Add gym-ignition project #685

diegoferigo · 2021-04-11T18:30:08Z

Add robotology/gym-ignition to the core profile
Add new ROBOTOLOGY_USES_IGNITION option to enable code that depends on Ignition libraries

Remarks:

The Ignition logic matches 1:1 the Gazebo Classic logic
I added gym-ignition to the core profile since on the long term we could have something similar to gazebo-yarp-plugins for Ignition Gazebo, and Ignition support will likely be part of core
gym-ignition depends on idyntree, therefore if ROBOTOLOGY_USES_IGNITION=ON and ROBOTOLOGY_ENABLE_DYNAMICS=OFF, also idyntree and all its dependent projects will be installed
CI tests ROBOTOLOGY_USES_IGNITION only in conda
macOS and Windows are not tested in conda due to Add OSX build conda-forge/libignition-gazebo-feedstock#2

TODOs:

robotology-superbuild/cmake/Buildgym-ignition.cmake

Line 21 in 85d1ea3

# TODO: gym-ignition_CONDA_DEPENDENCIES

traversaro · 2021-04-12T10:18:12Z

Can you add the latest release to https://github.com/robotology/robotology-superbuild/blob/master/releases/latest.releases.yaml ?
Can you update the profiles.md table specifying where ROBOTOLOGY_USES_IGNITION is supported (i.e. tested by CI)

diegoferigo · 2021-04-12T10:36:37Z

* [x]  Can you add the latest release to https://github.com/robotology/robotology-superbuild/blob/master/releases/latest.releases.yaml ?

* [x]  Can you update the profiles.md table specifying where `ROBOTOLOGY_USES_IGNITION` is supported (i.e. tested by CI)

Done in https://github.com/robotology/robotology-superbuild/compare/85d1ea32192cfb7f026715b7c5b750a77f44a06f..6a3e8b6b3ff38756781c575274145dc19f5aff8b

diegoferigo · 2021-04-12T10:46:24Z

cmake/Buildgym-ignition.cmake

+              CMAKE_ARGS -DSCENARIO_USE_IGNITION:BOOL=${ROBOTOLOGY_USES_IGNITION}
+                         -DSCENARIO_ENABLE_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}
+                         -DBINDINGS_INSTALL_PREFIX:PATH=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}
+              DEPENDS iDynTree ign-gazebo5)


@traversaro is the ign-gazeboX dependency OK? (There's a typo and this should be 4 for the current master, but I'm not sure that adding it is necessary)

I typically set DEPENDS only to the value of other projects that are handled by the superbuild. I am not really sure how it works for projects not handled by the superbuild, so if it works I would just leave iDynTree there.

Remove in https://github.com/robotology/robotology-superbuild/compare/6a3e8b6b3ff38756781c575274145dc19f5aff8b..b76fbfe3a2dc0529aa5d7e9dc32dcced200f03fa

traversaro · 2021-04-12T10:50:44Z

doc/profiles.md

+Follow the official instructions to install Ignition on your platform, available at https://ignitionrobotics.org/docs.
+
+Different Ignition distributions can be installed alongside. 
+The projects included in the superbuild might require different distributions. 
+From the superbuild point of view, we currently do not allow enabling projects that only support a specific Ignition distribution, therefore all required distributions have to be found in the system.


If we support only Conda/Linux for ROBOTOLOGY_USES_IGNITION, we should describe here how to install Ignition Gazebo on conda (preferably the version tested in CI), as the official docs of Ignition Gazebo do not cover that the installation in conda.

Done in https://github.com/robotology/robotology-superbuild/compare/6a3e8b6b3ff38756781c575274145dc19f5aff8b..b76fbfe3a2dc0529aa5d7e9dc32dcced200f03fa

diegoferigo · 2021-04-12T17:05:12Z

CI failures don't seem related to this PR.

CI failure message

FAILED: src/yarp-matlab-bindings/CMakeFiles/YCMStamp/yarp-matlab-bindings-configure 
cd /home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings && /usr/share/miniconda/envs/test/bin/cmake --no-warn-unused-cli "-DCMAKE_PREFIX_PATH:PATH=/home/runner/work/robotology-superbuild/robotology-superbuild/build/install;/usr/share/miniconda/envs/test;/usr/share/miniconda/envs/test/x86_64-conda-linux-gnu/sysroot/usr" -DMatlab_ROOT_DIR:PATH=/home/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020b_mexa64 -DMatlab_MEX_EXTENSION:STRING=mexa64 -DYARP_USES_MATLAB:BOOL=ON -DYARP_USES_OCTAVE:BOOL=OFF -C/home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/YCMTmp/yarp-matlab-bindings-cache-Release.cmake -GNinja /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings && /usr/share/miniconda/envs/test/bin/cmake -E touch /home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/YCMStamp/yarp-matlab-bindings-configure
Not searching for unused variables given on the command line.
loading initial cache file /home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/YCMTmp/yarp-matlab-bindings-cache-Release.cmake
-- Found YARP: /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.4.3+38-20210330.6+gitf7f000f39")
CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:226 (message):
  The YARP_INCLUDE_DIRS variable is deprecated
Call Stack (most recent call first):
  CMakeLists.txt:9223372036854775807 (_yarp_deprecated_variable_warning)
  CMakeLists.txt:29 (get_target_property)


