update scripts and documentation to install system package dependenci…

…es without downloading Drake locally
RobotLocomotion · Jan 21, 2025 · 7fef787 · 7fef787
1 parent d5f2c75
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Showing 10 changed files with 69 additions and 135 deletions.
diff --git a/.github/workflows/pip.yml b/.github/workflows/pip.yml
@@ -28,10 +28,6 @@ jobs:
         uses: actions/setup-python@v5
         with:
           python-version: '3.12'
-      - name: pip setup
-        working-directory: drake_pip
-        run: setup/install_prereqs
-        shell: zsh -efuo pipefail {0}
       - name: pip build and test
         working-directory: drake_pip
         run: .github/ci_build_test

diff --git a/.github/workflows/poetry.yml b/.github/workflows/poetry.yml
@@ -30,7 +30,7 @@ jobs:
           python-version: '3.12'
       - name: poetry setup
         working-directory: drake_poetry
-        run: .github/macos_setup
+        run: setup/install_prereqs
         shell: zsh -efuo pipefail {0}
       - name: poetry build and test
         working-directory: drake_poetry

diff --git a/drake_pip/.github/workflows/ci.yml b/drake_pip/.github/workflows/ci.yml
@@ -39,10 +39,6 @@ jobs:
         uses: actions/setup-python@v5
         with:
           python-version: '3.12'
-      - name: pip setup
-        working-directory: drake_pip
-        run: setup/install_prereqs
-        shell: zsh -efuo pipefail {0}
       - name: pip build and test
         working-directory: drake_pip
         run: .github/ci_build_test

diff --git a/drake_pip/README.md b/drake_pip/README.md
@@ -1,10 +1,10 @@
-# Python Project with Drake Installed from pip
+# Python Project with Drake Installed from Pip
 
 This installs Drake using [`pip`](https://pypi.org/project/pip/), the Python package manager.
 
 ## Instructions
 
-First, install the required packages:
+First, install the required Ubuntu packages (this step is not needed on Mac):
 
 ```
 setup/install_prereqs

diff --git a/drake_pip/setup/install_prereqs b/drake_pip/setup/install_prereqs
@@ -36,63 +36,35 @@ if [[ "${EUID}" -ne 0 ]]; then
   maybe_sudo=sudo
 fi
 
-case "$OSTYPE" in
-    darwin*)
-    # Mac specific installations
-    if [[ "${EUID}" -eq 0 ]]; then
-      echo 'This script must NOT be run as root' >&2
-      exit 1
-    fi
+# Ubuntu-specific installations
+${maybe_sudo} apt-get update
+${maybe_sudo} apt-get install --no-install-recommends lsb-release
 
-    if [[ ! -d /opt/drake ]]; then
-      ${maybe_sudo} mkdir -p /opt/drake
-      ${maybe_sudo} chmod g+rwx /opt/drake
-      ${maybe_sudo} chown "${USER}" /opt/drake
-      ${maybe_sudo} chgrp admin /opt/drake
-    fi
-
-    # Install Drake dependencies.
-    curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac-arm64.tar.gz
-    trap 'rm -f drake.tar.gz' EXIT
-    tar -xf drake.tar.gz -C /opt
-    ;;
-
-    linux*)
-    # Ubuntu specific installations
-    if [[ "${EUID:-}" -ne 0 ]]; then
-      echo 'This script must be run as root' >&2
-      exit 2
-    fi
-
-    ${maybe_sudo} apt-get update
-    ${maybe_sudo} apt-get install --no-install-recommends lsb-release
-
-    if [[ "$(lsb_release -sc)" != 'jammy' ]]; then
-      echo 'This script requires Ubuntu 22.04 (Jammy)' >&2
-      exit 3
-    fi
-
-    ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
-      ca-certificates
-      wget
+# Jammy and Noble have slightly different package versions needed
+# (libglib2.0-0 vs. libglib2.0-0t64)
+if [[ "$(lsb_release -sc)" == 'jammy' ]]; then
+  ${maybe_sudo} apt-get update
+  ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
+    python3-all-dev
+    libegl1
+    libx11-6
+    libsm6
+    libglib2.0-0
+    pipx
 EOF
-    )
-
-    wget -O drake.tar.gz \
-      https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
-    trap 'rm -f drake.tar.gz' EXIT
-    tar -xf drake.tar.gz -C /opt
-
-    ${maybe_sudo} apt-get update
-    ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
-      python3-all-dev
-      python3.10-venv
+  )
+elif [[ "$(lsb_release -sc)" == 'noble' ]]; then
+  ${maybe_sudo} apt-get update
+  ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
+    python3-all-dev
+    libegl1
+    libx11-6
+    libsm6
+    libglib2.0-0t64
+    pipx
 EOF
-    )
-    ;;
-esac
-
-# Show version for debugging; use echo for newline / readability.
-echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
-
-/opt/drake/share/drake/setup/install_prereqs
+  )
+else
+  echo 'This script requires Ubuntu 22.04 (Jammy) or 24.04 (Noble)' >&2
+  exit 3
+fi
diff --git a/drake_poetry/.github/macos_setup b/drake_poetry/.github/macos_setup
diff --git a/drake_poetry/.github/ubuntu_setup b/drake_poetry/.github/ubuntu_setup
@@ -8,7 +8,4 @@ echo 'APT::Get::Assume-Yes "true";' > /etc/apt/apt.conf.d/90-get-assume-yes
 
 export DEBIAN_FRONTEND='noninteractive'
 
-setup/install_prereqs
-
-pipx install poetry
-pipx ensurepath
+setup/install_prereqs
diff --git a/drake_poetry/.github/workflows/ci.yml b/drake_poetry/.github/workflows/ci.yml
@@ -41,7 +41,7 @@ jobs:
           python-version: '3.12'
       - name: poetry setup
         working-directory: drake_poetry
-        run: .github/macos_setup
+        run: setup/install_prereqs
         shell: zsh -efuo pipefail {0}
       - name: poetry build and test
         working-directory: drake_poetry

diff --git a/drake_poetry/README.md b/drake_poetry/README.md
@@ -1,19 +1,19 @@
-# Python Project with Drake Installed from pip
+# Python Project with Drake Installed from Poetry
 
 This installs Drake using [`poetry`](https://python-poetry.org/), the Python package manager.
 
 For an introduction to `poetry`, see [Basic usage](https://python-poetry.org/docs/basic-usage/).
 
 ## Instructions
 
-First, install the required packages:
+First, install the required packages. This includes an installation of Poetry using `pipx`;
+see the [Installation Instructions](https://python-poetry.org/docs/#installation) for
+more information.
 
