Merge branch 'develop' into issue_556-failed_transformation_unit_tests

norlab-ulaval · Jan 25, 2024 · 02d19f4 · 02d19f4
2 parents 3538cfb + 941b2a1
commit 02d19f4
Show file tree

Hide file tree

Showing 17 changed files with 36 additions and 35 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,8 @@
 [submodule "build_system/utilities/norlab-build-system"]
 	path = build_system/utilities/norlab-build-system
 	url = https://github.com/norlab-ulaval/norlab-build-system.git
+	branch = main
 [submodule "build_system/utilities/norlab-shell-script-tools"]
 	path = build_system/utilities/norlab-shell-script-tools
 	url = https://github.com/norlab-ulaval/norlab-shell-script-tools.git
+	branch = main
diff --git a/README.md b/README.md
@@ -48,11 +48,10 @@ The library is written in C++ for efficiency with [bindings in Python](doc/index
 
 ### Supported OS And Architecture
 _libpointmatcher_ is tested on our build system under the following architecture and OS:
-- Ubuntu bionic (18.04) and focal (20.04)  
+- Ubuntu bionic (18.04), focal (20.04) and jammy (22.04)  
 - x86 and arm64/v8
 
-Note: 
-- support for Ubuntu jammy (22.04) comming soon
+Note:
 - _libpointmatcher_ reportedly works on MacOs OsX (latest) and Windows (latest)
 
 

diff --git a/build_system/.env.build_matrix.dependencies b/build_system/.env.build_matrix.dependencies
@@ -32,7 +32,6 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
 # Part of the build matrix used for PR
-#NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' )
 NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)

diff --git a/build_system/.env.build_matrix.libpointmatcher b/build_system/.env.build_matrix.libpointmatcher
@@ -32,7 +32,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )

diff --git a/build_system/.env.build_matrix.libpointmatcher.bleeding b/build_system/.env.build_matrix.libpointmatcher.bleeding
@@ -34,7 +34,6 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
 NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
-# ToDo: fixme!! (ref task NMO-305 ﹅→ Build fail: ubuntu jammy with utest compilation).
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )

diff --git a/build_system/.env.build_matrix.libpointmatcher.release b/build_system/.env.build_matrix.libpointmatcher.release
@@ -30,7 +30,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )

diff --git a/...ompose_over_build_matrix.bash › build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml b/...ompose_over_build_matrix.bash › build dependencies_arm64v8 ci_PR_arm64v8 _popup_.run.xml
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash ›  build ci_PR_arm64v8 &lt;popup&gt;" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override Release --ubuntu-version-build-matrix-override focal --fail-fast -- build ci_PR_arm64v8" />
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override Release --ubuntu-version-build-matrix-override jammy --fail-fast -- build ci_PR_arm64v8" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
@@ -16,4 +16,4 @@
     </envs>
     <method v="2" />
   </configuration>
-</component>
+</component>
diff --git a/...build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml b/...build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET).run.xml
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="bash lpm_crawl_dependencies_build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET)" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_dependencies_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override None --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override focal -- build dependencies-general dependencies dependencies-doc" />
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_dependencies_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override None --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override jammy -- build dependencies-general dependencies dependencies-doc" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
@@ -16,4 +16,4 @@
     </envs>
     <method v="2" />
   </configuration>
-</component>
+</component>
diff --git a/...h lpm_execute_compose_over_build_matrix.bash › build test_compilation__ (Release).run.xml b/...h lpm_execute_compose_over_build_matrix.bash › build test_compilation__ (Release).run.xml
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash › build test_compilation_* (compilation test)" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override Release --os-name-build-matrix-override ubuntu -- build test_compilation_prefixed_path test_compilation_auto_path_resolution" />
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override Release --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override jammy -- build test_compilation_prefixed_path test_compilation_auto_path_resolution" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />

diff --git a/...er_build_matrix.bash › build test_compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml b/...er_build_matrix.bash › build test_compilation_prefixed_path (BUILD MATRIX SUBSET).run.xml
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="bash lpm_crawl_libpointmatcher_build_matrix.bash › build test_compilation_prefixed_path (BUILD MATRIX SUBSET)" type="ShConfigurationType" folderName="[LPM] C | Execute compose over build matrix" editBeforeRun="true">
-    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override Release --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override focal -- build test_compilation_prefixed_path" />
+    <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override Release --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override jammy -- build test_compilation_prefixed_path" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
@@ -16,4 +16,4 @@
     </envs>
     <method v="2" />
   </configuration>
-</component>
+</component>
diff --git a/..._system/.jetbrains_run_config/run and open a terminal in a Ubuntu 20.04 container.run.xml b/..._system/.jetbrains_run_config/run and open a terminal in a Ubuntu 20.04 container.run.xml
@@ -1,6 +1,6 @@
 <component name="ProjectRunConfigurationManager">
   <configuration default="false" name="run and open a terminal in a Ubuntu 20.04 container" type="ShConfigurationType" folderName="[LPM] docker utilities">
-    <option name="SCRIPT_TEXT" value="docker run --name IamUbuntu-focal -it --rm ubuntu:20.04 bash" />
+    <option name="SCRIPT_TEXT" value="docker run --name IamUbuntu-jammy -it --rm ubuntu:22.04 bash" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />
     <option name="SCRIPT_OPTIONS" value="" />
@@ -14,4 +14,4 @@
     <envs />
     <method v="2" />
   </configuration>
-</component>
+</component>
diff --git a/build_system/tests/tests_docker_interactive/Dockerfile.build_system_test b/build_system/tests/tests_docker_interactive/Dockerfile.build_system_test
@@ -1,5 +1,5 @@
 ARG BASE_IMAGE=ubuntu
-ARG BASE_IMAGE_TAG=focal
+ARG BASE_IMAGE_TAG=jammy
 FROM ${BASE_IMAGE}:${BASE_IMAGE_TAG} AS base-image
 
