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Remove Ubuntu 18.04 support from documentation and CI scripts #1527

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merged 5 commits into from
Nov 17, 2023
Merged

Remove Ubuntu 18.04 support from documentation and CI scripts #1527

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0ac9e46
Stop using CHANGELOG just refer to releases
traversaro Nov 16, 2023
11b3489
Drop Ubuntu 18.04 Bionic apt CI job
traversaro Nov 16, 2023
592dd0a
Remove Ubuntu 18.04 support from documentation and CI scripts
traversaro Nov 16, 2023
b242925
Clarify that other distro may be supported
traversaro Nov 16, 2023
56feace
Re-enable glfw3 workaround on vcpkg
traversaro Nov 17, 2023
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6 changes: 2 additions & 4 deletions .ci/install_debian.sh
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Expand Up @@ -27,10 +27,8 @@ dist_version="$(lsb_release -c | cut -d: -f2 | sed s/'^\t'//)"
echo "lsb_dist: ${lsb_dist}"
echo "dist_version: ${dist_version}"
# Just a limited amount of distros are supported by OSRF repos, for all the other we use the
# gazebo packages in regular repos, while on bionic we do not use ROBOTOLOGY_USES_GAZEBO
if [[ ("bionic" == "$dist_version") ]]; then
true
elif [[ ("focal" == "$dist_version" || "buster" == "$dist_version") ]]; then
# gazebo packages in regular repos
if [[ ("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
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27 changes: 1 addition & 26 deletions .github/workflows/ci.yml
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Expand Up @@ -168,7 +168,6 @@ jobs:
cmake_generator:
- "Ninja"
docker_image:
- "ubuntu:bionic"
- "ubuntu:focal"
- "ubuntu:jammy"
- "debian:buster-backports"
Expand Down Expand Up @@ -218,35 +217,18 @@ jobs:
run: |
apt-get -y -t buster-backports install cmake

- name: Install CMake from Kitware APT Repository [Docker/Ubuntu Bionic]
if: matrix.docker_image == 'ubuntu:bionic'
run: |
apt-get -y install apt-transport-https ca-certificates gnupg software-properties-common wget
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
apt-get -y update
apt-get -y upgrade



- 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 docker for now [Docker debian-testing and debian-buster]
if: (matrix.docker_image == 'debian:testing' || matrix.docker_image == 'debian:buster-backports' || matrix.docker_image == 'ubuntu:bionic')
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 .

- name: Disable profiles that are not supported in Ubuntu Bionic [Docker ubuntu:bionic]
if: (matrix.docker_image == 'ubuntu:bionic')
run: |
cd build
cmake -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_GRASPING:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF .

- name: Disable profiles that are not supported in Debian Buster [Docker debian:buster-backports]
if: (matrix.docker_image == 'debian:buster-backports')
run: |
Expand Down Expand Up @@ -383,13 +365,6 @@ jobs:
cd build
cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -G"${{ matrix.cmake_generator }}" -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DYCM_BOOTSTRAP_VERBOSE=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} ..

- name: Disable options unsupported on Ubuntu 18.04
if: contains(matrix.os, '18.04')
run: |
cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
cd build
cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF -DROBOTOLOGY_ENABLE_GRASPING:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF .

- name: Configure [Windows]
if: contains(matrix.os, 'windows')
shell: bash
Expand Down
8 changes: 2 additions & 6 deletions CHANGELOG.md
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@@ -1,12 +1,8 @@
# Changelog
All notable changes to this project will be documented in this file.

The format of this document is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
This file documents notable changes to this project done before August 2023. For changes after that take, plase refers to each release notes at https://github.com/robotology/robotology-superbuild/releases .

Only major changes are documented in this file, and in general no version update of specific sub-packages is included,
as those happen on regular basis.

## [Unreleased]
## [2023.08.0] - 2023-09-10

### Removed

Expand Down
11 changes: 9 additions & 2 deletions README.md
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Expand Up @@ -105,6 +105,14 @@ We also support an additional deprecated way of compiling the superbuild, on Win

## Linux from source with dependencies provided by apt

The following apt-based distributions are supported and tested by the robotology-superbuild:
* Ubuntu 20.04 (Focal Fossa)
* Ubuntu 22.04 (Jammy Jellyfish)
* Debian 10 (Buster)
* Debian 11 (Bullseye)

Other versions may be working, but they are not checked.

