Add `spot-cpp-sdk` by diegoferigo · Pull Request #32887 · conda-forge/staged-recipes

diegoferigo · 2026-04-07T14:47:01Z

Project repo: https://github.com/boston-dynamics/spot-cpp-sdk
Develop applications and payloads for Spot using the Boston Dynamics Spot C++ SDK.

Checklist

conda-forge-admin · 2026-04-07T14:48:48Z

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipes/spot-cpp-sdk/recipe.yaml) and found it was in an excellent condition.

github-actions · 2026-04-07T14:51:21Z

Hi! This is the staged-recipes linter and your PR looks excellent! 🚀

diegoferigo · 2026-04-07T15:10:37Z

The cmake-package-check is currently failing on linux due to:

 │ CMake Error at $SRC_DIR_run_env/share/cmake-4.3/Modules/CMakeFindDependencyMacro.cmake:93 (find_package):
 │   Could not find a package configuration file provided by "Eigen3" with any
 │   of the following names:
 │     Eigen3.cps
 │     eigen3.cps
 │     Eigen3Config.cmake
 │     eigen3-config.cmake
 │   Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
 │   "Eigen3_DIR" to a directory containing one of the above files.  If "Eigen3"
 │   provides a separate development package or SDK, be sure it has been
 │   installed.
 │ Call Stack (most recent call first):
 │   $SRC_DIR_run_env/share/cmake-4.3/Modules/CMakeFindDependencyMacro.cmake:125 (__find_dependency_common)
 │   $SRC_DIR_run_env/lib/cmake/bosdyn/bosdynConfig.cmake:33 (find_dependency)
 │   CMakeLists.txt:5 (find_package)
 │ -- Configuring incomplete, errors occurred!
 │ Error occurred: Command '['cmake', '-GNinja', '-S.', '-B.']' returned non-zero exit status 1.

I guess I need to add a run eigen dependency in addition to the abi package.

Note that this package is case B. If the library contained in the recipe includes Eigen headers (either directly or indirectly) in public headers and it has not a *-devel output from:

https://github.com/conda-forge/eigen-feedstock/blob/main/recipe/README.md#b-if-the-library-contained-in-the-recipe-includes-eigen-headers-either-directly-or-indirectly-in-public-headers-and-it-has-not-a--devel-output

diegoferigo · 2026-04-08T07:23:46Z

Looping @traversaro in for an early feedback on how to handle eigen here. I'd like to merge this with eigen<5 first.

traversaro · 2026-04-08T07:57:26Z

Given that this is a new package, if you want to make sure that find_package works out of the box I would consider to add -devel output, and adds the eigen dependency to it.

