Add yarp-ros repo with Unstable branches and compile again against YA…

…RP master in Unstable branches (#1547) * Add yarp-ros repo with Unstable branches * Fix * Update ProjectsTagsUnstable.cmake * Drop support for Debian Buster 10 when compiling with apt dependencies * Switch to use CMake from Kitware repo for Ubuntu 20.04 * Update ci.yml * Update ci.yml * Update ci.yml * Create Buildyarp-ros-devices.cmake * Add ROBOTOLOGY_SUPERBUILD_BUILD_SEPARATE_YARP_ROS option * Delete cmake/Buildyarp-ros-devices.cmake * Update Buildyarp-devices-ros.cmake * Update ci.yml * Update ci.yml * Update install_debian.sh * Update ci.yml * Update ci.yml * Update README.md * Update ci.yml * Update README.md * fixup * Update RobotologySuperbuildOptions.cmake * Update RobotologySuperbuildOptions.cmake * fixup * Update Buildbipedal-locomotion-framework.cmake * Fix PATH definition for yarp-ros * Add back yarp-ros dependency in HDE * Fix vcpkg workaround for yarp-ros * Source setup.sh before build in conda CI * Document that the setup script needs to be called before running the build * Fix CI * Update ci.yml * Update README.md
robotology · Oct 30, 2024 · 7a70c65 · 7a70c65
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -167,6 +167,10 @@ jobs:
         # Using b instead of build as a temporary workaround to https://github.com/robotology/robotology-superbuild/issues/1542#issuecomment-1827682957
         # Go back to build once https://github.com/robotology/yarp/pull/3057 is merged and released
         cd b
+        # Make sure that (on Windows) YARP's dll are in the path in case some repos use a code generator
+        # in their build that uses YARP's dll
+        # https://github.com/robotology/robotology-superbuild/pull/1547#issuecomment-2278151057
+        source ./install/share/robotology-superbuild/setup.sh
         cmake --build . --config ${{ matrix.build_type }}
 
     # Skip on Apple Silicon https://github.com/robotology/robotology-superbuild/issues/1625
@@ -179,18 +183,17 @@ jobs:
 
   docker-build:
     name: '[docker:Tags:${{ matrix.project_tags }}@${{ matrix.docker_image }}@${{ matrix.build_type }}]'
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         build_type: [Debug]
         cmake_generator:
           - "Ninja"
         docker_image:
-          - "ubuntu:focal"
-          - "ubuntu:jammy"
+          - "ubuntu:20.04"
+          - "ubuntu:22.04"
           - "ubuntu:24.04"
-          - "debian:bullseye"
 
         project_tags:
           - Default
@@ -218,35 +221,29 @@ jobs:
         rm -rf /host_usr_local/lib/android
         rm -rf /host_usr_local/lib/node_modules
 
-    - name: Upgrade apt packages Debian Testing [Debian Testing]
-      if: matrix.docker_image == 'debian:testing'
-      run: |
-        # The Debian testing docker image is generated only
-        # once a month, so to actually test with the latest
-        # packages we need to manually upgrade the packages
-        apt-get -y upgrade
-
     - name: Dependencies [Docker]
       run: |
         chmod +x ./.ci/install_debian.sh
         bash ./.ci/install_debian.sh
 
-
+    - name: Install recent CMake [Docker/Ubuntu Focal]
+      if: matrix.docker_image == 'ubuntu:20.04'
+      run: |
+        apt-get -y update
+        apt-get install -y ca-certificates software-properties-common gpg wget
+        wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
+        echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null
+        apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
+        apt-get install -y cmake
 
     - name: Configure [Docker]
       run: |
         mkdir -p build
         cd build
         cmake -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake  -G"${{ matrix.cmake_generator }}" -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
 
-    - name: Disable profiles that are not supported in Debian [Docker debian-testing and debian-buster]
-      if: (matrix.docker_image == 'debian:testing' || matrix.docker_image == 'debian:buster-backports')
-      run: |
-       cd build
-       cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_USES_GZ:BOOL=OFF .
-
-    - name: Disable MuJoCo and gz-sim for distros released before 2022 [Docker ubuntu:focal and debian:bullseye]
-      if: (matrix.docker_image == 'ubuntu:focal' || matrix.docker_image == 'debian:bullseye')
+    - name: Disable MuJoCo and gz-sim for distros released before 2022 [Docker ubuntu:20.04]
+      if: (matrix.docker_image == 'ubuntu:20.04')
       run: |
        cd build
        cmake  -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_USES_GZ:BOOL=OFF .
@@ -403,8 +400,8 @@ jobs:
         cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DROBOTOLOGY_USES_MATLAB:BOOL=OFF -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=Debug ${{ matrix.project_tags_cmake_options }} ..
         cmake -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF .
 
