Move iDynTree in conda-forge and build idyntree-matlab-bindings in ro…

…botology channel (robotology#817)

.github/workflows/generate-conda-packages.yaml

@@ -105,10 +105,13 @@ jobs:
             cd build/conda/generated_recipes
              # Debug generated recipes
             cat */meta.yaml
+            cat */bld.bat
+            cat */build.sh
             # We use the conda_build_config from conda-forge-pinning, and our local one
             # See https://docs.conda.io/projects/conda-build/en/latest/resources/variants.html#creating-conda-build-variant-config-files
             # We manually specify the build order as conda build is too slow, and conda mambabuild does not support correctly multiple recipes
             # see https://github.com/mamba-org/boa/issues/117
+            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml idyntree-matlab-bindings
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml blockfactory
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml yarp
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml matio-cpp
@@ -117,7 +120,6 @@ jobs:
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-firmware-shared
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robots-configuration
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-main
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml idyntree
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml lie-group-controllers
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml qpoases
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml yarp-matlab-bindings

CHANGELOG.md

@@ -9,9 +9,11 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 - Add `nlohmann-json` dependency to the superbuild (https://github.com/robotology/robotology-superbuild/pull/776).
 - In `YARP`, all the `fake***` YARP devices are now enabled (https://github.com/robotology/robotology-superbuild/pull/797).
 - `pybind11` has been added as dependency for the `ROBOTOLOGY_USES_PYTHON` option (https://github.com/robotology/robotology-superbuild/pull/800), to enable compilation of Python bindings of `manif` and `bipedal-locomotion-framework`.
+- `ycm-cmake-modules`, `osqp-eigen`, `robot-testing-framework` and `idyntree` conda packages are now part of the `conda-forge` channel. The new `idyntree-matlab-bindings` package is now contained in the `robotology` channel (https://github.com/robotology/robotology-superbuild/pull/807, https://github.com/robotology/robotology-superbuild/pull/817).
 - The `idyntree-yarp-tools` was added to the Dynamics component of the superbuild (https://github.com/robotology/robotology-superbuild/pull/818).
 - An `apt.txt` file and a `scripts/install_apt_dependencies.sh` script have been added to the superbuild to report the required apt packages in a machine readable form. People that mantain either Docker recipes or documentation on how to instal the robotology-superbuild are suggest to switch to use these files instead of hardcoding the dependencies manually (https://github.com/robotology/robotology-superbuild/pull/825). 
 
+
 ## [2021.05] - 2021-05-31
 
 ### Added

cmake/BuildiDynTree.cmake

@@ -37,10 +37,5 @@ ycm_ep_helper(iDynTree TYPE GIT
                          ${iDynTree_OPTIONAL_CMAKE_ARGS}
               DEPENDS ${iDynTree_DEPENDS})
 
-set(iDynTree_CONDA_DEPENDENCIES libxml2 ipopt eigen irrlicht)
-
-if(ROBOTOLOGY_USES_PYTHON)
-  list(APPEND iDynTree_CONDA_DEPENDENCIES swig)
-  list(APPEND iDynTree_CONDA_DEPENDENCIES python)
-  list(APPEND iDynTree_CONDA_DEPENDENCIES numpy)
-endif()
+set(iDynTree_CONDA_PKG_NAME idyntree)
+set(iDynTree_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)

cmake/Buildidyntree-matlab-bindings.cmake

@@ -0,0 +1,21 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(iDynTree QUIET)
+
+# The version of idyntree-matlab-bindings is always exactly the same of iDynTree, as we use the exact same repo
+set(idyntree-matlab-bindings_TAG ${iDynTree_TAG})
+
+ycm_ep_helper(idyntree-matlab-bindings TYPE GIT
+              STYLE GITHUB
+              REPOSITORY robotology/idyntree.git
+              TAG master
+              COMPONENT dynamics
+              FOLDER src
+              CMAKE_ARGS -DIDYNTREE_USES_MATLAB:BOOL=${ROBOTOLOGY_USES_MATLAB}
+              DEPENDS iDynTree
+              SOURCE_SUBDIR bindings)
+
+set(idyntree-matlab-bindings_CONDA_PKG_NAME idyntree-matlab-bindings)

