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Replace custom cmake code with ign-cmake2 #780

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scpeters merged 29 commits into sdf10 from ci_matching_branch/use-ign-cmake-10

Dec 22, 2021

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scpeters commented Dec 9, 2021 •

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🎉 New feature

Closes #181, borrowing from #747 and targeting the sdf10 branch. It should be possible to backport these changes to sdf9 if an appropriate find-module is provided for TinyXML.

Summary

This replaces most of the custom cmake code in libsdformat with the functionality provided by ignition-cmake2. The root CMakeLists.txt is much shorter now and most of the cmake folder has been deleted. This is made possible by the NO_IGNITION_PREFIX and REPLACE_IGNITION_INCLUDE_PATH parameters added to ign_configure_project in gazebosim/gz-cmake#190 and gazebosim/gz-cmake#191. Some other details are listed below:

Use ign-cmake find modules for Tinyxml2 and URDFDOM (added in FindIgnURDFDOM cmake module gz-cmake#193), which provide cmake targets
the sdf_config.h.in template is renamed to config.hh.in to match the ign-cmake convention, and an sdf_config.h static header is added to preserve API
the autogenerated header is now sdformat.hh instead of sdf/sdf.hh, so a static header sdf/sdf.hh is added to preserve API
the SDFORMAT_* visibility macros in system_util.h are now based on the IGNITION_SDFORMAT_* macros from the auto-generated sdf/Export.hh
the LEGACY_PROJECT_PREFIX option from Add LEGACY_PROJECT_PREFIX option gz-cmake#199 is used to ensure the legacy cmake variables from the cmake config file retain the SDFormat_ prefix

~~This is currently a draft pull request since~~ There are some differences between the output of this branch and the currently installed versions:

headers are installed to {prefix}/include/ignition/sdformat10 rather than {prefix}/include/sdformat-10.6. EDIT: I think this is ok because the header folder changes with each minor release anyways. As long as the cmake config and pkgconfig files point to the correct place, it should be fine.
the name / description in the .pc file have changed from SDF / Robot Modeling Language (SDF) to Ignition sdformat / A set of sdformat classes for robot applications
the SDFORMAT_RUN_VALGRIND_TESTS cmake option is removed since ign_build_tests does not support valgrind

There ~~are~~ is also ~~two~~ one remaining custom cmake function in the cmake folder:

find_python_module: this function is used to find the psutil python module that is used by an integration test.

Test it

It should continue to work normally. Testing in a colcon workspace with other packages would be very helpful.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

scpeters added 5 commits

December 9, 2021 09:51


          Configure as ignition package using ign-cmake2

2697f42

Fixes #181.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>


          Find packages in root CMakeLists.txt

920296f

Signed-off-by: Steve Peters <scpeters@openrobotics.org>


          system_util.hh: use macros from Export.hh

cd75113

Signed-off-by: Steve Peters <scpeters@openrobotics.org>


          try ci_matching_branch_bionic branch in workflow

dc2587a

Signed-off-by: Steve Peters <scpeters@openrobotics.org>


          Add anyone to todo comments

74b44f9

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

github-actions bot added the 🔮 dome label

scpeters mentioned this pull request

Build: use ign cmake #747

Closed

8 tasks


          Fix versioned_symbols test

407b760

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters mentioned this pull request

Try checking out ci_matching_branch for gzdev gazebo-tooling/action-gz-ci#46

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scpeters commented Dec 9, 2021

testing gazebo-tooling/action-gz-ci#46

scpeters added a commit to gazebo-tooling/release-tools that referenced this pull request


          sdformat-abichecker: set GZDEV_PROJECT_NAME

702d5ed

Needed by gazebosim/sdformat#780

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters mentioned this pull request

sdformat-abichecker: set GZDEV_PROJECT_NAME gazebo-tooling/release-tools#589

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scpeters commented Dec 9, 2021

the ABI-checker needs gazebo-tooling/release-tools#589

scpeters mentioned this pull request

Use ign-cmake. #181

Closed

scpeters added 3 commits

December 9, 2021 14:56


          Revert to bionic branch for action

aa33fe5

Signed-off-by: Steve Peters <scpeters@openrobotics.org>


          Restore sdf_setup_windows

9847dbc

Signed-off-by: Steve Peters <scpeters@openrobotics.org>


          Update examples/CMakeLists.txt to use targets

08bda50

This may represent a breakage for downstream users
of the SDFormat_* cmake variables.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Member Author

scpeters commented Dec 9, 2021

@osrf-jenkins run tests please


          fix )

0a32128

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Member Author

scpeters commented Dec 10, 2021

the warnings in the Ubuntu build should be fixed by gazebo-tooling/release-tools#590


          Filesystem: try adding windows header

775ebb9

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters requested review from azeey, chapulina and j-rivero

December 10, 2021 00:57

scpeters marked this pull request as ready for review

December 10, 2021 01:08


          Try removing sdf_setup_windows

1db0122

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

j-rivero pushed a commit to gazebo-tooling/release-tools that referenced this pull request


          sdformat-abichecker: set GZDEV_PROJECT_NAME (#589)

