Add tesseract installer script to pull release debians and install (#1113)

Author: Levi-Armstrong

tesseract_installer.py

@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+
+# Testing locally
+# docker run -it -v ~/catkin_ws:/home/catkin_ws --env DEBIAN_FRONTEND=noninteractive ubuntu:jammy bash
+# apt update && apt install -y python3 python3-pip curl unzip sudo
+# pip3 install requests
+# apt install -y --no-install-recommends software-properties-common
+# add-apt-repository -y ppa:levi-armstrong/tesseract-robotics
+# apt update && apt install -y libompl-dev taskflow
+# python3 tesseract_installer.py 0.28 jammy
+# export TESSERACT_RESOURCE_PATH=/usr/share/tesseract_support:/usr/share/tesseract_task_composer
+
+import requests
+import os
+import subprocess
+import argparse
+
+# List of GitHub API URLs for the upstream repositories
+UPSTREAM_DEPENDS_URLS = [
+  "https://api.github.com/repos/ros-industrial/ros_industrial_cmake_boilerplate/releases/tags/0.7.2",
+  "https://api.github.com/repos/ethz-adrl/ifopt/releases/tags/2.1.4",
+  "https://api.github.com/repos/Jmeyer1292/opw_kinematics/releases/tags/0.5.2",
+  "https://api.github.com/repos/swri-robotics/descartes_light/releases/tags/0.4.6",
+]
+
+# List of GitHub API URLs for the repositories
+REPO_API_URLS = [
+    "https://api.github.com/repos/tesseract-robotics/tesseract/releases",
+    "https://api.github.com/repos/tesseract-robotics/trajopt/releases",
+    "https://api.github.com/repos/tesseract-robotics/tesseract_planning/releases",
+    "https://api.github.com/repos/tesseract-robotics/tesseract_qt/releases",
+]
+
+TOKEN = os.getenv("GITHUB_TOKEN")  # Optional: GitHub personal access token
+
+def fetch_latest_patch(tag_version_prefix, api_url, token=None):
+    headers = {"Authorization": f"token {token}"} if token else {}
+    response = requests.get(api_url, headers=headers)
+    response.raise_for_status()
+    releases = response.json()
+    # Find the latest release matching the tag prefix
+    for release in releases:
+        if release["tag_name"].startswith(tag_version_prefix):
+            return release
+    raise ValueError(f"No release found for prefix {tag_version_prefix} in {api_url}")
+
+
+def fetch_assets(release):
+    return release.get("assets", [])
+
+
+def download_file(url, output_path):
+    response = requests.get(url, stream=True)
+    response.raise_for_status()
+    with open(output_path, "wb") as f:
+        for chunk in response.iter_content(chunk_size=8192):
+            f.write(chunk)
+
+
+def install_debs_from_zip(zip_file):
+    print(f"Extracting {zip_file}...")
+    subprocess.run(["unzip", "-o", zip_file], check=True)
+
+    print(f"Installing all .deb files from {zip_file}...")
+    deb_files = [file for file in os.listdir() if file.endswith(".deb")]
+    if deb_files:
+      try:
+          # Step 1: Attempt to install all .deb files
+          print(f"Running dpkg to install the following .deb files: {deb_files}")
+          subprocess.run(["sudo", "dpkg", "-i"] + deb_files, check=True)
+      except subprocess.CalledProcessError:
+          print("dpkg encountered dependency issues. Attempting to resolve...")
+
+      # Step 2: Resolve dependencies
+      print("Resolving missing dependencies with apt-get -f install...")
+      subprocess.run(["sudo", "env", "DEBIAN_FRONTEND=noninteractive", "apt", "-f", "install", "-y"], check=True)
+
+      # Step 3: Reconfigure packages to ensure all are configured
+      print("Reconfiguring packages to complete the installation...")
+      subprocess.run(["sudo", "dpkg", "--configure", "-a"], check=True)
+
+      # Clean up .deb files
+      for file in deb_files:
+          os.remove(file)
+    else:
+        print(f"No .deb files found in {zip_file}.")
+
+    os.remove(zip_file)
+
+
+def main(tag_version_prefix, distro_name):
+
+    for api_url in UPSTREAM_DEPENDS_URLS:
+        print(f"Processing repository: {api_url}")
+        try:
+            # Get the release
+            headers = {"Authorization": f"token {TOKEN}"} if TOKEN else {}
+            response = requests.get(api_url, headers=headers)
+            response.raise_for_status()
+            release_data = response.json()
+
+            # Fetch assest
+            assets = fetch_assets(release_data)
+
+            # Filter assets based on distribution name
+            filtered_assets = [
+                asset for asset in assets if f"debian_package_{distro_name}.zip" in asset["name"]
+            ]
+
+            if not filtered_assets:
+                print(f"No matching assets found for {distro_name} in {api_url}.")
+                continue
+
+            for asset in filtered_assets:
+                name = asset["name"]
+                download_url = asset["browser_download_url"]
+                print(f"Downloading {name}...")
+                download_file(download_url, name)
+
+                install_debs_from_zip(name)
+
+            print(f"Finished processing repository: {api_url}")
+        except Exception as e:
+            print(f"Error processing repository {api_url}: {e}")
+
+    for api_url in REPO_API_URLS:
+        print(f"Processing repository: {api_url}")
+        try:
+            latest_release = fetch_latest_patch(tag_version_prefix, api_url, TOKEN)
+            print(f"Latest release found: {latest_release['tag_name']}")
+
+            assets = fetch_assets(latest_release)
+            # Filter assets based on distribution name
+            filtered_assets = [
+                asset for asset in assets if f"debian_package_{distro_name}.zip" in asset["name"]
+            ]
+
+            if not filtered_assets:
+                print(f"No matching assets found for {distro_name} in {api_url}.")
+                continue
+
+            for asset in filtered_assets:
+                name = asset["name"]
+                download_url = asset["browser_download_url"]
+                print(f"Downloading {name}...")
+                download_file(download_url, name)
+
+                install_debs_from_zip(name)
+
+            print(f"Finished processing repository: {api_url}")
+        except Exception as e:
+            print(f"Error processing repository {api_url}: {e}")
+
+    print("All repositories processed!")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description="Download and install Debian artifacts from multiple GitHub releases for a version prefix."
+    )
+    parser.add_argument(
+        "tag_version_prefix",
+        help="The version prefix (e.g., 0.28) to fetch the latest patch for all repositories.",
+    )
+    parser.add_argument(
+        "distro_name",
+        choices=["focal", "jammy", "noble"],
+        help="The distribution name to filter assets (e.g., focal, jammy, noble).",
+    )
+    args = parser.parse_args()
+
+    main(args.tag_version_prefix, args.distro_name)