[DRAFT] Update to YARP 3.11.1 candidate

.github/workflows/ci.yml

@@ -191,7 +191,6 @@ jobs:
         cmake_generator:
           - "Ninja"
         docker_image:
-          - "ubuntu:20.04"
           - "ubuntu:22.04"
           - "ubuntu:24.04"
 
@@ -203,10 +202,6 @@ jobs:
             project_tags_cmake_options: ""
           - project_tags: Unstable
             project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"
-        exclude:
-          # Not supported anymore, see https://github.com/robotology/robotology-superbuild/issues/1783
-          - project_tags: Unstable
-            docker_image: "ubuntu:20.04"
 
     container:
       image: ${{ matrix.docker_image }}
@@ -230,28 +225,12 @@ jobs:
         chmod +x ./.ci/install_debian.sh
         bash ./.ci/install_debian.sh
 
-    - name: Install recent CMake [Docker/Ubuntu Focal]
-      if: matrix.docker_image == 'ubuntu:20.04'
-      run: |
-        apt-get -y update
-        apt-get install -y ca-certificates software-properties-common gpg wget
-        wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
-        echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null
-        apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
-        apt-get install -y cmake
-
     - 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 MuJoCo and gz-sim for distros released before 2022 [Docker ubuntu:20.04]
-      if: (matrix.docker_image == 'ubuntu:20.04')
-      run: |
-       cd build
-       cmake  -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_USES_GZ:BOOL=OFF .
-
     - name: Disable Gazebo Classic support for distro without Gazebo Classic binaries [Docker ubuntu:24.04]
       if: (matrix.docker_image == 'ubuntu:24.04')
       run: |

.github/workflows/generate-conda-packages.yaml

@@ -52,7 +52,7 @@ jobs:
             fail-fast: false
             matrix:
               include:
-                - os: ubuntu-20.04
+                - os: ubuntu-22.04
                   conda_platform: linux-64
                 - os: macos-14
                   conda_platform: osx-arm64

.github/workflows/generate-non-periodical-conda-package.yaml

@@ -18,7 +18,7 @@ jobs:
             fail-fast: false
             matrix:
               include:
-                - os: ubuntu-20.04
+                - os: ubuntu-22.04
                   conda_platform: linux-64
                 - os: macos-14
                   conda_platform: osx-arm64

.github/workflows/update-latest-releases.yml

@@ -11,7 +11,7 @@ on:
 jobs:
     update-latest-releases:
         name: "Update latest releases"
-        runs-on: [ubuntu-20.04]
+        runs-on: [ubuntu-22.04]
         steps:
         - uses: actions/checkout@v4
 

README.md

@@ -102,7 +102,6 @@ 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)
 * Ubuntu 24.04 (Noble Numbat)
 
@@ -119,27 +118,18 @@ Besides the packages listed in `apt.txt` file, the script `install_apt_dependenc
 
 For what regards CMake, the robotology-superbuild requires CMake 3.19 . If you are using a recent Debian-based system such as Ubuntu 22.04, 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 20.04 "Focal" : install a recent CMake via Kitware APT Repository, see https://apt.kitware.com/ .
-
-
 For some [profile](doc/cmake-options.md#profile-cmake-options) or [dependency](doc/cmake-options.md#dependencies-cmake-options) specific CMake option you may need to install additional system dependencies, following the dependency-specific documentation listed in the following. If you do not want to enable an option, you should ignore the corresponding section and continue with the installation process.
 
 Note that the `ROBOTOLOGY_USES_GAZEBO` option is enabled by default (except on Ubuntu 24.04 when installing with apt dependencies), so you should install Gazebo Classic unless you plan to disable this option.
 
