |
| echo "tag=$TAG" >> $GITHUB_OUTPUT | |
| echo "version=$TAG" >> $GITHUB_OUTPUT | |
| shell: bash | |
| - name: Download all wheel artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: dist/ | |
| pattern: wheel-* | |
| merge-multiple: true | |
| - name: Download sdist artifact | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: sdist | |
| path: dist/ | |
| - name: List distributions | |
| run: | | |
| echo "Distributions to upload:" | |
| ls -la dist/ | |
| - name: Create GitHub Release | |
| uses: softprops/action-gh-release@v2 | |
| with: | |
| tag_name: ${{ steps.get_release_info.outputs.tag }} | |
| name: libfranka ${{ steps.get_release_info.outputs.version }} | |
| draft: false | |
| prerelease: false | |
| files: dist/* | |
| body: | | |
| # libfranka ${{ steps.get_release_info.outputs.version }} | |
| C++ library and Python bindings for controlling Franka robots. | |
| ## Documentation | |
| For installation instructions, see the [libfranka documentation](https://frankarobotics.github.io/docs/libfranka/docs/installation.html). | |
| - [pylibfranka Installation Guide](https://frankarobotics.github.io/docs/libfranka/docs/installation.html#python-package-pip) | |
| - [pylibfranka Examples](https://github.com/frankarobotics/libfranka/tree/main/pylibfranka/examples) | |
| - [pylibfranka README](https://github.com/frankarobotics/libfranka/blob/main/pylibfranka/README.md) | |
| publish_pypi: | |
| name: Publish to PyPI | |
| needs: [build_wheels, build_sdist] | |
| runs-on: ubuntu-latest | |
| # Publish automatically on tags | |
| if: startsWith(github.ref, 'refs/tags/') | |
| permissions: | |
| id-token: write # Required for Trusted Publisher OIDC | |
| steps: | |
| - name: Download all wheel artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: dist/ | |
| pattern: wheel-* | |
| merge-multiple: true | |
| - name: Download sdist artifact | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: sdist | |
| path: dist/ | |
| - name: List distributions | |
| run: | | |
| echo "Distributions to upload:" | |
| ls -la dist/ | |
| - name: Publish to PyPI | |
| uses: pypa/gh-action-pypi-publish@release/v1 | |
| with: | |
| skip-existing: true | |
| verbose: true |