cmake/RobotologySuperbuildLogic.cmake

@@ -37,6 +37,13 @@ endif()
 # Dynamics
 if(ROBOTOLOGY_ENABLE_DYNAMICS)
   find_or_build_package(iDynTree)
+  # If we are generating conda-recipes, then we also need to build idyntree-matlab-bindings
+  # as the iDynTree package provided by conda-forge does not have MATLAB bindings, so we generate
+  # this package in the robotology channel
+  if(ROBOTOLOGY_GENERATE_CONDA_RECIPES AND ROBOTOLOGY_USES_MATLAB)
+    find_or_build_package(idyntree-matlab-bindings)
+  endif()
+  find_or_build_package(OsqpEigen QUIET)
   find_or_build_package(idyntree-yarp-tools)
   find_or_build_package(qpOASES)
   find_or_build_package(BlockFactory)

conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake

@@ -110,6 +110,10 @@ macro(generate_metametadata_file)
     string(APPEND metametadata_file_contents "    github_tag: ${${_cmake_pkg}_CONDA_TAG}\n")
     string(APPEND metametadata_file_contents "    conda_build_number: ${CONDA_BUILD_NUMBER}\n")
 
+    if(_YH_${_cmake_pkg}_SOURCE_SUBDIR)
+      string(APPEND metametadata_file_contents "    source_subdir: ${_YH_${_cmake_pkg}_SOURCE_SUBDIR}\n")
+    endif()
+
     if(NOT "${${_cmake_pkg}_CONDA_CMAKE_ARGS}" STREQUAL "")
       string(APPEND metametadata_file_contents "    cmake_args:\n")
       foreach(_cmake_arg IN LISTS ${_cmake_pkg}_CONDA_CMAKE_ARGS)

conda/recipe_template/bld.bat

@@ -1,3 +1,7 @@
+{% if source_subdir is defined and source_subdir|length %}
+cd {{ source_subdir }}
+{% endif %}
+
 mkdir build
 cd build
 
@@ -11,7 +15,7 @@ cmake ^
     -DCMAKE_VERBOSE_MAKEFILE=OFF ^
     -DCMAKE_INSTALL_LIBDIR=lib ^
 {% for cmake_arg in cmake_args %}    {{ cmake_arg }} ^
-{% endfor %}    %SRC_DIR%
+{% endfor %}    ..
 if errorlevel 1 exit 1
 
 :: Build.

conda/recipe_template/build.sh

@@ -1,5 +1,9 @@
 #!/bin/sh
 
+{% if source_subdir is defined and source_subdir|length %}
+cd {{ source_subdir }}
+{% endif %}
+
 mkdir build
 cd build
 

releases/latest.releases.yaml

@@ -74,7 +74,7 @@ repositories:
   iDynTree:
     type: git
     url: https://github.com/robotology/idyntree.git
-    version: v3.3.0
+    version: v4.0.0
   BlockFactory:
     type: git
     url: https://github.com/robotology/blockfactory.git
@@ -106,7 +106,7 @@ repositories:
   whole-body-estimators:
     type: git
     url: https://github.com/robotology/whole-body-estimators.git
-    version: v0.5.0
+    version: v0.5.1
   walking-teleoperation:
     type: git
     url: https://github.com/robotology/walking-teleoperation.git

scripts/install_robotology_packages.m

@@ -79,7 +79,7 @@ function install_robotology_packages(varargin)
 
     % Install all the robotology packages related to MATLAB or Simulink
     fprintf('Installing robotology packages\n');
-    system(sprintf('"%s" install -y -c conda-forge -c robotology yarp-matlab-bindings idyntree wb-toolbox osqp-matlab casadi-matlab-bindings whole-body-controllers matlab-whole-body-simulator icub-models', conda_full_path));
+    system(sprintf('"%s" install -y -c conda-forge -c robotology yarp-matlab-bindings idyntree-matlab-bindings wb-toolbox osqp-matlab casadi-matlab-bindings whole-body-controllers matlab-whole-body-simulator icub-models', conda_full_path));
     fprintf('Installation of robotology packages completed\n');
 
     fprintf('Creating setup script in %s\n', setup_script);