-    - name: Disable options unsupported on Ubuntu 20.04 and vcpkg
-      if: contains(matrix.os, '20.04') || contains(matrix.os, 'windows')
+    - name: Disable options unsupported on vcpkg
+      if: contains(matrix.os, 'windows')
       shell: bash
       run: |
         cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
@@ -427,6 +424,10 @@ jobs:
         cd build
         # Make sure that vcpkg's ace .dll are on the PATH
         source /c/robotology/scripts/setup-deps.sh
+        # Make sure that YARP's dll are in the path in case some repos use a code generator
+        # in their build that uses YARP's dll
+        # https://github.com/robotology/robotology-superbuild/pull/1547#issuecomment-2278151057
+        source /c/robotology/robotology/share/robotology-superbuild/setup.sh
         cmake --build . --config Release
         # Cleanup build directories to avoid to fill the disk
         rm -rf ./robotology
@@ -439,6 +440,10 @@ jobs:
         cd build
         # Make sure that vcpkg's ace .dll are on the PATH
         source /c/robotology/scripts/setup-deps.sh
+        # Make sure that YARP's dll are in the path in case some repos use a code generator
+        # in their build that uses YARP's dll
+        # https://github.com/robotology/robotology-superbuild/pull/1547#issuecomment-2278151057
+        source /c/robotology/robotology/share/robotology-superbuild/setup.sh
         cmake --build . --config Debug
         # Cleanup build directories to avoid to fill the disk
         rm -rf ./robotology

diff --git a/README.md b/README.md
@@ -104,7 +104,7 @@ We also support an additional deprecated way of compiling the superbuild, on Win
 The following apt-based distributions are supported and tested by the robotology-superbuild:
 * Ubuntu 20.04 (Focal Fossa)
 * Ubuntu 22.04 (Jammy Jellyfish)
-* Debian 11 (Bullseye)
+* Ubuntu 24.04 (Noble Numbat)
 
 Other versions may be working, but they are not checked.
 
@@ -117,10 +117,11 @@ sudo bash ./scripts/install_apt_dependencies.sh
 
 Besides the packages listed in `apt.txt` file, the script `install_apt_dependencies.sh` also installs some other packages depending on the distribution used, please inspect the script for more information.
 
-For what regards CMake, the robotology-superbuild requires CMake 3.16 . If you are using a recent Debian-based system such as Ubuntu 20.04, the default CMake is recent enough and you do not need to do further steps.
+For what regards CMake, the robotology-superbuild requires CMake 3.19 . If you are using a recent Debian-based system such as Ubuntu 22.04, the default CMake is recent enough and you do not need to do further steps.
 
 If instead you use an older distro in which the default version of CMake is older, you can easily install a newer CMake version in several ways. For the following distributions, we recommend the following methods:
-* Ubuntu 20.04 : install a recent CMake via Kitware APT Repository, see https://apt.kitware.com/ .
+* Ubuntu 20.04 "Focal" : install a recent CMake via Kitware APT Repository, see https://apt.kitware.com/ .
+
 
 For some [profile](doc/cmake-options.md#profile-cmake-options) or [dependency](doc/cmake-options.md#dependencies-cmake-options) specific CMake option you may need to install additional system dependencies, following the dependency-specific documentation listed in the following. If you do not want to enable an option, you should ignore the corresponding section and continue with the installation process.
 
@@ -142,8 +143,7 @@ If you are on Ubuntu 24.04, please use conda if you want to install Gazebo Class
 
