Merge branch 'devel' into dependabot/github_actions/conda-incubator/s…

…etup-miniconda-3

.github/workflows/ros-ci.yml

@@ -12,8 +12,10 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: rolling, BUILDER: colcon}
+          - {ROS_DISTRO: noetic, BUILDER: catkin_tools}
+          - {ROS_DISTRO: rolling}
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
     env:
       CCACHE_DIR: /github/home/.ccache             # Enable ccache
       CTEST_OUTPUT_ON_FAILURE: ON
@@ -25,7 +27,6 @@ jobs:
       # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test
       # target after completion of the regular test target. The output of this step does affect the output of the CI process.
       # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
-      BUILDER: catkin_tools
       AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && make test'
       IMMEDIATE_TEST_OUTPUT: 1
     runs-on: ubuntu-latest

CHANGELOG.md

@@ -6,6 +6,13 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Fixed
+
+- Use bp::ssize_t for recent version of Windows compilers ([#2102](https://github.com/stack-of-tasks/pinocchio/pull/2102))
+- Fix missing include for Boost >= 1.83 ([#2103](https://github.com/stack-of-tasks/pinocchio/pull/2103))
+- Remove f-strings to fix install with python 2 ([#2110](https://github.com/stack-of-tasks/pinocchio/pull/2110))
+- CMake: stop exporting CppAd/cppadcodegen & fetch submodule if not available ([#2112](https://github.com/stack-of-tasks/pinocchio/pull/2112))
+
 ## [2.6.21] - 2023-11-27
 
 ### Added

CMakeLists.txt

@@ -24,20 +24,35 @@ OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
-IF(NOT EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
-  MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
-ENDIF()
+if(NOT EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+    message(
+      FATAL_ERROR
+        "\nPlease run the following command first:\ngit submodule update --init\n"
+    )
+  else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+  endif()
+endif()
+
 
 SET(DOXYGEN_USE_MATHJAX YES)
 SET(DOXYGEN_USE_TEMPLATE_CSS YES)
 
-INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/base.cmake)
+INCLUDE("${JRL_CMAKE_MODULES}/base.cmake")
+
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/boost.cmake)
-INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/ide.cmake)
-INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/apple.cmake)
+INCLUDE("${JRL_CMAKE_MODULES}/boost.cmake")
+INCLUDE("${JRL_CMAKE_MODULES}/ide.cmake")
+INCLUDE("${JRL_CMAKE_MODULES}/apple.cmake")
 IF(APPLE) # Use the handmade approach
   SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake/find-external/OpenMP ${CMAKE_MODULE_PATH})
 ENDIF(APPLE)
@@ -120,10 +135,10 @@ ENDIF(BUILD_WITH_URDF_SUPPORT)
 IF(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   IF(BUILD_WITH_CODEGEN_SUPPORT)
-    ADD_PROJECT_DEPENDENCY(cppadcg 2.4.1 REQUIRED PKG_CONFIG_REQUIRES "cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
+    FIND_PACKAGE(cppadcg 2.4.1 REQUIRED)
   ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
 
-  ADD_PROJECT_DEPENDENCY(cppad 20180000.0 REQUIRED PKG_CONFIG_REQUIRES "cppad >= 20180000.0")
+  FIND_PACKAGE(cppad 20180000.0 REQUIRED)
 ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
 IF(BUILD_WITH_CASADI_SUPPORT)

bindings/python/pinocchio/visualize/meshcat_visualizer.py

@@ -618,7 +618,7 @@ def initializeFrames(self, frame_ids=None, axis_length=0.2, axis_width=2):
 
         for fid, frame in enumerate(self.model.frames):
             if frame_ids is None or fid in frame_ids:
-                frame_viz_name = f"{self.viewerFramesGroupName}/{frame.name}"
+                frame_viz_name = "%s/%s" % (self.viewerFramesGroupName, frame.name)
                 self.viewer[frame_viz_name].set_object(
                     mg.LineSegments(
                         mg.PointsGeometry(
@@ -640,7 +640,7 @@ def updateFrames(self):
         pin.updateFramePlacements(self.model, self.data)
         for fid in self.frame_ids:
             frame_name = self.model.frames[fid].name
-            frame_viz_name = f"{self.viewerFramesGroupName}/{frame_name}"
+            frame_viz_name = "%s/%s" % (self.viewerFramesGroupName, frame_name)
             self.viewer[frame_viz_name].set_transform(
                 self.data.oMf[fid].homogeneous
             )

bindings/python/utils/conversions.cpp

@@ -37,7 +37,7 @@ namespace pinocchio
     template <typename TupleOrList>
     SE3 XYZQUATToSE3_bp(const TupleOrList& v)
     {
-      ssize_t size = bp::len(v);
+      bp::ssize_t size = bp::len(v);
       if(size != 7)
       {
         throw std::invalid_argument(

examples/update-model-after-urdf.py

@@ -23,7 +23,7 @@
 
 
 def check_limb_lengths(limb_length: float) -> bool:
-    print(f"Checking that limbs are {limb_length} m long... ", end="")
+    print("Checking that limbs are %s m long... " % limb_length, end="")
     for side in ("left", "right"):
         for joint in ("knee", "wheel"):
             joint_id = model.getJointId(f"{side}_{joint}")

include/pinocchio/math/fwd.hpp

@@ -8,6 +8,7 @@
 #include "pinocchio/fwd.hpp"
 #include <math.h>
 #include <boost/math/constants/constants.hpp>
+#include <boost/type_traits/is_floating_point.hpp>
 
 namespace pinocchio
 {

package.xml

@@ -15,12 +15,12 @@
   <build_depend>doxygen</build_depend>
   <doc_depend>doxygen</doc_depend>
   <doc_depend>texlive-latex-base</doc_depend>
+  <!-- Required for the environment variables (ROS_VERSION, ROS_DISTRO) to be available -->
+  <depend>ros_environment</depend>
   <!-- The following tags are recommended by REP-136 -->
   <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <depend>python3</depend>
+  <depend>python3-numpy</depend>
   <depend>liburdfdom-dev</depend>
   <depend>eigen</depend>
   <depend>boost</depend>