Add build with apt dependencies from Ubuntu 24.04 to docker-build CI (#…

…1642)

.ci/install_debian.sh

@@ -18,17 +18,25 @@ source ${SCRIPT_DIR}/../scripts/install_apt_dependencies.sh
 # Python
 source ${SCRIPT_DIR}/../scripts/install_apt_python_dependencies.sh
 
-# Octave
-apt-get install -y liboctave-dev
-
-# Gazebo Classic
 lsb_dist="$(. /etc/os-release && echo "$ID")"
 dist_version="$(lsb_release -c | cut -d: -f2 | sed s/'^\t'//)"
 echo "lsb_dist: ${lsb_dist}"
 echo "dist_version: ${dist_version}"
+
+# Octave
+if [[ ("focal" == "$dist_version" || "buster" == "$dist_version" || "bullseye" == "$dist_version") ]]; then
+    apt-get install -y liboctave-dev
+else
+    apt-get install -y octave-dev
+fi
+
+# Gazebo Classic
 # Just a limited amount of distros are supported by OSRF repos, for all the other we use the 
 # gazebo packages in regular repos
-if [[ ("focal" == "$dist_version" || "buster" == "$dist_version") ]]; then
+if [[ ("noble" == "$dist_version")]]; then
+    # There is no Gazebo Classic package for Noble
+    echo ""
+elif [[ ("focal" == "$dist_version" || "buster" == "$dist_version") ]]; then
     mkdir -p /etc/apt/sources.list.d
     echo deb http://packages.osrfoundation.org/gazebo/$lsb_dist\-stable $dist_version main > /etc/apt/sources.list.d/gazebo-stable.list
     apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743

.github/workflows/ci.yml

@@ -195,6 +195,7 @@ jobs:
         docker_image:
           - "ubuntu:focal"
           - "ubuntu:jammy"
+          - "ubuntu:24.04"
           - "debian:bullseye"
 
         project_tags:
@@ -256,6 +257,12 @@ jobs:
        cd build
        cmake  -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF .
 
+    - name: Disable Gazebo Classic support for distro without Gazebo Classic binaries [Docker ubuntu:24.04]
+      if: (matrix.docker_image == 'ubuntu:24.04')
+      run: |
+       cd build
+       cmake  -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF .
+
     - name: Build  [Docker]
       run: |
         cd build

CMakeLists.txt

@@ -66,7 +66,6 @@ include(YCMEPHelper)
 # depending on which profiles are enabled
 include(RobotologySuperbuildLogic)
 
-
 if(ROBOTOLOGY_USES_MATLAB)
   # The following line is to properly configure the matlab and simulink software installed by the superbuild
   configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/template/startup_robotology_superbuild.m.in ${CMAKE_BINARY_DIR}/startup_robotology_superbuild.m)

README.md

@@ -128,7 +128,7 @@ If instead you use an older distro in which the default version of CMake is olde
 
 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.
 
-Note that the `ROBOTOLOGY_USES_GAZEBO` option is enabled by default, so you should install Gazebo Classic unless you plan to disable this option.
+Note that the `ROBOTOLOGY_USES_GAZEBO` option is enabled by default (except on Ubuntu 24.04 when installing with apt dependencies), so you should install Gazebo Classic unless you plan to disable this option.
 