 #### `ROBOTOLOGY_USES_GZ`
 
-To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (20.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu . Furthermore, you also need to install the `cli11` dependency with:
-
+To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (24.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu . Furthermore, you also need to install the `cli11` dependency with:
 ~~~
 sudo apt-get install libcli11-dev
 ~~~
@@ -179,6 +179,7 @@ cd robotology-superbuild
 mkdir build
 cd build
 ccmake ../
+source ./install/share/robotology-superbuild.sh
 make
 ```
 You can configure the ccmake environment if you know you will use some particular set of software (put them in "ON").

diff --git a/cmake/BuildHumanDynamicsEstimation.cmake b/cmake/BuildHumanDynamicsEstimation.cmake
@@ -31,6 +31,11 @@ if(WIN32)
     list(APPEND HDE_OPTIONAL_CMAKE_ARGS -DXSENS_MVN_USE_SDK:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} -DENABLE_XsensSuit:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} )
 endif()
 
+if(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS)
+  find_or_build_package(yarp-ros QUIET)
+  list(APPEND HumanDynamicsEstimation_OPTIONAL_DEPS yarp-ros)
+endif()
+
 ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/human-dynamics-estimation.git
@@ -43,7 +48,8 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
                       osqp
                       OsqpEigen
                       ICUB
-                      robometry)
+                      robometry
+                      ${HumanDynamicsEstimation_OPTIONAL_DEPS})
 
 set(HumanDynamicsEstimation_CONDA_PKG_NAME human-dynamics-estimation)
 set(HumanDynamicsEstimation_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -44,6 +44,11 @@ if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
   endif()
 endif()
 
+if(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS)
+  find_or_build_package(yarp-ros QUIET)
+  list(APPEND bipedal-locomotion-framework_DEPENDS yarp-ros)
+endif()
+
 set(bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "")
 if(ROBOTOLOGY_USES_PYTHON)
   list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_PYTHON_INSTALL_DIR:PATH=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")

diff --git a/cmake/Buildblocktest-yarp-plugins.cmake b/cmake/Buildblocktest-yarp-plugins.cmake
@@ -8,6 +8,13 @@ include(FindOrBuildPackage)
 find_or_build_package(YARP QUIET)
 find_or_build_package(blocktestcore QUIET)
 
+set(blocktest-yarp-plugins_OPTIONAL_DEPS "")
+
+if(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS)
+  find_or_build_package(yarp-ros QUIET)
+  list(APPEND blocktest-yarp-plugins_OPTIONAL_DEPS yarp-ros)
+endif()
+
 ycm_ep_helper(blocktest-yarp-plugins TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/blocktest-yarp-plugins.git
@@ -16,6 +23,7 @@ ycm_ep_helper(blocktest-yarp-plugins TYPE GIT
               FOLDER src
               DEPENDS YARP
                       blocktestcore
+                      ${blocktest-yarp-plugins_OPTIONAL_DEPS}
               CMAKE_ARGS -DENABLE_MSVC_WARNINGS:BOOL=OFF)
-              
+
 set(blocktest-yarp-plugins_CONDA_DEPENDENCIES libboost-devel)
diff --git a/cmake/Buildidyntree-yarp-tools.cmake b/cmake/Buildidyntree-yarp-tools.cmake
@@ -7,6 +7,11 @@ find_or_build_package(iDynTree QUIET)
 find_or_build_package(YARP QUIET)
 find_or_build_package(ICUB QUIET)
 
+if(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS)
+  find_or_build_package(yarp-ros QUIET)
+  list(APPEND idyntree-yarp-tools_OPTIONAL_DEPS yarp-ros)
+endif()
+
 ycm_ep_helper(idyntree-yarp-tools TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/idyntree-yarp-tools.git
@@ -16,6 +21,7 @@ ycm_ep_helper(idyntree-yarp-tools TYPE GIT
               DEPENDS iDynTree
                       YARP
                       ICUB
+                      ${idyntree-yarp-tools_OPTIONAL_DEPS}
               CMAKE_ARGS -DIDYNTREE_YARP_TOOLS_USES_ICUB_MAIN:BOOL=ON
                          -DIDYNTREE_YARP_TOOLS_USES_QT:BOOL=ON
                          -DIDYNTREE_YARP_TOOLS_USES_QT_CHARTS:BOOL=OFF)

diff --git a/cmake/Buildyarp-devices-ros.cmake b/cmake/Buildyarp-devices-ros.cmake
@@ -6,10 +6,15 @@ include(FindOrBuildPackage)
 
