Added CD GHA

.devcontainer/Dockerfile.amd64

@@ -0,0 +1,27 @@
+FROM ubuntu:22.04
+
+RUN apt-get update --fix-missing &&\
+    apt-get install -y --no-install-recommends build-essential ca-certificates git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
+    apt-get autoclean &&\
+    apt-get autoremove &&\
+    apt-get clean &&\
+    rm -rf /var/lib/apt/lists/*
+
+RUN update-ca-certificates
+
+RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
+    tar -xzf cmake-3.28.3.tar.gz &&\
+    cd cmake-3.28.3 &&\
+    ./configure &&\
+    make install &&\
+    cd .. &&\
+    rm cmake-3.28.3.tar.gz &&\
+    rm -r cmake-3.28.3
+
+RUN git clone https://github.com/microsoft/vcpkg &&\
+    cd vcpkg &&\
+    git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
+    ./bootstrap-vcpkg.sh -disableMetrics &&\
+    ./vcpkg install grpc:x64-linux &&\
+    ./vcpkg install eigen3:x64-linux &&\
+    ./vcpkg install cli11:x64-linux

.devcontainer/Dockerfile.arm64

@@ -0,0 +1,29 @@
+FROM arm64v8/ubuntu:22.04
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update --fix-missing &&\
+    apt-get install -y --no-install-recommends build-essential ca-certificates cmake git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
+    apt-get autoclean &&\
+    apt-get autoremove &&\
+    apt-get clean &&\
+    rm -rf /var/lib/apt/lists/*
+
+RUN update-ca-certificates
+
+RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
+    tar -xzf cmake-3.28.3.tar.gz &&\
+    cd cmake-3.28.3 &&\
+    ./configure &&\
+    make install &&\
+    cd .. &&\
+    rm cmake-3.28.3.tar.gz &&\
+    rm -r cmake-3.28.3
+
+RUN git clone https://github.com/microsoft/vcpkg &&\
+    cd vcpkg &&\
+    git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
+    export VCPKG_FORCE_SYSTEM_BINARIES=arm &&\
+    ./bootstrap-vcpkg.sh -disableMetrics &&\
+    ./vcpkg install grpc:arm64-linux &&\
+    ./vcpkg install eigen3:arm64-linux &&\
+    ./vcpkg install cli11:arm64-linux