 LABEL org.opencontainers.image.authors="luc.coupal.1@ulaval.ca"

diff --git a/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test b/build_system/ubuntu/Dockerfile.libpointmatcher.compilation_test
@@ -105,7 +105,9 @@ RUN export APPEND_TO_CMAKE_FLAG=( "-D CMAKE_INSTALL_PREFIX=${NBS_LIB_INSTALL_PAT
 WORKDIR "${NBS_LIB_INSTALL_PATH}"
 RUN git clone https://github.com/norlab-ulaval/norlab_icp_mapper.git \
     && mkdir -p norlab_icp_mapper/build && cd norlab_icp_mapper/build \
-    && cmake -DCMAKE_BUILD_TYPE=Release .. \
+    && cmake -D CMAKE_BUILD_TYPE=Release \
+             -D CMAKE_INSTALL_PREFIX=${NBS_LIB_INSTALL_PATH:?err} \
+             .. \
     && make -j $(nproc) \
     && make install
 

diff --git a/build_system/utilities/norlab-build-system b/build_system/utilities/norlab-build-system
diff --git a/build_system/utilities/norlab-shell-script-tools b/build_system/utilities/norlab-shell-script-tools
diff --git a/doc/CompilationUbuntu.md b/doc/CompilationUbuntu.md
@@ -7,19 +7,19 @@
 
 If you are used to development projects, here is what you need:
 
-| Name           |     Version  <br> (Tested on our CI/CD server)     |     Version  <br> (Tested on our CI/CD server)     |
-|:---------------|:--------------------------------------------------:|:--------------------------------------------------:|
-| Ubuntu         |            bionic 18.04.1 LTS (64 bit)             |              focal 20.04 LTS (64 bit)              |
-| Architecture   |                  x86 and arm64/v8                  |              x86 and arm64/v8              |
-| gcc            |                       7.5.0                        |                       latest                       |
-| git            |                       2.17.1                       |                       latest                       |
-| cmake          |                       3.10.2                       |                       latest                       |
-| doxygen (opt.) |                     1.8.13-10                      |                       latest                       |
-|                |                                                    |                                                    |
-| _Dependency:_  |                                                    |                                                    |
-| boost          |                       1.65.1                       |                       latest                       |
-| eigen          |                      3.3.4-4                       |                       latest                       |
-| yaml-cpp       |                        0.5+                        |                       latest                       |
+| Name           |     Version  <br> (Tested on our CI/CD server)     |       Version  <br> (Tested on our CI/CD server)        | Version  <br> (Tested on our CI/CD server) |
+|:---------------|:--------------------------------------------------:|:-------------------------------------------------------:|:------------------------------------------:|
+| Ubuntu         |            bionic 18.04.1 LTS (64 bit)             |                focal 20.04 LTS (64 bit)                 |          jammy 22.04 LTS (64 bit)          |
+| Architecture   |                  x86 and arm64/v8                  |                     x86 and arm64/v8                    |              x86 and arm64/v8              |
+| gcc            |                       7.5.0                        |                         latest                          |                   latest                   |
+| git            |                       2.17.1                       |                         latest                          |                   latest                   |
+| cmake          |                       3.10.2                       |                         latest                          |                   latest                   |
+| doxygen (opt.) |                     1.8.13-10                      |                         latest                          |                   latest                   |
+|                |                                                    |                                                         |                                            |
+| _Dependency:_  |                                                    |                                                         |                                            |
+| boost          |                       1.65.1                       |                         latest                          |                   latest                   |
+| eigen          |                      3.3.4-4                       |                         latest                          |                   latest                   |
+| yaml-cpp       |                        0.5+                        |                         latest                          |                   latest                   |
 | libnabo        | [from source](https://github.com/norlab-ulaval/libnabo) | [from source](https://github.com/norlab-ulaval/libnabo) |
 
 __Note:__ we only support 64-bit systems because of some issues with Eigen. Other versions will most probably work but you'll have to try yourself to know for sure.

diff --git a/doc/contributing/contributing_instructions.md b/doc/contributing/contributing_instructions.md
@@ -33,7 +33,7 @@ configuration on our build system and the pull request will be granted if the bu
 succeed.
 
 **Current build matrix:**
-`[latest] x [x86, arm64] x [ubuntu] x [bionic, focal] x [Release, RelWithDebInfo, MinSizeRel]`
+`[latest] x [x86, arm64] x [ubuntu] x [bionic, focal, jammy] x [Release, RelWithDebInfo, MinSizeRel]`
 
 ### Development Workflow
 
@@ -73,7 +73,7 @@ bash lpm_crawl_libpointmatcher_build_matrix.bash \
             --repository-version-build-matrix-override latest \
             --os-name-build-matrix-override ubuntu \
             --cmake-build-type-build-matrix-override RelWithDebInfo \
-            --ubuntu-version-build-matrix-override focal \
+            --ubuntu-version-build-matrix-override jammy \
             --fail-fast \
             -- build ci_PR_amd64 ci_PR_arm64v8