diegoferigo · 2026-04-09T06:56:17Z

Windows is currently failing due to the following error

2026-04-08T11:34:36.0873801Z  │ │ [706/767] Building CXX object CMakeFiles\bosdyn_client_static.dir\bosdyn\client\sdk\client_sdk_include_clients.cpp.obj
2026-04-08T11:34:36.1765848Z  │ │ FAILED: [code=2] CMakeFiles/bosdyn_client_static.dir/bosdyn/client/sdk/client_sdk_include_clients.cpp.obj 
2026-04-08T11:34:36.7548391Z  │ │ C:\PROGRA~1\MICROS~2\2022\ENTERP~1\VC\Tools\MSVC\1444~1.352\bin\Hostx64\x64\cl.exe  /nologo /TP -DABSL_CONSUME_DLL -DGPR_DLL_IMPORTS -DGRPCXX_DLL_IMPORTS -DGRPC_DLL_IMPORTS -DPROTOBUF_USE_DLLS -I%SRC_DIR%\cpp -I%SRC_DIR%\build\protos -external:I%PREFIX%\Library\include -external:I%PREFIX%\Library\include\eigen3 -external:W0 /DNOMINMAX /wd4267 /wd4996 /WX- /MD /O2 /Ob2 /DNDEBUG -std:c++17 /showIncludes /FoCMakeFiles\bosdyn_client_static.dir\bosdyn\client\sdk\client_sdk_include_clients.cpp.obj /FdCMakeFiles\bosdyn_client_static.dir\bosdyn_client_static.pdb /FS -c %SRC_DIR%\cpp\bosdyn\client\sdk\client_sdk_include_clients.cpp
2026-04-08T11:34:37.1403852Z  │ │ C:\Program Files\Microsoft Visual Studio\2022\Enterprise\VC\Tools\MSVC\14.44.35207\include\ppltasks.h(1580): warning C4530: C++ exception handler used, but unwind semantics are not enabled. Specify /EHsc
2026-04-08T11:34:37.2518243Z  │ │ %SRC_DIR%\build\protos\bosdyn/api/spot/choreography_sequence.pb.h(15896): error C2143: syntax error: missing ')' before 'constant'
2026-04-08T11:34:37.3325975Z  │ │ %SRC_DIR%\build\protos\bosdyn/api/spot/choreography_sequence.pb.h(15896): error C2143: syntax error: missing ';' before 'constant'
2026-04-08T11:34:37.4436584Z  │ │ %SRC_DIR%\build\protos\bosdyn/api/spot/choreography_sequence.pb.h(15896): error C2789: 'bosdyn::api::spot::ChoreographyStatusResponse::DWORD': an object of const-qualified type must be initialized
2026-04-08T11:34:37.5248767Z  │ │ %SRC_DIR%\build\protos\bosdyn/api/spot/choreography_sequence.pb.h(15896): note: see declaration of 'bosdyn::api::spot::ChoreographyStatusResponse::DWORD'
2026-04-08T11:34:37.6378906Z  │ │ %SRC_DIR%\build\protos\bosdyn/api/spot/choreography_sequence.pb.h(15896): error C2059: syntax error: ')'
2026-04-08T11:34:37.7164522Z  │ │ %SRC_DIR%\build\protos\bosdyn/api/spot/choreography_sequence.pb.h(15896): error C2238: unexpected token(s) preceding ';'
2026-04-08T11:34:41.7620208Z  │ │ [707/767] Building CXX object CMakeFiles\bosdyn_client_static.dir\bosdyn\client\spot_cam\audio\audio_client.cpp.obj
2026-04-08T11:34:41.7622200Z  │ │ C:\Program Files\Microsoft Visual Studio\2022\Enterprise\VC\Tools\MSVC\14.44.35207\include\ppltasks.h(1580): warning C4530: C++ exception handler used, but unwind semantics are not enabled. Specify /EHsc
2026-04-08T11:34:43.8564172Z  │ │ [708/767] Building CXX object CMakeFiles\bosdyn_client_static.dir\bosdyn\client\spot_cam\compositor\compositor_client.cpp.obj
2026-04-08T11:34:43.8566118Z  │ │ C:\Program Files\Microsoft Visual Studio\2022\Enterprise\VC\Tools\MSVC\14.44.35207\include\ppltasks.h(1580): warning C4530: C++ exception handler used, but unwind semantics are not enabled. Specify /EHsc
2026-04-08T11:34:43.8569213Z  │ │ ninja: build stopped: subcommand failed.
2026-04-08T11:34:43.8658269Z  │ │ (base) %SRC_DIR%>if 2 NEQ 0 exit /b 2 
2026-04-08T11:34:43.8715681Z  │ │ × error Script failed with status 2
2026-04-08T11:34:43.8716813Z  │ │ × error 
2026-04-08T11:34:43.8717531Z  │ │ × error Script execution failed.
2026-04-08T11:34:43.8718079Z  │ │ × error 
2026-04-08T11:34:43.8718821Z  │ │ × error   Work directory: D:\bld\bld\rattler-build_spot-cpp-sdk_1775646661\work
2026-04-08T11:34:43.8719572Z  │ │ × error   Prefix: D:\bld\bld\rattler-build_spot-cpp-sdk_1775646661\h_env
2026-04-08T11:34:43.8720256Z  │ │ × error   Build prefix: D:\bld\bld\rattler-build_spot-cpp-sdk_1775646661\build_env
2026-04-08T11:34:43.8720892Z  │ │ × error 
2026-04-08T11:34:43.8721429Z  │ │ × error To run the script manually, use the following command:
2026-04-08T11:34:43.8722339Z  │ │ × error   cd "D:\\bld\\bld\\rattler-build_spot-cpp-sdk_1775646661\\work" && ./conda_build.bat
2026-04-08T11:34:43.8723318Z  │ │ × error 
2026-04-08T11:34:43.8724052Z  │ │ × error To run commands interactively in the build environment:
2026-04-08T11:34:43.8724780Z  │ │ × error   cd "D:\\bld\\bld\\rattler-build_spot-cpp-sdk_1775646661\\work" && call build_env.bat
2026-04-08T11:34:43.8725443Z  │ │
2026-04-08T11:34:43.8726071Z  │ ╰─────────────────── (took 23 minutes)

I have no idea how to fix this, trying a Gemini suggestion using a injected header 5a7bc27.

diegoferigo · 2026-04-09T10:18:50Z

I attempted to implement a workaround for the Windows build errors but found no sustainable solution.

