Remove CMake error preventing build on 22.04 and minor improvements (e…

…pfl-lasa#299)

* Remove unnecessary line from CMakeLists

* Make Dockerfiles more consistent to benefit from cache

* Fix demos version and update it automatically

* Install python3 instead of python in base Dockerfile

* 6.0.1 -> 6.0.2

* Fix update_version script

* Update CHANGELOG

* 6.0.2 -> 6.0.3

CHANGELOG.md

@@ -16,6 +16,7 @@ Release Versions:
 
 - Extend clproto tests (#297)
 - Set default values of empty Parameters correctly (#298)
+- Remove CMake error preventing build on 22.04 and minor improvements (#299)
 
 ## 6.0.0
 

Dockerfile.base

@@ -21,6 +21,8 @@ RUN apt-get update && apt-get install -y \
 
 
 FROM core-build-dependencies as project-dependencies
+ARG OSQP_TAG=v0.6.2
+ARG OSQP_EIGEN_TAG=v0.6.4
 
 # add pinocchio to package list
 RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \
@@ -40,10 +42,10 @@ RUN apt-get update && apt-get install -y \
 
 # install osqp and eigen wrapper
 WORKDIR /tmp/osqp_build
-RUN git clone --recursive https://github.com/oxfordcontrol/osqp \
+RUN git clone --depth 1 -b ${OSQP_TAG} --recursive https://github.com/oxfordcontrol/osqp \
     && cd osqp && mkdir build && cd build && cmake -G "Unix Makefiles" .. && cmake --build . --target install
 
-RUN git clone https://github.com/robotology/osqp-eigen.git \
+RUN git clone --depth 1 -b ${OSQP_EIGEN_TAG} https://github.com/robotology/osqp-eigen.git \
     && cd osqp-eigen && mkdir build && cd build && cmake .. && make -j && make install
 
 ENV LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib:/opt/openrobots/lib/
@@ -116,7 +118,7 @@ FROM ssh-configuration as development-dependencies
 RUN apt-get update && apt-get install -y \
     clang \
     gdb \
-    python \
+    python3 \
     python3-dev \
     python3-pip \
     tar \

VERSION

@@ -1 +1 @@
-6.0.2
+6.0.3

demos/CMakeLists.txt

@@ -18,7 +18,7 @@ endif()
 list(APPEND CMAKE_PREFIX_PATH /opt/openrobots)
 include_directories(/opt/openrobots/include)
 
-find_package(control_libraries 5.0.0 CONFIG REQUIRED)
+find_package(control_libraries 6.0.3 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

demos/Dockerfile

@@ -1,13 +1,13 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest
+ARG BRANCH=develop
 
-WORKDIR /tmp
-ARG CONTROL_LIBRARIES_BRANCH=develop
-RUN git clone -b ${CONTROL_LIBRARIES_BRANCH} --depth 1 https://github.com/epfl-lasa/control-libraries.git
-RUN cd control-libraries/source && ./install.sh --auto
-RUN cd control-libraries/protocol && ./install.sh --auto
+WORKDIR /source
+RUN git clone --depth 1 --branch ${BRANCH} https://github.com/epfl-lasa/control-libraries
+RUN bash control-libraries/source/install.sh --auto
+RUN bash control-libraries/protocol/install.sh --auto
 RUN pip3 install control-libraries/python
 
-RUN rm -rf /tmp/*
+RUN rm -rf /source
 
 USER developer
 WORKDIR ${HOME}/control_loop_examples

demos/run-demo.sh

@@ -31,7 +31,7 @@ while [[ $# -gt 0 ]]; do
 done
 
 echo "Using control libraries branch ${BRANCH}"
-BUILD_FLAGS+=(--build-arg CONTROL_LIBRARIES_BRANCH="${BRANCH}")
+BUILD_FLAGS+=(--build-arg BRANCH="${BRANCH}")
 
 docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies
 DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . -t "${IMAGE_NAME}:${IMAGE_TAG}" || exit 1

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 6.0.2
+PROJECT_NUMBER = 6.0.3
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/Dockerfile.protocol

@@ -2,7 +2,7 @@ FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest as depe
 ARG BRANCH=develop
 
 WORKDIR /source
-RUN git clone --depth 1 --branch "${BRANCH}" https://github.com/epfl-lasa/control-libraries
+RUN git clone --depth 1 --branch ${BRANCH} https://github.com/epfl-lasa/control-libraries
 RUN bash control-libraries/source/install.sh --auto --no-controllers --no-dynamical-systems --no-robot-model
 