 #### `ROBOTOLOGY_USES_GAZEBO`
 
@@ -142,6 +142,8 @@ Otherwise, if you are on other supported Debian/Ubuntu systems, just install the
 sudo apt install libgazebo-dev
 ~~~~
 
+If you are on Ubuntu 24.04, please use conda if you want to install Gazebo Classic, as no Gazebo Classic packages are available via apt.
+
 #### `ROBOTOLOGY_USES_GZ`
 
 To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu .
@@ -165,7 +167,7 @@ sudo apt install libpcl-dev
 
 Install octave and the necessary development files using the following command:
 ~~~
-sudo apt-get install liboctave-dev
+sudo apt-get install octave-dev
 ~~~
 
 

cmake/BuildICUB.cmake

@@ -54,6 +54,11 @@ else()
   set(ICUB_PYTHON_INSTALL_CMAKE_ARGS "")
 endif()
 
+if(ROBOTOLOGY_SUPERBUILD_USING_LOCAL_SWIG_4_2_1_WORKAROUND_ON_NOBLE)
+  list(APPEND ICUB_PYTHON_INSTALL_CMAKE_ARGS "-DSWIG_EXECUTABLE=${robotology_superbuild_local_noble_swig_4_2_1_SOURCE_DIR}/bin/swig")
+  list(APPEND ICUB_PYTHON_INSTALL_CMAKE_ARGS "-DSWIG_DIR=${robotology_superbuild_local_noble_swig_4_2_1_SOURCE_DIR}/share/swig/4.2.1")
+endif()
+
 ycm_ep_helper(ICUB TYPE GIT
                    STYLE GITHUB
                    REPOSITORY robotology/icub-main.git

cmake/BuildYARP.cmake

@@ -54,6 +54,16 @@ if(ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
   list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DYARP_COMPILE_yarpviz:BOOL=OFF")
 endif()
 
+if(ROBOTOLOGY_SUPERBUILD_USING_LOCAL_SWIG_4_2_1_WORKAROUND_ON_NOBLE)
+  list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DSWIG_EXECUTABLE=${robotology_superbuild_local_noble_swig_4_2_1_SOURCE_DIR}/bin/swig")
+  list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DSWIG_DIR=${robotology_superbuild_local_noble_swig_4_2_1_SOURCE_DIR}/share/swig/4.2.1")
+endif()
+
+if(LSB_RELEASE_CODENAME STREQUAL "noble" AND NOT ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
+  # Workaround for https://github.com/robotology/yarp/pull/3108
+  list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DYARP_USE_Lua=OFF")
+endif()
+
 ycm_ep_helper(YARP TYPE GIT
                    STYLE GITHUB
                    REPOSITORY robotology/yarp.git

cmake/RobSupPurePythonYCMEPHelper.cmake

@@ -41,6 +41,17 @@ function(ROB_SUP_PURE_PYTHON_YCM_EP_HELPER _name)
     set(_PYH_${_name}_PYTHON_PACKAGE_NAME ${_name})
   endif()
 
+  # We pass --break-system-packages as it is required by Python 3.12 when operating outside a virtual env,
+  # even if effectively we are kind in a virtual env defined by the superbuild in this case
+  # We need to make sure not to pass it for Python <= 3.11, as otherwise pip uninstall will fail as --break-system-packages
+  # is not an option
+  if(LSB_RELEASE_CODENAME STREQUAL "noble" AND NOT ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
+    set(BREAK_SYSTEM_PACKAGES_OPTION "--break-system-packages")
+  else()
+    set(BREAK_SYSTEM_PACKAGES_OPTION "")
+  endif()
+
+
   ycm_ep_helper(${_name} TYPE GIT
                          STYLE GITHUB
                          REPOSITORY ${_PYH_${_name}_REPOSITORY}
@@ -54,6 +65,6 @@ function(ROB_SUP_PURE_PYTHON_YCM_EP_HELPER _name)
                          # See https://stackoverflow.com/questions/55708589/how-to-pass-an-environment-variable-to-externalproject-add-configure-command
                          # See https://github.com/robotology/robotology-superbuild/issues/1118
                          # To avoid the complexity of handling two commands, we just use the build step to uninstall any existing package
-                         BUILD_COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} pip uninstall -y ${_PYH_${_name}_PYTHON_PACKAGE_NAME}
+                         BUILD_COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} pip uninstall ${BREAK_SYSTEM_PACKAGES_OPTION} -y ${_PYH_${_name}_PYTHON_PACKAGE_NAME}
                          INSTALL_COMMAND ${Python3_EXECUTABLE} -m pip install --upgrade --no-deps --target=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} -VV <SOURCE_DIR>)
 endfunction()

cmake/RobotologySuperbuildLogic.cmake

@@ -36,6 +36,33 @@ else()
   set(ROBOTOLOGY_BUILD_tomlplusplus ON)
 endif()
 
+# I (@traversaro) am not particularly happy about this, but Ubuntu 24.04
+# got released with a version of swig (4.2.0) that contained several bugs.
+# The bugs were reported and fixed by swig authors (a huge thanks), and released
+# as swig 4.2.1 but the Ubuntu 24.04 sync with Debian happened exactly when
+# swig 4.2.0 was packaged in Debian, so now Ubuntu 24.04 contains a swig
+# that does not work with YARP. As swig is a tool just used as build time,
+# as workaround just for Ubuntu 24.04 with apt dependencies we download
+# a custom build of swig 4.2.1 locally
+if(LSB_RELEASE_CODENAME STREQUAL "noble" AND NOT ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
+  include(FetchContent)
+  FetchContent_Declare(
+    robotology_superbuild_local_noble_swig_4_2_1
+    URL "https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip")
+
