RobotLocomotion · tyler-yankee · Feb 24, 2025 · Feb 24, 2025 · Feb 24, 2025 · Mar 6, 2025
diff --git a/drake_bazel_external/.bazelignore b/drake_bazel_external/.bazelignore
@@ -1,2 +1,2 @@
 # Used for setup, do not build
-drake-master
+drake
diff --git a/drake_bazel_external/.github/ci_build_test b/drake_bazel_external/.github/ci_build_test
@@ -3,5 +3,10 @@
 
 set -euxo pipefail
 
+# Use what we downloaded to drake_bazel_external/drake,
+# rather than the URL to the latest Drake master branch
+# found in drake_bazel_external/MODULE.bazel.
+override_module_flag="--override_module=drake=drake"
+
 bazel version
-bazel test //...
+bazel test "${override_module_flag}" //...
diff --git a/drake_bazel_external/.github/setup b/drake_bazel_external/.github/setup
@@ -7,4 +7,4 @@ set -euxo pipefail
 sudo .github/ubuntu_setup
 
 # drake source setup
-setup/install_prereqs
+setup/install_prereqs "$@"
diff --git a/drake_bazel_external/README.md b/drake_bazel_external/README.md
@@ -8,7 +8,7 @@ For an introduction to Bazel, refer to
 ## Instructions
 
 First, run the `install_prereqs` script to download
-the Drake source to `drake-master/` (from the current directory).
+the Drake source to `drake/` (from the current directory).
 This also runs Drake's setup script to install the required Ubuntu packages:
 
 ```bash

diff --git a/drake_bazel_external/setup/install_prereqs b/drake_bazel_external/setup/install_prereqs
@@ -4,6 +4,25 @@
 
 set -euxo pipefail
 
+drake_commit_hash='master'
+
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    --drake-commit-hash)
+      shift
+      if [[ $# -eq 0 ]]; then
+        echo 'No argument specified for --drake-commit-hash' >&2
+        exit 1
+      fi
+      drake_commit_hash="$1"
+      ;;
+    *)
+      echo 'Invalid command line argument' >&2
+      exit 1
+  esac
+  shift
+done
+
 maybe_sudo=
 if [[ "${EUID}" -ne 0 ]]; then
   maybe_sudo=sudo
@@ -16,11 +35,9 @@ EOF
 
 # Download the drake source
 wget -O drake.tar.gz \
-  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+  https://github.com/RobotLocomotion/drake/archive/${drake_commit_hash}.tar.gz
 trap 'rm -f drake.tar.gz' EXIT
-
-# Setup script
-tar -xf drake.tar.gz
+mkdir -p drake && tar -xf drake.tar.gz -C drake --strip-components 1
 
 # Install the source prereqs
-drake-master/setup/install_prereqs --with-bazel
+drake/setup/install_prereqs --with-bazel
diff --git a/drake_bazel_external_legacy/.bazelignore b/drake_bazel_external_legacy/.bazelignore
@@ -1,2 +1,2 @@
 # Used for setup, do not build
-drake-master
+drake
diff --git a/drake_bazel_external_legacy/.github/ci_build_test b/drake_bazel_external_legacy/.github/ci_build_test
@@ -3,5 +3,11 @@
 
 set -euxo pipefail
 
+# Use what we downloaded to drake_bazel_external_legacy/drake,
+# rather than the URL to the latest Drake master branch
+# found in drake_bazel_external_legacy/WORKSPACE.
+export EXAMPLES_LOCAL_DRAKE_PATH=$(realpath drake)
+trap 'unset EXAMPLES_LOCAL_DRAKE_PATH' EXIT
+
 bazel version
 bazel test //...
diff --git a/drake_bazel_external_legacy/.github/setup b/drake_bazel_external_legacy/.github/setup
@@ -7,4 +7,4 @@ set -euxo pipefail
 sudo .github/ubuntu_setup
 
 # drake source setup
-setup/install_prereqs
+setup/install_prereqs "$@"
diff --git a/drake_bazel_external_legacy/README.md b/drake_bazel_external_legacy/README.md
@@ -13,7 +13,7 @@ For an introduction to Bazel, refer to
 ## Instructions
 
 First, run the `install_prereqs` script to download the
-Drake source to `drake-master/` (from the current directory).
+Drake source to `drake/` (from the current directory).
 This also runs Drake's setup script to install the required Ubuntu packages:
 