 #### `ROBOTOLOGY_USES_GAZEBO`
 
-On Linux with apt dependencies install Gazebo Classic, if you are on:
-* Ubuntu 20.04
-
-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.
-
-Otherwise, if you are on other supported Debian/Ubuntu systems, just install the system provided gazebo package with:
+If you are on Ubuntu 22.04 or another Debian/Ubuntu systems where the `libgazebo-dev` Gazebo Classic package is available in apt, just install the system provided gazebo package with:
 ~~~~
 sudo apt install libgazebo-dev
 ~~~~
 
-If you are on Ubuntu 24.04, please use conda if you want to install Gazebo Classic, as no Gazebo Classic packages are available via apt.
+If you are on Ubuntu 24.04, please use conda or pixi to install robotology-superbuild dependencies if you want to install Gazebo Classic, as no Gazebo Classic packages are available via apt.
 
 #### `ROBOTOLOGY_USES_GZ`
 

apt.txt

@@ -11,6 +11,7 @@ libassimp-dev
 libboost-filesystem-dev
 libboost-system-dev
 libboost-thread-dev
+libdc1394-dev
 libedit-dev
 libeigen3-dev
 libgsl0-dev

cmake/Buildbipedal-locomotion-framework.cmake

@@ -33,11 +33,6 @@ if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
   list(APPEND bipedal-locomotion-framework_DEPENDS CppAD)
   list(APPEND bipedal-locomotion-framework_DEPENDS LieGroupControllers)
 
-  if (ROBOTOLOGY_BUILD_QHULL)
-    find_or_build_package(qhull QUIET)
-    list(APPEND bipedal-locomotion-framework_DEPENDS qhull)
-  endif()
-
   if (ROBOTOLOGY_BUILD_tomlplusplus)
     find_or_build_package(tomlplusplus QUIET)
     list(APPEND bipedal-locomotion-framework_DEPENDS tomlplusplus)

cmake/Buildyarp-device-openxrheadset.cmake

@@ -6,6 +6,7 @@ include(FindOrBuildPackage)
 
 find_or_build_package(YARP QUIET)
 find_or_build_package(OpenXR QUIET)
+find_or_build_package(iDynTree QUIET)
 
 ycm_ep_helper(yarp-device-openxrheadset TYPE GIT
               STYLE GITHUB
@@ -14,6 +15,7 @@ ycm_ep_helper(yarp-device-openxrheadset TYPE GIT
               COMPONENT dynamics
               FOLDER src
               DEPENDS YARP
-                      OpenXR)
+                      OpenXR
+                      iDynTree)
 
-set(yarp-device-openxrheadset_CONDA_DEPENDENCIES glew glm glfw xorg-xproto)
+set(yarp-device-openxrheadset_CONDA_DEPENDENCIES glew glm glfw xorg-xproto idyntree)

cmake/ProjectsTagsStable.cmake

@@ -16,7 +16,8 @@ set_tag(casadi-matlab-bindings_TAG v3.6.7.0)
 
 # Robotology projects
 set_tag(YCM_TAG master)
-set_tag(YARP_TAG yarp-3.10)
-set_tag(yarp-devices-ros2_TAG v1.0.0)
+set_tag(YARP_REPOSITORY traversaro/yarp.git)
+set_tag(YARP_TAG fixpublicheaders)
+set_tag(yarp-devices-ros2_TAG master)
 set_tag(yarp-matlab-bindings_TAG yarp-3.10)
 set_tag(gym-ignition_TAG v1.3.1)

cmake/ProjectsTagsUnstable.cmake

@@ -16,8 +16,9 @@ set_tag(casadi-matlab-bindings_TAG v3.6.6.0)
 
 # Robotology projects
 # Pin YARP and yarp-devices-ros2 to a version before the yarp::dev::ReturnValue changes
-set_tag(YARP_TAG 43ba0305f8ca690cea5c2a8a6bcdcec60d3ddd0a)
-set_tag(yarp-devices-ros2_TAG e4ba8fa2efe7486edd3ade40b2236e69acb6ab37)
+set_tag(YARP_REPOSITORY traversaro/yarp.git)
+set_tag(YARP_TAG fixpublicheaders)
+set_tag(yarp-devices-ros2_TAG master)
 set_tag(ICUB_TAG devel)
 set_tag(RobotTestingFramework_TAG devel)
 set_tag(blockTest_TAG devel)

cmake/RobotologySuperbuildLogic.cmake

@@ -8,27 +8,6 @@ else()
   set(ROBOTOLOGY_CONFIGURING_UNDER_CONDA OFF)
 endif()
 