 ```
 setup/install_prereqs
 ```
 
-Additionally, install `poetry` following the [Installation Instructions](https://python-poetry.org/docs/#installation).
-
 Call `poetry init` to create project in the current directory, including the following arguments:
 
 * `--python [version]` to introduce a requirement on the version(s) 

diff --git a/drake_poetry/setup/install_prereqs b/drake_poetry/setup/install_prereqs
@@ -38,64 +38,46 @@ fi
 
 case "$OSTYPE" in
     darwin*)
-    # Mac specific installations
-    if [[ "${EUID}" -eq 0 ]]; then
-      echo 'This script must NOT be run as root' >&2
-      exit 1
-    fi
-
-    if [[ ! -d /opt/drake ]]; then
-      ${maybe_sudo} mkdir -p /opt/drake
-      ${maybe_sudo} chmod g+rwx /opt/drake
-      ${maybe_sudo} chown "${USER}" /opt/drake
-      ${maybe_sudo} chgrp admin /opt/drake
-    fi
-
-    # Install Drake dependencies.
-    curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac-arm64.tar.gz
-    trap 'rm -f drake.tar.gz' EXIT
-    tar -xf drake.tar.gz -C /opt
-
+    # Mac-specific installations
     brew install pipx
-
     ;;
 
     linux*)
-    # Ubuntu specific installations
-    if [[ "${EUID:-}" -ne 0 ]]; then
-      echo 'This script must be run as root' >&2
-      exit 2
-    fi
-
+    # Ubuntu-specific installations
     ${maybe_sudo} apt-get update
     ${maybe_sudo} 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 $(cat <<EOF
-      ca-certificates
-      wget
+    # Jammy and Noble have slightly different package versions needed
+    # (libglib2.0-0 vs. libglib2.0-0t64)
+    if [[ "$(lsb_release -sc)" == 'jammy' ]]; then
+      ${maybe_sudo} apt-get update
+      ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
+        python3-all-dev
+        libegl1
+        libx11-6
+        libsm6
+        libglib2.0-0
+        pipx
 EOF
-    )
-
-    wget -O drake.tar.gz \
-      https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz
-    trap 'rm -f drake.tar.gz' EXIT
-    tar -xf drake.tar.gz -C /opt
-
-    ${maybe_sudo} apt-get update
-    ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
-      python3-all-dev
-      pipx
+      )
+    elif [[ "$(lsb_release -sc)" == 'noble' ]]; then
+      ${maybe_sudo} apt-get update
+      ${maybe_sudo} apt-get install --no-install-recommends $(cat <<EOF
+        python3-all-dev
+        libegl1
+        libx11-6
+        libsm6
+        libglib2.0-0t64
+        pipx
 EOF
-    )
+      )
+    else
+      echo 'This script requires Ubuntu 22.04 (Jammy) or 24.04 (Noble)' >&2
+      exit 3
+    fi
     ;;
 esac
 
-# Show version for debugging; use echo for newline / readability.
-echo -e "\ndrake VERSION.TXT: $(cat /opt/drake/share/doc/drake/VERSION.TXT)\n"
-
-/opt/drake/share/drake/setup/install_prereqs
+# Install poetry and put it on PATH
+pipx install poetry
+pipx ensurepath