### System Dependencies
On Debian based systems (as Ubuntu) you can install the C++ toolchain, Git, CMake and Eigen (and other dependencies necessary for the software include in `robotology-superbuild`) using `apt-get`. This can be done by installing the packages listed in the `apt.txt` file using the following script:
~~~
Expand All @@ -117,7 +125,6 @@ Besides the packages listed in `apt.txt` file, the script `install_apt_dependenc
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.

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 18.04 : use the latest CMake release in the [Kitware APT repository](https://apt.kitware.com/). You can find the full instructions for the installation on the website.
* Debian 10 : use the CMake in the `buster-backports` repository, following the instructions to install from backports available in [Debian documentation](https://backports.debian.org/Instructions/).
More details can be found at https://github.com/robotology/QA/issues/364 .

Expand All @@ -129,7 +136,7 @@ Note that the `ROBOTOLOGY_USES_GAZEBO` option is enabled by default, so you shou

On Linux with apt dependencies install Gazebo, if you are on:
* Ubuntu 20.04
* Buster 10
* Debian Buster 10

follow the instructions available at https://gazebosim.org/tutorials?tut=install_ubuntu . Make sure to install also the development files, i.e. `libgazebo*-dev` on Debian/Ubuntu.

Expand Down
1 change: 1 addition & 0 deletions apt.txt
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Expand Up @@ -40,6 +40,7 @@ qtmultimedia5-dev
libqt5opengl5-dev
libqhull-dev
swig
nlohmann-json3-dev
libmatio-dev
libirrlicht-dev
libspdlog-dev
Expand Down
6 changes: 1 addition & 5 deletions cmake/BuildiDynTree.cmake
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Expand Up @@ -20,10 +20,6 @@ if(ROBOTOLOGY_USES_PYTHON)
list(APPEND iDynTree_OPTIONAL_CMAKE_ARGS "-DIDYNTREE_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
endif()

# Hack for disabling IDYNTREE_USES_IRRLICHT on Ubuntu 18.04,
# remove once https://github.com/robotology/robotology-superbuild/issues/481 is fixed
find_package(glfw3 QUIET)

ycm_ep_helper(iDynTree TYPE GIT
STYLE GITHUB
REPOSITORY robotology/idyntree.git
Expand All @@ -32,7 +28,7 @@ ycm_ep_helper(iDynTree TYPE GIT
FOLDER src
CMAKE_ARGS -DIDYNTREE_USES_IPOPT:BOOL=ON
-DIDYNTREE_USES_OSQPEIGEN:BOOL=ON
-DIDYNTREE_USES_IRRLICHT:BOOL=${glfw3_FOUND}
-DIDYNTREE_USES_IRRLICHT:BOOL=ON
-DIDYNTREE_USES_ASSIMP:BOOL=ON
-DCMAKE_DISABLE_FIND_PACKAGE_YARP:BOOL=ON
-DIDYNTREE_USES_YARP:BOOL=OFF
Expand Down
34 changes: 9 additions & 25 deletions doc/cmake-options.md
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Expand Up @@ -79,41 +79,28 @@ Not all options are supported on all platforms. The following table provides a r
| Option | Ubuntu/Debian, dependencies: apt | Windows, dependencies: vcpkg | conda on Linux, dependencies: conda-forge | conda on macOS, dependencies: conda-forge | conda on Windows, dependencies: conda-forge |
|:-------------------------------------------------------------------:|:--------------------------------:|:----------------------------:|:-----------------------------------------:|:------------------------------------------:|:-------------------------------------------:|
| `ROBOTOLOGY_ENABLE_CORE` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_ROBOT_TESTING`<sup id="a2">[2!](#f2)</sup> | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_ROBOT_TESTING` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_DYNAMICS` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS`<sup id="a1">[1!](#f1)</sup> | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_ICUB_HEAD` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_TELEOPERATION`<sup id="a4">[4!](#f4)</sup> | ✔️ | ❌ | ✔️ | ❌ | ✔️ |