 find_or_build_package(YARP QUIET)
 
+if(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS)
+  find_or_build_package(yarp-ros QUIET)
+  list(APPEND YDR_OPTIONAL_DEPS yarp-ros)
+endif()
+
 ycm_ep_helper(yarp-devices-ros TYPE GIT
                                     STYLE GITHUB
                                     REPOSITORY robotology/yarp-devices-ros.git
                                     TAG master
                                     COMPONENT core
                                     FOLDER src
-                                    DEPENDS YARP)
+                                    DEPENDS YARP ${YDR_OPTIONAL_DEPS})
diff --git a/cmake/Buildyarp-ros.cmake b/cmake/Buildyarp-ros.cmake
@@ -0,0 +1,16 @@
+# Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia
+# Authors: Silvio Traversaro <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YARP QUIET)
+
+ycm_ep_helper(yarp-ros TYPE GIT
+              STYLE GITHUB
+              REPOSITORY robotology/yarp-ros.git
+              TAG master
+              COMPONENT core
+              FOLDER src
+              DEPENDS YARP)
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
@@ -15,8 +15,6 @@ set_tag(casadi_TAG 3.6.6)
 set_tag(casadi-matlab-bindings_TAG v3.6.6.0)
 
 # Robotology projects
-set_tag(YARP_TAG yarp-3.9)
-set_tag(yarp-matlab-bindings_TAG yarp-3.9)
 set_tag(ICUB_TAG devel)
 set_tag(RobotTestingFramework_TAG devel)
 set_tag(blockTest_TAG devel)

diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
@@ -66,6 +66,9 @@ endif()
 # Core
 if(ROBOTOLOGY_ENABLE_CORE)
   find_or_build_package(YARP)
+  if(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS)
+    find_or_build_package(yarp-ros)
+  endif()
   find_or_build_package(yarp-devices-ros)
   find_or_build_package(ICUB)
   find_or_build_package(ICUBcontrib)
@@ -203,7 +206,7 @@ if(ROBOTOLOGY_ENABLE_R1_ROBOT)
   find_or_build_package(cer)
 endif()
 
-# Dummy option used to only clone repos to update them 
+# Dummy option used to only clone repos to update them
 # via update-latest-releases.yml GitHub Action
 if(ROBOTOLOGY_INTERNAL_CLONE_ALL_REPOS_FOR_UPDATE)
   find_or_build_package(icub-firmware)

diff --git a/cmake/RobotologySuperbuildOptions.cmake b/cmake/RobotologySuperbuildOptions.cmake
@@ -109,11 +109,20 @@ if(WIN32 AND DEFINED ENV{CONDA_PREFIX})
         list(REMOVE_ITEM CMAKE_CONFIGURATION_TYPES "Debug")
     endif()
 endif()
-
 set(ROBOTOLOGY_PROJECT_TAGS "Stable" CACHE STRING "The tags to be used for the robotology projects: Stable, Unstable, LatestRelease or Custom. This can be changed only before the first configuration.")
 set(ROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE CACHE FILEPATH "If ROBOTOLOGY_PROJECT_TAGS is custom, this file will be loaded to specify the tags of the projects to use.")
 set_property(CACHE ROBOTOLOGY_PROJECT_TAGS PROPERTY STRINGS "Stable" "Unstable" "LatestRelease" "Custom")
 
+
+# For now, only YARP master (used in Unstable ROBOTOLOGY_PROJECT_TAGS) requires to have separate yarp-ros and yarp-ros-devices
+# However, we keep ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS as a user selectable option as some users could use ROBOTOLOGY_PROJECT_TAGS set to
+# Stable or a given release, and manually change the YARP to a version that does not contain yarp-ros functionality
+option(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS "If ON, build yarp-ros and yarp-ros-devices repository" OFF)
+if(ROBOTOLOGY_PROJECT_TAGS STREQUAL "Unstable")
+    # If ROBOTOLOGY_PROJECT_TAGS is Unstable, force the value to be ON
+    set(ROBOTOLOGY_BUILD_SEPARATE_YARP_ROS ON CACHE BOOL "" FORCE)
+endif()
+
 if(ROBOTOLOGY_PROJECT_TAGS STREQUAL "Stable")
     include(ProjectsTagsStable)
 elseif(ROBOTOLOGY_PROJECT_TAGS STREQUAL "Unstable")

diff --git a/doc/conda-forge.md b/doc/conda-forge.md
@@ -220,6 +220,7 @@ cd robotology-superbuild
 mkdir build
 cd build
 cmake ..
+source ./install/share/robotology-superbuild/setup.sh
 cmake --build . --config Release
 ~~~
 
@@ -229,6 +230,7 @@ cd robotology-superbuild
 mkdir build
 cd build
 cmake -G"Visual Studio 16 2019" ..
+call .\install\share\robotology-superbuild\setup.bat
 cmake --build . --config Release
 ~~~