+  FetchContent_GetProperties(robotology_superbuild_local_noble_swig_4_2_1)
+  if(NOT robotology_superbuild_local_noble_swig_4_2_1_POPULATED)
+    message(STATUS "Downloading robotology_superbuild_local_noble_swig_4_2_1 binaries.")
+    FetchContent_Populate(robotology_superbuild_local_noble_swig_4_2_1)
+    message(STATUS "Downloaded a local copy of swig 4.2.1 in ${robotology_superbuild_local_noble_swig_4_2_1_SOURCE_DIR}")
+  endif()
+  set(ROBOTOLOGY_SUPERBUILD_USING_LOCAL_SWIG_4_2_1_WORKAROUND_ON_NOBLE ON)
+  list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DSWIG_EXECUTABLE=${robotology_superbuild_local_noble_swig_4_2_1_SOURCE_DIR}/bin/swig")
+  list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DSWIG_DIR=${robotology_superbuild_local_noble_swig_4_2_1_SOURCE_DIR}/share/swig/4.2.1")
+else()
+  set(ROBOTOLOGY_SUPERBUILD_USING_LOCAL_SWIG_4_2_1_WORKAROUND_ON_NOBLE OFF)
+endif()
+
 # Core
 if(ROBOTOLOGY_ENABLE_CORE)
   find_or_build_package(YARP)

cmake/RobotologySuperbuildOptions.cmake

@@ -23,7 +23,23 @@ option(ROBOTOLOGY_USES_CSHARP "Enable compilation of software that depends on CS
 mark_as_advanced(ROBOTOLOGY_USES_CSHARP)
 
 ## Enable packages that depend on the Gazebo Classic simulator
-option(ROBOTOLOGY_USES_GAZEBO "Enable compilation of software that depends on Gazebo Classic" ON)
+if(ROBOTOLOGY_CONFIGURING_UNDER_CONDA OR APPLE OR WIN32)
+  set(ROBOTOLOGY_USES_GAZEBO_DEFAULT ON)
+else()
+  find_program(ROBSUB_LSB_RELEASE lsb_release)
+  if(ROBSUB_LSB_RELEASE)
+    execute_process(COMMAND lsb_release -cs
+      OUTPUT_VARIABLE LSB_RELEASE_CODENAME
+      OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+  endif()
+  if(LSB_RELEASE_CODENAME STREQUAL "noble")
+    set(ROBOTOLOGY_USES_GAZEBO_DEFAULT OFF)
+  else()
+    set(ROBOTOLOGY_USES_GAZEBO_DEFAULT ON)
+  endif()
+endif()
+option(ROBOTOLOGY_USES_GAZEBO "Enable compilation of software that depends on Gazebo Classic" ${ROBOTOLOGY_USES_GAZEBO_DEFAULT})
 option(ROBOTOLOGY_USES_PCL_AND_VTK "Enable compilation of software that depends on PCL and VTK" OFF)
 option(ROBOTOLOGY_USES_MUJOCO "Enable compilation of mujoco and software that depends on it" OFF)
 

doc/cmake-options.md

@@ -96,7 +96,7 @@ Not all options are supported on all platforms. The following table provides a r
 | `ROBOTOLOGY_USES_PCL_AND_VTK`                                       | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |               ✔️                            |
 | `ROBOTOLOGY_USES_IGNITION`                                          | ❌                               |             ❌              |                 ✔️                        |              ❌                           |               ❌                            |
 | `ROBOTOLOGY_USES_MATLAB`                                            | ✔️                               |             ❌              |                 ✔️                        |              ✔️                           |               ✔️                            |
-| `ROBOTOLOGY_USES_OCTAVE`                                            | ✔️                               |              ❌             |                  ❌                       |        )       ❌                          |                  ❌                         |
+| `ROBOTOLOGY_USES_OCTAVE`<sup id="a3">[3!](#f3)</sup>                                            | ✔️                               |              ❌             |                  ❌                       |        )       ❌                          |                  ❌                         |
 | `ROBOTOLOGY_USES_PYTHON`                | ✔️                               |              ❌             |                  ✔️                       |               ✔️                          |                  ✔️                         |
 | `ROBOTOLOGY_USES_CFW2CAN`                                           |  ✔️                              |             ❌              |                 ✔️                        |              ❌                           |                 ❌                          |
 | `ROBOTOLOGY_USES_XSENS_MVN_SDK`                                     |  ❌                              |             ✔️              |                 ❌                        |              ❌                           |                 ❌                          |
@@ -105,7 +105,7 @@ Not all options are supported on all platforms. The following table provides a r
 
 <b id="f1">1!</b>:`ROBOTOLOGY_USES_MUJOCO` does not support building with apt dependencies on Debian or Ubuntu distributions older than 2022. Furthermore, it does not support build on Windows with Visual Studio 2019, it requires Visual Studio 2022.
 <b id="f2">2!</b>:`ROBOTOLOGY_ENABLE_ROBOT_TESTING` and `ROBOTOLOGY_ENABLE_ICUB_HEAD` do not support building with conda-forge dependencies on Apple Silicon.
-
+<b id="f3">3!</b>:`ROBOTOLOGY_USES_OCTAVE` do not support building with apt dependencies on Ubuntu 20.04.
 
 
 Profile-specific documentation