| `ROBOTOLOGY_ENABLE_TELEOPERATION` | ✔️ | ❌ | ✔️ | ❌ | ✔️ |
| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_EVENT_DRIVEN`<sup id="a6">[6!](#f6)</sup> | ✔️ | ❌ | ✔️ | ❌ | ❌ |
| `ROBOTOLOGY_ENABLE_GRASPING`<sup id="a5">[5!](#f5)</sup> | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_GAZEBO`<sup id="a7">[7!](#f7)</sup> | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_MUJOCO`<sup id="a8">[8!](#f8)</sup> | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_ENABLE_EVENT_DRIVEN` | ✔️ | ❌ | ✔️ | ❌ | ❌ |
| `ROBOTOLOGY_ENABLE_GRASPING` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_GAZEBO` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_MUJOCO`<sup id="a1">[1!](#f1)</sup> | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_PCL_AND_VTK` | ✔️ | ✔️ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_IGNITION` | ❌ | ❌ | ✔️ | ❌ | ❌ |
| `ROBOTOLOGY_USES_MATLAB` | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_OCTAVE` | ✔️ | ❌ | ❌ | ) ❌ | ❌ |
| `ROBOTOLOGY_USES_PYTHON`<sup id="a3">[3!](#f3)</sup> | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_PYTHON` | ✔️ | ❌ | ✔️ | ✔️ | ✔️ |
| `ROBOTOLOGY_USES_CFW2CAN` | ✔️ | ❌ | ✔️ | ❌ | ❌ |
| `ROBOTOLOGY_USES_XSENS_MVN_SDK` | ❌ | ✔️ | ❌ | ❌ | ❌ |
| `ROBOTOLOGY_USES_ESDCAN` | ❌ | ✔️ | ❌ | ❌ | ✔️ |

<b id="f1">1!</b>:Since 2021.05, `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` does not support building with apt dependencies on Ubuntu 1.04 .

<b id="f2">2!</b>:Since 2021.11, `ROBOTOLOGY_ENABLE_ROBOT_TESTING` does not support building with apt dependencies on Ubuntu 18.04 .

<b id="f3">3!</b>:Since 2021.11, `ROBOTOLOGY_USES_PYTHON` does not support building with apt dependencies on Ubuntu 18.04 .

<b id="f4">4!</b>:Since 2022.05, `ROBOTOLOGY_USES_TELEOPERATION` does not support building with apt dependencies on Ubuntu 18.04 and Debian Buster .

<b id="f5">5!</b>:`ROBOTOLOGY_ENABLE_GRASPING` does not support building with apt dependencies on Ubuntu 18.04 .

<b id="f6">6!</b>:`ROBOTOLOGY_ENABLE_EVENT_DRIVEN` does not support building with apt dependencies on Ubuntu 18.04 and Debian Buster .

<b id="f7">7!</b>:`ROBOTOLOGY_USES_GAZEBO` does not support building with apt dependencies on Ubuntu 18.04 .

<b id="f8">8!</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 Wndows with Visual Studio 2019, it requires Visual Studio 2022.
<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 Wndows with Visual Studio 2019, it requires Visual Studio 2022.



Expand Down Expand Up @@ -143,9 +130,6 @@ This profile is enabled by the `ROBOTOLOGY_ENABLE_DYNAMICS` CMake option.
## Dynamics full deps
This profile is enabled by the `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` CMake option.


**Since 2021.05, `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` is not supported with apt dependencies on Ubuntu 18.04.**

**Since 2023.05, `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` is not supported with vcpkg dependencies on Windows.**


Expand Down
9 changes: 0 additions & 9 deletions scripts/install_apt_dependencies.sh
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Expand Up @@ -24,12 +24,3 @@ then
else
apt-get install -y libdc1394-22-dev
fi

# Handle nlohmann-json3-dev dependency
# Remove once Ubuntu 18.04 compatibility is dropped
if [[ ("$ROBSUP_DISTRO_NAME" == "Ubuntu" && "$ROBSUP_DISTRO_VERSION" == "18.04") ]]
then
:
else
apt-get install -y nlohmann-json3-dev
fi
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