-- Found YCM: /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/cmake/YCM (found version "0.12.1.12-20210301.4+gitdc98072")
CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:226 (message):
  The YARP_INCLUDE_DIRS variable is deprecated
Call Stack (most recent call first):
  CMakeLists.txt:9223372036854775807 (_yarp_deprecated_variable_warning)
  CMakeLists.txt:42 (include_directories)


CMake Error at cmake/FindMatlab.cmake:1197 (list):
  list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
  matlab/CMakeLists.txt:96 (find_package)


-- Found Matlab: /home/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020b_mexa64/extern/include (found version "/home/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020b_mexa64") found components: MX_LIBRARY 
CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/YCM/modules/InstallBasicPackageFiles.cmake:314 (message):
  TARGETS is deprecated.  Use EXPORT instead
Call Stack (most recent call first):
  matlab/CMakeLists.txt:168 (install_basic_package_files)


CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/YCM/modules/InstallBasicPackageFiles.cmake:385 (message):
  Compatibility variables are no longer generated.  Use
  ENABLE_COMPATIBILITY_VARS to re-enable them (deprecated) or define them
  using either INCLUDE_FILE or INCLUDE_CONTENT (recommended).
Call Stack (most recent call first):
  matlab/CMakeLists.txt:168 (install_basic_package_files)


-- Configuring incomplete, errors occurred!
See also "/home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/CMakeOutput.log".

traversaro · 2021-04-12T17:17:46Z

CI failures don't seem related to this PR.
CI failure message

Are you sure? All other CI builds are working fine. Are you sure that it is not due to the cmake --build build/ -DROBOTOLOGY_USES_IGNITION:BOOL=ON command? Not that this does not configure again the cmake project, but rather builds it.

diegoferigo · 2021-04-12T17:29:42Z

CI failures don't seem related to this PR.
CI failure message

Are you sure? All other CI builds are working fine. Are you sure that it is not due to the cmake --build build/ -DROBOTOLOGY_USES_IGNITION:BOOL=ON command? Not that this does not configure again the cmake project, but rather builds it.

Checking the logs you're right, not sure why my local setup just configures it. I tried it locally before committing (and thinking about it, it's not the first time I notice this behavior) 🤷‍♂️

traversaro · 2021-04-13T06:48:14Z

It seems good to go now, thanks (even if I would like to solve conda-forge/libignition-gazebo-feedstock#4 before advertising it).

diegoferigo self-assigned this Apr 11, 2021

diegoferigo mentioned this pull request Apr 11, 2021

CMake improvements robotology-legacy/gym-ignition#331

Merged

diegoferigo force-pushed the feature/gym-ignition branch from be967f7 to 8a0e3c3 Compare April 12, 2021 08:21

diegoferigo marked this pull request as ready for review April 12, 2021 08:44

diegoferigo requested a review from traversaro April 12, 2021 08:44

diegoferigo force-pushed the feature/gym-ignition branch from 886009d to 85d1ea3 Compare April 12, 2021 09:26

diegoferigo force-pushed the feature/gym-ignition branch from 85d1ea3 to 6a3e8b6 Compare April 12, 2021 10:36

diegoferigo commented Apr 12, 2021

View reviewed changes

traversaro reviewed Apr 12, 2021

View reviewed changes

diegoferigo force-pushed the feature/gym-ignition branch 2 times, most recently from b76fbfe to 640c577 Compare April 12, 2021 11:07

diegoferigo added 2 commits April 12, 2021 18:00

Add gym-ignition to core profile

330fe31

Build projects depending on Ignition

6b2a066

diegoferigo force-pushed the feature/gym-ignition branch from 640c577 to 74ffd01 Compare April 12, 2021 16:01

diegoferigo added 3 commits April 12, 2021 19:28

Enable Ignition Gazebo in conda CI

9adcc92

Update documentation

d8a997f

Add gym-ignition to latest.releases.yaml

3c8d523

diegoferigo force-pushed the feature/gym-ignition branch from 74ffd01 to 3c8d523 Compare April 12, 2021 17:29

traversaro approved these changes Apr 13, 2021

View reviewed changes

traversaro merged commit 63caa58 into master Apr 13, 2021

traversaro deleted the feature/gym-ignition branch April 13, 2021 06:48

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Add gym-ignition project #685

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Add gym-ignition project #685

Add gym-ignition project #685

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