After failing to resolve the core compilation issues (macro collisions), I tried disabling the problematic choreography protos and their cascading dependencies. However, this resulted in a severely stripped-down API that would offer little value to users.

Considering the high maintenance cost of these fragile patches and the fact that likely the windows user base will be small compared to linux, I am disabling windows support entirely. I encourage any interested contributors with access to a windows development environment to refine the recipe directly in the feedstock repository.

conda-forge-admin · 2026-04-09T11:23:10Z

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipes/spot-cpp-sdk/recipe.yaml) and found it was in an excellent condition.

I do have some suggestions for making it better though...

For recipes/spot-cpp-sdk/recipe.yaml:

ℹ️ It looks like the '???' output doesn't have any tests.

_{This message was generated by GitHub Actions workflow run https://github.com/conda-forge/conda-forge-webservices/actions/runs/24210333096. Examine the logs at this URL for more detail.}

diegoferigo · 2026-04-09T12:01:24Z

I introduced a new spot-cpp-sdk-devel in a806241 with the necessary run dependencies.

On the long term (as soon as conda/ceps#102 is accepted), I believe the recipe can be further improved by moving headers and *.cmake files into the -devel subpackage. For now, I'm quite happy with the current status.

I am facing the following problem when I try to implement the documented Eigen pattern for recipes with -devel subpackage:

 ╭─ Running build for recipe: spot-cpp-sdk-devel-5.1.4-h7421ac6_0
 │
 │ ╭─ Fetching source code
 │ │ Fetching source from url: https://github.com/boston-dynamics/spot-cpp-sdk/archive/refs/tags/v5.1.4.zip
 │ │ Found extracted source in cache: /home/conda/staged-recipes/build_artifacts/src_cache/1e433fb14d137ea6_extracted
 │ │ Copying source from cache: /home/conda/staged-recipes/build_artifacts/src_cache/1e433fb14d137ea6_extracted to /home/conda/staged-recipes/build_artifacts/bld/rattler-build_spot-cpp-sdk-devel_1775733867/work
 │ │ Applying patch: /home/conda/staged-recipes-copy/recipes/spot-cpp-sdk/01-fix-protobuf-stringview.patch
 │ │ Applying patch: /home/conda/staged-recipes-copy/recipes/spot-cpp-sdk/02-fix-proto-shared-linkage.osx.patch
 │ │
 │ ╰─────────────────── (took 0 seconds)
 │
 ╰─────────────────── (took 0 seconds)
Error:   × Could not apply pin_compatible. The following package is not part of the
  │ solution: eigen-abi

diegoferigo · 2026-04-09T12:03:30Z

@conda-forge/help-c-cpp any guidance on how to address this problem the intended way?

diegoferigo · 2026-04-09T13:15:20Z

@conda-forge/help-c-cpp, ready for review!

traversaro · 2026-04-09T13:43:43Z

+        - ninja
+      host:
+        - cli11
+        - eigen-abi-devel <5


Any specific reason for the <5 constraint? The build should get the 3.4.0 constraint from the pinnings, and then the migrator bot should open a PR to update the version.

Nope I haven't tried without the pin, I expected v5 to be already the default and I wanted to prevent it. Let me try.

Done in 2c06c7e, I confirm that eigen<5 is still the default

│ Finalized run dependencies (spot-cpp-sdk-5.1.4-he70b258_0): │ ╭──────────────────┬────────────────────────────────────────────────────────────╮ │ │ Name ┆ Spec │ │ ╞══════════════════╪════════════════════════════════════════════════════════════╡ │ │ Run dependencies ┆ │ │ │ __glibc ┆ >=2.17,<3.0.a0 (RE of [build: sysroot_linux-64]) │ │ │ eigen-abi ┆ >=3.4.0.100,<3.4.0.101.0a0 (RE of [host: eigen-abi-devel]) │ │ │ libabseil ┆ >=20250512.1,<20250513.0a0 (RE of [host: libabseil]) │ │ │ ┆ * cxx17* (RE of [host: libabseil]) │ │ │ libgcc ┆ >=14 (RE of [build: gxx_linux-64]) │ │ │ ┆ >=14 (RE of [build: gcc_linux-64]) │ │ │ libgrpc ┆ >=1.73.1,<1.74.0a0 (RE of [host: libgrpc]) │ │ │ libprotobuf ┆ >=6.31.1,<6.31.2.0a0 (RE of [host: libprotobuf]) │ │ │ libstdcxx ┆ >=14 (RE of [build: gxx_linux-64]) │ │ ╰──────────────────┴────────────────────────────────────────────────────────────╯