 ```bash

diff --git a/drake_bazel_external_legacy/setup/install_prereqs b/drake_bazel_external_legacy/setup/install_prereqs
@@ -4,6 +4,25 @@
 
 set -euxo pipefail
 
+drake_commit_hash='master'
+
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    --drake-commit-hash)
+      shift
+      if [[ $# -eq 0 ]]; then
+        echo 'No argument specified for --drake-commit-hash' >&2
+        exit 1
+      fi
+      drake_commit_hash="$1"
+      ;;
+    *)
+      echo 'Invalid command line argument' >&2
+      exit 1
+  esac
+  shift
+done
+
 maybe_sudo=
 if [[ "${EUID}" -ne 0 ]]; then
   maybe_sudo=sudo
@@ -16,11 +35,9 @@ EOF
 
 # Download the drake source
 wget -O drake.tar.gz \
-  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+  https://github.com/RobotLocomotion/drake/archive/${drake_commit_hash}.tar.gz
 trap 'rm -f drake.tar.gz' EXIT
-
-# Setup script
-tar -xf drake.tar.gz
+mkdir -p drake && tar -xf drake.tar.gz -C drake --strip-components 1
 
 # Install the source prereqs
-drake-master/setup/install_prereqs --with-bazel
+drake/setup/install_prereqs --with-bazel
diff --git a/drake_cmake_external/.github/ci_build_test b/drake_cmake_external/.github/ci_build_test
@@ -3,14 +3,47 @@
 
 set -euxo pipefail
 
+drake_commit_hash=
+
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    --drake-commit-hash)
+      shift
+      if [[ $# -eq 0 ]]; then
+        echo 'No argument specified for --drake-commit-hash' >&2
+        exit 1
+      fi
+      drake_commit_hash="$1"
+      ;;
+    *)
+      echo 'Invalid command line argument' >&2
+      exit 1
+  esac
+  shift
+done
+
 cmake --version
 
 mkdir build
 pushd build
 
 export LD_LIBRARY_PATH="${PWD}/install/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
 
-cmake ..
+cmake_args=()
+if [[ ! -z "${drake_commit_hash}" ]]; then
+  # Use a specific commit of Drake source,
+  # rather than the latest from master.
+  cmake_args+=(-DDRAKE_COMMIT_HASH=${drake_commit_hash})
+
+  # Find the SHA-256 by downloading and running shasum.
+  wget -O drake.tar.gz \
+    https://github.com/RobotLocomotion/drake/archive/${drake_commit_hash}.tar.gz
+  trap 'rm -f drake.tar.gz' EXIT
+  drake_commit_sha256=$(echo $(shasum -a 256 drake.tar.gz | awk '{print $1}'))
+  cmake_args+=(-DDRAKE_COMMIT_SHA256=${drake_commit_sha256})
+fi
+
+cmake .. "${cmake_args[@]}"
 cmake --build .
 
 cd drake_external_examples
@@ -20,4 +53,3 @@ popd
 
 chmod -R a+w build || true
 rm -rf build
-
diff --git a/drake_cmake_external/.github/setup b/drake_cmake_external/.github/setup
@@ -7,7 +7,7 @@ set -euxo pipefail
 sudo .github/ubuntu_setup
 
 # drake source setup
-setup/install_prereqs
+setup/install_prereqs "$@"
 
 # Provide regression coverage for the WITH_USER_...=ON options by un-installing
 # packages that should not be necessary in this particular build flavor. This

diff --git a/drake_cmake_external/CMakeLists.txt b/drake_cmake_external/CMakeLists.txt
@@ -93,13 +93,20 @@ ExternalProject_Add(spdlog
 # also pass this explicitly to ExternalProject_Add.
 set(DRAKE_PREFIX "${PROJECT_BINARY_DIR}/drake-prefix")
 