-
-# We only build qhull on Ubuntu 20.04, not on any other platform
-# See https://github.com/robotology/robotology-superbuild/issues/1269#issuecomment-1257811559
-# See https://stackoverflow.com/questions/26919334/detect-underlying-platform-flavour-in-cmake
-if(ROBOTOLOGY_CONFIGURING_UNDER_CONDA OR APPLE OR WIN32)
-  set(ROBOTOLOGY_BUILD_QHULL OFF)
-else()
-  find_program(ROBSUB_LSB_RELEASE lsb_release)
-  if(ROBSUB_LSB_RELEASE)
-    execute_process(COMMAND lsb_release -cs
-      OUTPUT_VARIABLE LSB_RELEASE_CODENAME
-      OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-  endif()
-  if(LSB_RELEASE_CODENAME STREQUAL "focal")
-    set(ROBOTOLOGY_BUILD_QHULL ON)
-  else()
-    set(ROBOTOLOGY_BUILD_QHULL OFF)
-  endif()
-endif()
-
 # On conda-forge we get tomlplusplus from conda-forge, otherwise we build it
 if(ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
   set(ROBOTOLOGY_BUILD_tomlplusplus OFF)
@@ -78,7 +57,7 @@ if(ROBOTOLOGY_ENABLE_CORE)
     find_or_build_package(idyntree-matlab-bindings)
   endif()
   find_or_build_package(whole-body-estimators)
-  
+
   if(NOT ROBOTOLOGY_SKIP_ROBOTS_CONFIGURATION)
     find_or_build_package(robots-configuration)
   endif()

doc/cmake-options.md

@@ -102,7 +102,7 @@ Not all options are supported on all platforms. The following table provides a r
 | `ROBOTOLOGY_USES_MOVEIT`                                       | ✔️                               |             ❌              |                 ✔️                        |              ❌                           |                  ❌                        |
 | `ROBOTOLOGY_USES_IGNITION`                                          | ❌                               |             ❌              |                 ✔️                        |              ❌                           |               ❌                            |
 | `ROBOTOLOGY_USES_MATLAB`                                            | ✔️                               |             ❌              |                 ✔️                        |              ✔️                           |               ✔️                            |
-| `ROBOTOLOGY_USES_OCTAVE`<sup id="a4">[4!](#f4)</sup>                                            | ✔️                               |              ❌             |                  ❌                       |        )       ❌                          |                  ❌                         |
+| `ROBOTOLOGY_USES_OCTAVE`                                           | ✔️                               |              ❌             |                  ❌                       |        )       ❌                          |                  ❌                         |
 | `ROBOTOLOGY_USES_PYTHON`                | ✔️                               |              ❌             |                  ✔️                       |               ✔️                          |                  ✔️                         |
 | `ROBOTOLOGY_USES_CFW2CAN`                                           |  ✔️                              |             ❌              |                 ✔️                        |              ❌                           |                 ❌                          |
 | `ROBOTOLOGY_USES_XSENS_MVN_SDK`                                     |  ❌                              |             ✔️              |                 ❌                        |              ❌                           |                 ❌                          |
@@ -115,7 +115,6 @@ Not all options are supported on all platforms. The following table provides a r
 
 <b id="f3">3!</b>:`ROBOTOLOGY_USES_GZ`  with apt dependencies do not support building on Debian distros (only Ubuntu is supported). Furthermore it does not run on Windows (https://github.com/gazebosim/gz-sim/issues/2089) and have known problems on macOS (https://github.com/robotology/gz-sim-yarp-plugins/issues/90).
 
-<b id="f4">4!</b>:`ROBOTOLOGY_USES_OCTAVE` do not support building with apt dependencies on Ubuntu 20.04.
 
 
 Profile-specific documentation