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cmeel-octomap: Add version 1.10.0 (#2159)
Build the OctoMap 1.10.0 cmeel distribution for riscv64: liboctomap, liboctomath, their headers, CMake/pkg-config files and command-line tools, installed into the shared cmeel prefix. [tool.cmeel] has-sitelib = false, so the wheel holds no Python extension and one py3-none-manylinux_riscv64 wheel covers every interpreter; the build runs as a single cibuildwheel job. The tag's .c5 suffix is the cmeel packaging revision, which the backend stamps as the wheel's build tag. Mirrors upstream's release.yml, including CMEEL_RUN_TESTS=false: octomap's test_color_tree asserts a hardcoded node count that changes wherever the compiler contracts a*b+c into an FMA, which riscv64 does by default.
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‎.github/workflows/build-cmeel-octomap.yml‎

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# SPDX-FileCopyrightText: 2026 The RISE Project
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# SPDX-License-Identifier: MIT
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---
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# This workflow is based on: https://github.com/cmake-wheel/cmeel-octomap/blob/v1.10.0.c5/.github/workflows/release.yml
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name: Build cmeel-octomap wheels (riscv64)
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on:
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workflow_dispatch:
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inputs:
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version:
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description: 'Version glob to (re)build; empty builds every version of docs/packages/cmeel-octomap.yaml not released yet'
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required: false
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default: ''
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pull_request:
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branches: [main]
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paths:
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- '.github/workflows/build-cmeel-octomap.yml'
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- 'docs/packages/cmeel-octomap.yaml'
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push:
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branches: [main]
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paths:
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- '.github/workflows/build-cmeel-octomap.yml'
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- 'docs/packages/cmeel-octomap.yaml'
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
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cancel-in-progress: true
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permissions:
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contents: read # to fetch code (actions/checkout)
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env:
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MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64
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jobs:
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setup:
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uses: $/.github/workflows/_setup.yml
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with:
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package: cmeel-octomap
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version: ${{ inputs.version }}
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build_wheels:
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needs: [setup]
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if: needs.setup.outputs.versions != '[]'
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name: Build cmeel-octomap ${{ matrix.version }} manylinux_riscv64
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runs-on: ubuntu-24.04-riscv
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timeout-minutes: 120
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strategy:
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fail-fast: false
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matrix:
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version: ${{ fromJSON(needs.setup.outputs.versions) }}
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env:
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CMEEL_OCTOMAP_VERSION: ${{ matrix.version }}
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steps:
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# cmeel-octomap's release tags carry a packaging-revision suffix (.c5) that is the
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# wheel's build tag, not part of its version; .c5 is the revision 1.10.0 released last.
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- name: Checkout cmeel-octomap v${{ env.CMEEL_OCTOMAP_VERSION }}.c5
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uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
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with:
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repository: cmake-wheel/cmeel-octomap
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ref: v${{ env.CMEEL_OCTOMAP_VERSION }}.c5
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submodules: true
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persist-credentials: false
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- name: Build wheels
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uses: pypa/cibuildwheel@1828c10ab37f080699c7b81cea34097c684a7074 # v4.2.0
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with:
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output-dir: wheelhouse/
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# has-sitelib = false: the wheel holds no Python extension, so one
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# py3-none wheel covers every interpreter.
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only: cp312-manylinux_riscv64
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env:
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CIBW_MANYLINUX_RISCV64_IMAGE: ${{ env.MANYLINUX_RISCV64_IMAGE }}
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CIBW_ENVIRONMENT: CMEEL_LOG_LEVEL=DEBUG CMEEL_RUN_TESTS=false
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# cmeel installs into a shared prefix with an $ORIGIN RPATH it sets itself.
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CIBW_REPAIR_WHEEL_COMMAND: ""
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- name: Check wheel contents
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run: |
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python3 - wheelhouse/*.whl <<'EOF'
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import sys, zipfile
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names = zipfile.ZipFile(sys.argv[1]).namelist()
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assert "cmeel.prefix/lib/liboctomap.so.1.10.0" in names, names
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assert "cmeel.prefix/lib/liboctomath.so.1.10.0" in names, names
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assert "cmeel.prefix/include/octomap/OcTree.h" in names, names
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EOF
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- name: Smoke-test the built library
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run: |
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sudo apt-get update -qq
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sudo apt-get install -y -qq --no-install-recommends python3-venv
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python3 -m venv .venv
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. .venv/bin/activate
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# gotcha 234: stock Ubuntu 24.04 apt pip (24.0) has zero manylinux_*_riscv64
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# tags, so it rejects the riscv64 wheel outright without upgrading first.
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pip install -q --upgrade pip
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pip install -q wheelhouse/*.whl
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prefix=$(python3 -c "import pathlib, sysconfig; print(pathlib.Path(sysconfig.get_paths()['purelib']) / 'cmeel.prefix')")
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python3 -c "import ctypes; ctypes.CDLL('$prefix/lib/liboctomap.so')"
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python3 - > scan.log <<'EOF'
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import math
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print("NODE 0 0 0 0 0 0")
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for i in range(720):
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a = i * math.pi / 360
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for j in range(20):
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r = 2 + j * 0.1
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print(f"{r * math.cos(a):.4f} {r * math.sin(a):.4f} {(j - 10) * 0.05:.4f}")
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EOF
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# cmeel's patch gives the libraries an $ORIGIN RPATH but not the tools, as upstream ships them.
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export LD_LIBRARY_PATH="$prefix/lib"
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"$prefix/bin/log2graph" scan.log scan.graph
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"$prefix/bin/graph2tree" -i scan.graph -o tree.bt
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test -s tree.bt
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- uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1
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with:
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name: cmeel-octomap-${{ env.CMEEL_OCTOMAP_VERSION }}-py3-none-manylinux_riscv64
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path: wheelhouse/*.whl
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if-no-files-found: error
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publish:
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name: Publish cmeel-octomap ${{ matrix.version }}
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needs: [setup, build_wheels]
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if: needs.setup.outputs.versions != '[]'
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strategy:
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fail-fast: false
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matrix:
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version: ${{ fromJSON(needs.setup.outputs.versions) }}
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permissions:
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contents: write
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pull-requests: write
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uses: $/.github/workflows/_publish-wheel.yml
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secrets:
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app-private-key: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }}
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with:
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artifact-pattern: cmeel-octomap-${{ matrix.version }}-py3-none-manylinux_riscv64

‎docs/packages/cmeel-octomap.yaml‎

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package-name: cmeel-octomap
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source-code: https://github.com/cmake-wheel/cmeel-octomap.git
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license: BSD-3-Clause
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versions:
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- version: 1.10.0

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