diegoferigo · 2026-04-09T15:38:57Z

@traversaro I addressed your comments

…*Config

…inkage.osx.patch

Since it pins exactly the subpackage, the transitive run_exports of eigen-abi should suffice

traversaro · 2026-04-09T19:55:00Z

Thanks!

diegoferigo · 2026-04-10T07:28:43Z

Thanks @traversaro for merging! This time something went wrong with the automatic creation of the feedstock, I see an empty repo. What could be done when this happens?

https://github.com/conda-forge/spot-cpp-sdk-feedstock

diegoferigo · 2026-04-10T20:06:52Z

Got finally populated, problem solved.

github-actions Bot added c-cpp review-requested labels Apr 9, 2026

diegoferigo marked this pull request as ready for review April 9, 2026 13:14

traversaro reviewed Apr 9, 2026

View reviewed changes

diegoferigo added 14 commits April 9, 2026 21:54

Add spot-cpp-sdk

f356c59

Update recipe.yaml

398d9c2

Replace sed by patch which is better in a multiplatform setting

d502728

Apply patch and add cli11 as run dep otherwise cmake-package-check fails

11c6669

Update patch

6a99c07

Update recipe.yaml

d8638cf

Update summary

e75f039

Set CMAKE_FIND_PACKAGE_PREFER_CONFIG to prefer find packages through …

c19ba70

…*Config

Update patch to play well with variadic templates on osx

35f36c4

Add patch to fix gRPC deadline handling on macOS

b4d500b

Enable patch in recipe

5f4cc23

Update 02-fix-grpc-deadline.osx.patch

2bd5b50

Fix 01-fix-protobuf-stringview.patch

4fed9e2

Update 02-fix-grpc-deadline.osx.patch with better fix

14ada11

diegoferigo added 23 commits April 9, 2026 21:54

Update recipe.yaml

efef62c

Update recipe.yaml

9016056

Update recipe.yaml

960c73f

Update recipe.yaml

bf79270

Update recipe.yaml

446ce18

Update recipe.yaml

4efd1b1

Update msvc_fix.h

f8ca747

Update recipe.yaml

41e2251

Update recipe.yaml

15ef41a

Create 05-disable-choreography.win.patch

f91d2bd

Update 05-disable-choreography.win.patch

30edbb3

Update 05-disable-choreography.win.patch

70fff36

Update 05-disable-choreography.win.patch

9fd4de9

Update 05-disable-choreography.win.patch

2def35d

Delete recipes/spot-cpp-sdk/05-disable-choreography.win.patch

85d9ba7

Delete recipes/spot-cpp-sdk/msvc_fix.h

b575850

Update recipe.yaml

dbc2623

Rename 03-fix-proto-shared-linkage.osx.patch to 02-fix-proto-shared-l…

d5de0a1

…inkage.osx.patch

Rename 02-fix-grpc-deadline.osx.patch to 03-fix-grpc-deadline.osx.patch

6f8aff1

Split recipe introducing -devel subpackage

cebfba2

Try adding eigen as run dep of -devel subpackage

cc5da7f

Update deps of -devel subpackage

1e01a15

Since it pins exactly the subpackage, the transitive run_exports of eigen-abi should suffice

Remove eigen <5 pinning

1ff09ea

traversaro force-pushed the diegoferigo/spot-cpp-sdk branch from 2c06c7e to 1ff09ea Compare April 9, 2026 19:54

traversaro merged commit 24fe216 into conda-forge:main Apr 9, 2026
8 checks passed

diegoferigo deleted the diegoferigo/spot-cpp-sdk branch April 9, 2026 22:32

diegoferigo-rai mentioned this pull request Apr 14, 2026

Conda-forge packages for spot-cpp-sdk (multi-platform support) boston-dynamics/spot-cpp-sdk#13

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