.github/workflows/cd.yml

@@ -0,0 +1,121 @@
+# Commented out due to speed of runners. Uncomment when we get the better ones.
+
+# # This workflow automatically releases binaries upon tagging.
+# name: spot-cpp-sdk CD
+
+# on:
+#   push:
+#     tags:
+#       - '*'
+
+# concurrency:
+#   group: ${{ github.workflow }}-${{ github.ref }}
+#   cancel-in-progress: true
+
+# env:
+#   REGISTRY: ghcr.io
+#   # github.repository as <account>/<repo>
+#   IMAGE_NAME: bdaiinstitute/spot_cpp_sdk_builder
+
+# jobs:
+  # build-docker-image:
+  #   permissions:
+  #     contents: read
+  #     packages: write
+  #     # This is used to complete the identity challenge
+  #     # with sigstore/fulcio when running outside of PRs.
+  #     id-token: write
+  #   strategy:
+  #     fail-fast: false
+  #     matrix:
+  #       config:
+  #         - { arch: "amd64" }
+  #         - { arch: "arm64" }
+  #   name: Build docker image for ${{ matrix.config.arch }}
+  #   runs-on: ubuntu-latest
+  #   steps:
+  #     - name: Checkout repository
+  #       uses: actions/checkout@v4
+
+  #     - name: Set up QEMU  # as virtualization is necessary to build container images
+  #       uses: docker/setup-qemu-action@v3
+
+  #     - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
+  #       uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
+
+  #     - name: Log into registry ${{ env.REGISTRY }}
+  #       uses: docker/login-action@v3  # https://github.com/docker/login-action
+  #       with:
+  #         registry: ${{ env.REGISTRY }}
+  #         username: ${{ github.actor }}
+  #         password: ${{ secrets.GITHUB_TOKEN }}
+
+  #     # Extract metadata (tags, labels) for Docker
+  #     # https://github.com/docker/metadata-action
+  #     - name: Extract Docker metadata
+  #       id: meta
+  #       uses: docker/metadata-action@v5
+  #       with:
+  #         images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_${{ matrix.config.arch }}
+
+  #     - name: Build and push
+  #       uses: docker/build-push-action@v5  # https://github.com/docker/build-push-action
+  #       id: build
+  #       with:
+  #         context: .
+  #         file: .devcontainer/Dockerfile.${{ matrix.config.arch }}
+  #         tags: ${{ steps.meta.outputs.tags }}
+  #         labels: ${{ steps.meta.outputs.labels }}
+  #         cache-from: type=gha
+  #         cache-to: type=gha,mode=max
+  #         push: true
+
+  # build-artifacts:
+  #   strategy:
+  #     fail-fast: false
+  #     matrix:
+  #       config:
+  #         - { arch: "amd64" }
+  #         - { arch: "arm64" }
+  #   name: Build spot-cpp-sdk for ${{ matrix.config.arch }}
+  #   # needs: build-docker-image
+  #   runs-on: ubuntu-latest
+  #   container:
+  #     # env cannot be used here...
+  #     image: ghcr.io/bdaiinstitute/spot_cpp_sdk_builder_${{ matrix.config.arch }}:latest
+  #   steps:
+  #     - name: Checkout repository
+  #       uses: actions/checkout@v4
+
+  #     - name: Build spot-sdk-cpp
+  #       run: |
+  #         cd spot-sdk-cpp/cpp
+  #         mkdir build
+  #         cd build
+  #         cmake ../ -DCMAKE_TOOLCHAIN_FILE=/vcpkg/scripts/buildsystems/vcpkg.cmake -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=TRUE -DBUILD_CHOREOGRAPHY_LIBS=ON
+  #         make -j2 install package
+
+  #     - name: Upload ${{ matrix.config.arch }} artifact
+  #       uses: actions/upload-artifact@v4
+  #       with:
+  #         name: ${{ matrix.config.arch }}-artifact
+  #         path: '*.deb'
+  #         retention-days: 1
+
+  # bundle-debians:
+  #   name: Release artifacts
+  #   runs-on: ubuntu-latest
+  #   needs: build-artifacts
+  #   steps:
+  #     - name: Download artifacts
+  #       uses: actions/download-artifact@v4
+  #       with:
+  #         pattern: '*-artifact'
+  #         merge-multiple: true
+
+  #     - name: Release to GitHub
+  #       uses: softprops/action-gh-release@v1
+  #       with:
+  #         name: Release ${{ github.ref_name }}
+  #         files: '*.deb'
+

cpp/CMakeLists.txt

@@ -44,7 +44,7 @@ file(GLOB_RECURSE bosdyn_protos_files CONFIGURE_DEPENDS
 if (bosdyn_protos_files)
   add_library(bosdyn_api_obj OBJECT ${bosdyn_protos_files})
   set_property(TARGET bosdyn_api_obj PROPERTY POSITION_INDEPENDENT_CODE 1)
-  target_link_libraries(bosdyn_api_obj PUBLIC ${PROTOBUF_LIBRARIES} gRPC::grpc gRPC::grpc++)
+  target_link_libraries(bosdyn_api_obj PUBLIC protobuf::libprotobuf gRPC::grpc gRPC::grpc++)
   target_include_directories(bosdyn_api_obj PUBLIC
     $<BUILD_INTERFACE:${protos_OUTPUT_DIR}>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>

docs/cpp/quickstart.md

@@ -154,6 +154,12 @@ make -j6 install
 
 The `make` command generates a lot of deprecation warnings during the compiling of the classes generated from the protobuf definitions. This is expected as the protobuf definitions contain `deprecated` flags for fields that will not be supported in future versions of the SDK.
 
+Build the SDK and generate a debian package using the `make` command below:
+
+```
+make -j6 install package
+```
+
 **On Windows:**
 
 - Open the `sln` file in the build folder in Microsoft Visual Studio.