 WORKDIR /tmp/protocol
@@ -16,7 +16,7 @@ FROM dependencies as build
 ARG BUILD_TESTING=ON
 
 WORKDIR /tmp/protocol/clproto_cpp/build
-RUN cmake -DBUILD_TESTING="${BUILD_TESTING}" .. && make -j all
+RUN cmake -DBUILD_TESTING=${BUILD_TESTING} .. && make -j all
 
 
 FROM build as testing

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 6.0.2)
+project(clproto VERSION 6.0.3)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

python/Dockerfile.python

@@ -2,7 +2,7 @@ FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest as pyth
 ARG BRANCH=develop
 
 WORKDIR /source
-RUN git clone --depth 1 --branch $BRANCH https://github.com/epfl-lasa/control-libraries
+RUN git clone --depth 1 --branch ${BRANCH} https://github.com/epfl-lasa/control-libraries
 RUN bash control-libraries/source/install.sh --auto
 RUN bash control-libraries/protocol/install.sh --auto
 

python/setup.py

@@ -10,7 +10,7 @@
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 openrobots_path_var = 'OPENROBOTS_INCLUDE_DIR'
 
-__version__ = "6.0.2"
+__version__ = "6.0.3"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 6.0.2)
+project(control_libraries VERSION 6.0.3)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)

source/Dockerfile.source

@@ -1,4 +1,4 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies as build
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest as build
 ARG BUILD_TESTING=ON
 ARG BUILD_CONTROLLERS=ON
 ARG BUILD_DYNAMICAL_SYSTEMS=ON

source/dynamical_systems/CMakeLists.txt

@@ -1,7 +1,5 @@
 set(LIBRARY_NAME dynamical_systems)
 
-find_library(state_representation REQUIRED)
-
 set(CORE_SOURCES
   src/IDynamicalSystem.cpp
   src/DynamicalSystemFactory.cpp

update_version.sh

@@ -109,23 +109,27 @@ SED_STR_SOURCE="s/project(control_libraries VERSION ${VERSION})/project(control_
 SED_STR_PYTHON="s/__version__ = \"${VERSION}\"/__version__ = \"${NEW_VERSION}\"/g"
 SED_STR_CLPROTO="s/project(clproto VERSION ${VERSION})/project(clproto VERSION ${NEW_VERSION})/g"
 SED_STR_DOXYGEN="s/PROJECT_NUMBER = ${VERSION}/PROJECT_NUMBER = ${NEW_VERSION}/g"
+SED_STR_DEMOS="s/control_libraries ${VERSION}/control_libraries ${NEW_VERSION}/g"
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
   sed -i '' "${SED_STR_VERSION}" ./VERSION
   sed -i '' "${SED_STR_SOURCE}" ./source/CMakeLists.txt
   sed -i '' "${SED_STR_PYTHON}" ./python/setup.py
   sed -i '' "${SED_STR_CLPROTO}" ./protocol/clproto_cpp/CMakeLists.txt
   sed -i '' "${SED_STR_DOXYGEN}" ./doxygen/doxygen.conf
+  sed -i '' "${SED_STR_DEMOS}" ./demos/CMakeLists.txt
 else
   sed -i "${SED_STR_VERSION}" ./VERSION
   sed -i "${SED_STR_SOURCE}" ./source/CMakeLists.txt
   sed -i "${SED_STR_PYTHON}" ./python/setup.py
   sed -i "${SED_STR_CLPROTO}" ./protocol/clproto_cpp/CMakeLists.txt
   sed -i "${SED_STR_DOXYGEN}" ./doxygen/doxygen.conf
+  sed -i "${SED_STR_DEMOS}" ./demos/CMakeLists.txt
 fi
 
 if [ "${COMMIT}" == true ]; then
   echo "Committing changes to source control"
-  git add VERSION ./source/CMakeLists.txt ./python/setup.py ./protocol/clproto_cpp/CMakeLists.txt ./doxygen/doxygen.conf
+  git add VERSION ./source/CMakeLists.txt ./python/setup.py \
+      ./protocol/clproto_cpp/CMakeLists.txt ./doxygen/doxygen.conf ./demos/CMakeLists.txt
   git commit -m "${VERSION} -> ${NEW_VERSION}"
 fi