47fb17b

* sdformat-abichecker: set GZDEV_PROJECT_NAME

Needed by gazebosim/sdformat#780

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

* detect_ci_matching_branch: use format()

This is compatible with more verisons of python3.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters mentioned this pull request

Link to sdformat10 cmake target gazebosim/gz-physics#314

Merged

7 tasks

scpeters mentioned this pull request

Prepare for 2.10.0 stable release gazebosim/gz-cmake#201

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7 tasks

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scpeters commented Dec 22, 2021

since it looks like no more changes are needed from ign-cmake, I'll open a PR for a stable 2.10.0 release

gazebosim/gz-cmake#201

scpeters added 2 commits

December 21, 2021 16:11


          Add backwards compatibility comment in headers

6865f45

Signed-off-by: Steve Peters <scpeters@openrobotics.org>


          Move find_python_module to root CMakeLists.txt

4a7e7e3

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters added a commit to gazebo-release/sdformat10-release that referenced this pull request


          Depend on libignition-cmake2-dev >= 2.10.0

caa2cf7

Needed since gazebosim/sdformat#780

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters mentioned this pull request

Depend on libignition-cmake2-dev >= 2.10.0 gazebo-release/sdformat10-release#6

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scpeters commented Dec 22, 2021

preparing sdformat10-release debian metadata:

Depend on libignition-cmake2-dev >= 2.10.0 gazebo-release/sdformat10-release#6

Member Author

scpeters commented Dec 22, 2021

since it looks like no more changes are needed from ign-cmake, I'll open a PR for a stable 2.10.0 release

ignitionrobotics/ign-cmake#201

the release is done and I just deleted the matching branch on gzdev that was enabling prerelease repositories, so it should build from stable packages now

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scpeters commented Dec 22, 2021

@osrf-jenkins run tests please

j-rivero approved these changes

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chapulina approved these changes

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chapulina left a comment

I just took a really quick look and didn't see anything fishy. I think we can merge this and make a pre-release to see if anything breaks downstream.

The only thing to keep in mind is that we should make the last 10.X release in the coming days for Dome's EOL. So in the worst case scenario, if we identify issues after the pre-release, we may need to revert this PR soon.

cmake/upload_doc.sh.in

               echo -n "Upload code API(Y/n)? "
               read ans
               if [ "$ans" = "y" ] || [ "$ans" = "Y" ]; then
-                s3cmd sync @CMAKE_BINARY_DIR@/doxygen/html/* s3://osrf-distributions/sdformat/api/@SDF_VERSION_FULL@/ -v
+                s3cmd sync @CMAKE_BINARY_DIR@/doxygen/html/* s3://osrf-distributions/sdformat/api/@PROJECT_VERSION_FULL@/ -v

Contributor

chapulina Dec 22, 2021

Just checking, did anyone try uploading docs from this branch?

Member Author

scpeters Dec 23, 2021

no, sorry I haven't tried that yet

CMakeLists.txt Show resolved Hide resolved

scpeters merged commit 92d20d2 into sdf10

scpeters deleted the ci_matching_branch/use-ign-cmake-10 branch

December 22, 2021 22:56

koonpeng commented Dec 29, 2021

@ahcorde @scpeters how do i go about forward porting this to main? I wans't able to find any docs on this.

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scpeters commented Dec 29, 2021

@ahcorde @scpeters how do i go about forward porting this to main? I wans't able to find any docs on this.

we forward port by merging forward and resolving conflicts. I'm testing a forward port to sdf11

Contributor

chapulina commented Dec 29, 2021

how do i go about forward porting this to main? I wans't able to find any docs on this.

It's documented here: https://ignitionrobotics.org/docs/all/contributing#process

scpeters mentioned this pull request

Merge part of 10 to 11 #807

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scpeters commented Dec 29, 2021

@ahcorde @scpeters how do i go about forward porting this to main? I wans't able to find any docs on this.

we forward port by merging forward and resolving conflicts. I'm testing a forward port to sdf11

merging #789 forward first since its test needs a few changes with SDFormat 1.8: #807

scpeters mentioned this pull request

Improve static library support gazebosim/gz-cmake#203

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7 tasks

Member Author

scpeters commented Dec 29, 2021

@ahcorde @scpeters how do i go about forward porting this to main? I wans't able to find any docs on this.

we forward port by merging forward and resolving conflicts. I'm testing a forward port to sdf11

merging #789 forward first since its test needs a few changes with SDFormat 1.8: #807

merging the rest forward to sdf11 in #808

adlarkin mentioned this pull request

Make SDF -> USD code a separate component of SDF #816

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8 tasks

This was referenced Mar 21, 2022

Install sdf/1.8 to versioned path #890

Merged

Install sdf/1.8 and sdf/1.9 to versioned paths #891

Merged

osrf-triage commented Mar 25, 2022

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1

osrf-triage commented Apr 13, 2022

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

chapulina mentioned this pull request

sdformat[11,12,13]: Explicitly depend on ign-cmake2 osrf/homebrew-simulation#1902

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scpeters mentioned this pull request

Use visibility hidden by default gazebosim/gz-cmake#392

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