+# Options to override Drake's latest source on master with a specific commit.
+# Download https://github.com/RobotLocomotion/drake/archive/${DRAKE_COMMIT_HASH}.tar.gz
+# and use "shasum -a 256 'xxx.tar.gz'" on it to get the DRAKE_COMMIT_SHA256.
+set(DRAKE_COMMIT_HASH "master" CACHE STRING "Commit hash for Drake")
+set(DRAKE_COMMIT_SHA256 CACHE STRING "SHA256 hash value for Drake commit archive")
+
+if (NOT "${DRAKE_COMMIT_SHA256}" STREQUAL "")
+  string(PREPEND DRAKE_COMMIT_SHA256 "SHA256=")
+endif()
+
 ExternalProject_Add(drake
   DEPENDS eigen fmt spdlog
-  URL https://github.com/RobotLocomotion/drake/archive/master.tar.gz
-  # Or from a commit (download and use "shasum -a 256 'xxx.tar.gz'" on it to
-  # get the URL_HASH.
-  # URL https://github.com/RobotLocomotion/drake/archive/65c4366ea2b63278a286b1e22b8d464d50fbe365.tar.gz
-  # URL_HASH SHA256=899d98485522a7cd5251e50a7a6b8a64e40aff2a3af4951a3f0857fd938cafca
+  URL https://github.com/RobotLocomotion/drake/archive/${DRAKE_COMMIT_HASH}.tar.gz
+  URL_HASH ${DRAKE_COMMIT_SHA256}
   TLS_VERIFY ON
   CMAKE_ARGS
     -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}

diff --git a/drake_cmake_external/README.md b/drake_cmake_external/README.md
@@ -5,7 +5,7 @@ This pulls in Drake using the CMake `ExternalProject_Add(drake)` mechanism.
 ## Instructions
 
 First, run the `install_prereqs` script to download the
-Drake source to `drake-master/` (from the current directory).
+Drake source to `drake/` (from the current directory).
 This also runs Drake's setup script to install the required Ubuntu packages:
 
 ```bash
@@ -29,3 +29,13 @@ cmake --build .
 cd drake_external_examples
 ctest -V .
 ```
+
+### Using a specific commit of Drake
+
+To use Drake sources from a specific commit, pass two cache variables to
+CMake (from either the CLI or the GUI):
+
+* `DRAKE_COMMIT_HASH`: the commit hash
+* `DRAKE_COMMIT_SHA256`: the checksum of the archive downloaded from GitHub
+(download https://github.com/RobotLocomotion/drake/archive/<DRAKE_COMMIT_HASH>.tar.gz
+and use `shasum -a 256 'xxx.tar.gz'`)
diff --git a/drake_cmake_external/setup/install_prereqs b/drake_cmake_external/setup/install_prereqs
@@ -4,6 +4,25 @@
 
 set -euxo pipefail
 
+drake_commit_hash='master'
+
+while [ "${1:-}" != "" ]; do
+  case "$1" in
+    --drake-commit-hash)
+      shift
+      if [[ $# -eq 0 ]]; then
+        echo 'No argument specified for --drake-commit-hash' >&2
+        exit 1
+      fi
+      drake_commit_hash="$1"
+      ;;
+    *)
+      echo 'Invalid command line argument' >&2
+      exit 1
+  esac
+  shift
+done
+
 maybe_sudo=
 if [[ "${EUID}" -ne 0 ]]; then
   maybe_sudo=sudo
@@ -16,11 +35,9 @@ EOF
 
 # Download the drake source
 wget -O drake.tar.gz \
-  https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+  https://github.com/RobotLocomotion/drake/archive/${drake_commit_hash}.tar.gz
 trap 'rm -f drake.tar.gz' EXIT
-
-# Setup script
-tar -xf drake.tar.gz
+mkdir -p drake && tar -xf drake.tar.gz -C drake --strip-components 1
 
 # Install the source prereqs
-drake-master/setup/install_prereqs
+drake/setup/install_prereqs
diff --git a/private/test/file_sync_test.py b/private/test/file_sync_test.py
@@ -41,10 +41,6 @@
         "drake_pip/LICENSE",
         "drake_poetry/LICENSE",
     ),
-    (
-        "drake_bazel_download/.github/ci_build_test",
-        "drake_bazel_external/.github/ci_build_test",
-    ),
     (
         "drake_bazel_external/.github/ubuntu_setup",
         "drake_cmake_external/.github/ubuntu_setup",
@@ -62,7 +58,6 @@
         ".bazelignore",
         ".bazelproject",
         ".clang-format",
-        ".github/ci_build_test",
         ".github/setup",
         ".github/ubuntu_setup",
         "BUILD.bazel",