From 2646894ff1866d3cbbe5c0d67b8224f853c29042 Mon Sep 17 00:00:00 2001
From: Bas Zalmstra <bzalmstra@smart-robotics.nl>
Date: Mon, 14 Feb 2022 09:14:03 +0100
Subject: [PATCH 1/3] add librealsense2 packages

---
 vinca_linux_64.yaml | 8 +++-----
 vinca_osx.yaml      | 5 +++--
 vinca_win.yaml      | 6 +++---
 3 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index b86a654f2..9e722b6eb 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -90,6 +90,9 @@ packages_select_by_deps:
   - teb-local-planner
   - turtlebot3
   - turtlebot3-fake
+  - librealsense2
+  - realsense2_camera
+  - realsense2-description
 
   ## TODO AFTER REBUILD
   # - rtabmap
@@ -225,8 +228,6 @@ packages_select_by_deps:
   # - nerian-stereo
   # - opencv-apps
   # - posedetection-msgs
-  # - librealsense2
-  # - realsense2-camera
   # - resized-image-transport
   # - robot-calibration
   # - rqt-image-view
@@ -738,7 +739,6 @@ packages_select_by_deps:
   # - leo-viz
   # - lgsvl-msgs
   # - libpcan
-  # - librealsense2
   # - locomotor-msgs
   # - log-view
   # - lpg-planner
@@ -823,7 +823,6 @@ packages_select_by_deps:
   # - rcdiscover
   # - rc-genicam-api
   # - rc-visard-description
-  # - realsense2-description
   # - remote-rosbag-record
   # - rgbd-launch
   # - robot-calibration-msgs
@@ -920,7 +919,6 @@ packages_select_by_deps:
   # - ifm3d
   # - rviz
   # - ur_client_library
-  # - realsense2_camera
   # - franka_example_controllers
   # - franka_ros
   # - catkin
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 3f1a694ad..0d89ca473 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -85,6 +85,9 @@ packages_select_by_deps:
   - teb-local-planner
   - turtlebot3
   - turtlebot3-fake
+  - librealsense2
+  - realsense2_camera
+  - realsense2-description
 
   ##
   #  TODO OSX
@@ -608,7 +611,6 @@ packages_select_by_deps:
   # - razor-imu-9dof
   # - rc-common-msgs
   # - rc-visard-description
-  # - realsense2-description
   # - remote-rosbag-record
   # - rgbd-launch
   # - robot-calibration-msgs
@@ -730,7 +732,6 @@ packages_select_by_deps:
   # - rosserial-python
   # - rosserial-msgs
   # - rviz
-  # - realsense2_camera
   # - tf2_web_republisher
   # - franka_ros
   # - franka_example_controllers
diff --git a/vinca_win.yaml b/vinca_win.yaml
index da518d263..7cfb186e1 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -79,6 +79,9 @@ packages_select_by_deps:
   - teb-local-planner
   - turtlebot3
   - turtlebot3-fake
+  - librealsense2
+  - realsense2_camera
+  - realsense2-description
 
   # - pybind11_catkin  # need to be unvendored
 
@@ -87,9 +90,6 @@ packages_select_by_deps:
   # - drone-wrapper
   # - perception_pcl
   # - velodyne_pcl
-  # - realsense2_camera
-  # - realsense2-description
-  # - librealsense2
 
   # Need to build in own stage
   # - fcl

From bb494d829cfb06f926cb7955c1c4139f850ba2bb Mon Sep 17 00:00:00 2001
From: Wolf Vollprecht <w.vollprecht@gmail.com>
Date: Mon, 14 Feb 2022 12:45:18 +0100
Subject: [PATCH 2/3] use micromamba to provision env

---
 .github/workflows/testpr.yml | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index 5b9e893cb..2db325e9f 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -34,15 +34,12 @@ jobs:
             platform: osx-arm64
     steps:
     - uses: actions/checkout@master
-    - uses: conda-incubator/setup-miniconda@v2
+    - name: install mamba
+      uses: mamba-org/provision-with-micromamba@main
       with:
-        mamba-version: "*"
-        channels: robostack,robostack-experimental,conda-forge
-        channel-priority: true
-        auto-activate-base: true
-        activate-environment: ""
+        environment-file: .github/testpr_environment.yml
 
-    - shell: bash
+    - shell: bash -l {0}
       if: contains(matrix.os, 'linux-aarch64')
       run: |
         echo "::group::Configure binfmt_misc"

From 9d8589d64bfc19460103aa78caa5f46d64803728 Mon Sep 17 00:00:00 2001
From: Wolf Vollprecht <w.vollprecht@gmail.com>
Date: Mon, 14 Feb 2022 12:46:47 +0100
Subject: [PATCH 3/3] ..

---
 .github/testpr_environment.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/testpr_environment.yml b/.github/testpr_environment.yml
index 582e2bfc6..c56b32b83 100644
--- a/.github/testpr_environment.yml
+++ b/.github/testpr_environment.yml
@@ -1,4 +1,4 @@
-name: base
+name: testpr_env
 channels:
   - robostack
   - robostack-experimental