Release 6.3.0

Version 6.3.0 contains behind-the-scenes structural improvements to Dockerfiles and GitHub workflows
and clarifies the license requirements of the library and its dependencies.

Fixes and improvements:

- Build and push both 20.04 and 22.04 images (#314, #315, #316)
- Don't build pinocchio tests in development image (#317)
- Simplify and consolidate Dockerfiles and scripts (#319)
- Better license management (#320)

.github/actions/build-push/action.yml

@@ -7,6 +7,12 @@ inputs:
     options:
       - 'Development dependencies'
       - 'Protocol dependencies'
+  base_tag:
+    description: 'The tag of the base ubuntu image.'
+    required: false
+    options:
+      - '22.04'
+      - '20.04'
   secret:
     description: 'GitHub Container Registry secret'
     required: true
@@ -31,13 +37,20 @@ runs:
       run: |
         if [ "${{ inputs.image }}" = "Development dependencies" ]; then
           DOCKERFILE=Dockerfile.base
-          IMAGE_NAME=${{ github.repository }}/development-dependencies:latest
+          IMAGE_NAME=${{ github.repository }}/development-dependencies
         else
           DOCKERFILE=Dockerfile.proto
           IMAGE_NAME=${{ github.repository }}/proto-dependencies
         fi
-        docker buildx build --file "${DOCKERFILE}" \
-          --platform=linux/arm64,linux/amd64 \
-          --push --tag ghcr.io/${IMAGE_NAME} \
-          .
+        if [ "${{ inputs.base_tag }}" == "22.04" ]; then
+          docker buildx build --file ${DOCKERFILE} \
+            --build-arg BASE_TAG=${{ inputs.base_tag }} \
+            --platform=linux/arm64,linux/amd64 \
+            --push -t ghcr.io/${IMAGE_NAME}:22.04 -t ghcr.io/${IMAGE_NAME}:latest .
+        else
+          docker buildx build --file ${DOCKERFILE} \
+            --build-arg BASE_TAG=${{ inputs.base_tag }} \
+            --platform=linux/arm64,linux/amd64 \
+            --push -t ghcr.io/${IMAGE_NAME}:20.04 .
+        fi
       shell: bash

.github/workflows/build-push.yml

@@ -8,9 +8,9 @@ on:
   workflow_dispatch:
 
 jobs:
-  build-publish-proto-dependencies:
+  build-publish-proto-dependencies-focal-fossa:
     runs-on: ubuntu-latest
-    name: Build and publish proto dependencies image
+    name: Build and publish proto dependencies image on ubuntu 20.04
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v2
@@ -19,12 +19,42 @@ jobs:
         uses: ./.github/actions/build-push
         with:
           image: "Protocol dependencies"
+          base_tag: 20.04
           secret: ${{ secrets.GITHUB_TOKEN }}
 
-  build-publish-development-dependencies:
-    needs: build-publish-proto-dependencies
+  build-publish-proto-dependencies-jammy-jellyfish:
     runs-on: ubuntu-latest
-    name: Build and publish development dependencies image
+    name: Build and publish proto dependencies image on ubuntu 22.04
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v2
+
+      - name: Build and Push
+        uses: ./.github/actions/build-push
+        with:
+          image: "Protocol dependencies"
+          base_tag: 22.04
+          secret: ${{ secrets.GITHUB_TOKEN }}
+
+  build-publish-development-dependencies-focal-fossa:
+    needs: build-publish-proto-dependencies-focal-fossa
+    runs-on: ubuntu-latest
+    name: Build and publish development dependencies image on ubuntu 20.04
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v2
+
+      - name: Build and Push
+        uses: ./.github/actions/build-push
+        with:
+          image: "Development dependencies"
+          base_tag: 20.04
+          secret: ${{ secrets.GITHUB_TOKEN }}
+
+  build-publish-development-dependencies-jammy-jellyfish:
+    needs: build-publish-proto-dependencies-jammy-jellyfish
+    runs-on: ubuntu-latest
+    name: Build and publish development dependencies image on ubuntu 22.04
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v2
@@ -33,4 +63,5 @@ jobs:
         uses: ./.github/actions/build-push
         with:
           image: "Development dependencies"
+          base_tag: 22.04
           secret: ${{ secrets.GITHUB_TOKEN }}

CHANGELOG.md

@@ -1,6 +1,7 @@
 # CHANGELOG
 
 Release Versions:
+- [6.3.0](#630)
 - [6.2.0](#620)
 - [6.1.0](#610)
 - [6.0.0](#600)
@@ -14,6 +15,18 @@ Release Versions:
 - [2.0.0](#200)
 - [1.0.0](#100)
 
+## 6.3.0
+
+Version 6.3.0 contains behind-the-scenes structural improvements to Dockerfiles and GitHub workflows
+and clarifies the license requirements of the library and its dependencies.
+
+### Fixes and improvements
+
+- Build and push both 20.04 and 22.04 images (#314, #315, #316)
+- Don't build pinocchio tests in development image (#317)
+- Simplify and consolidate Dockerfiles and scripts (#319)
+- Better license management (#320)
+
 ## 6.2.0
 
 Version 6.2.0 contains minor changes to the Python bindings and robot model installation dependencies.

Dockerfile.base

@@ -1,4 +1,5 @@
-FROM ubuntu:20.04 as core-build-dependencies
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as core-build-dependencies
 ENV DEBIAN_FRONTEND=noninteractive
 
 # install core compilation and access dependencies for building the libraries
@@ -47,7 +48,7 @@ RUN apt-get update && apt-get install -y \
 WORKDIR /tmp
 ARG EIGEN_TAG=3.4.0
 RUN wget -c https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_TAG}/eigen-${EIGEN_TAG}.tar.gz -O - | tar -xz \
-    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && cmake .. && make install \
+    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && cmake -DEIGEN_MPL2_ONLY .. && make install \
     && cd ../.. && rm -r eigen-${EIGEN_TAG} || exit 1
 
 ARG OSQP_TAG=0.6.2
@@ -64,7 +65,7 @@ ARG PINOCCHIO_TAG=2.6.9
 RUN git clone --depth 1 -b v${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio \
     && cd pinocchio && mkdir build && cd build \
     && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_PYTHON_INTERFACE=OFF \
-    && make -j1 && make install && cd ../.. && rm -r pinocchio || exit 1
+    -DBUILD_TESTING=OFF && make -j $(nproc --ignore=1) && make install && cd ../.. && rm -r pinocchio || exit 1
 
 RUN ldconfig
 
@@ -87,13 +88,36 @@ RUN pip3 install numpy setuptools pybind11
 # install google dependencies
 COPY --from=google-dependencies /usr/include/gtest /usr/include/gtest
 COPY --from=google-dependencies /usr/local/lib/libgtest* /usr/local/lib/
-COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies /usr/local/include/google /usr/local/include/google
-COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies /usr/local/lib/libproto* /usr/local/lib/
-COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies /usr/local/bin/protoc /usr/local/bin
+
+
+FROM development-dependencies as proto-dependencies-20.04
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:20.04 /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:20.04 /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:20.04 /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig
+
+
+FROM development-dependencies as proto-dependencies-22.04
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:22.04 /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:22.04 /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:22.04 /usr/local/bin/protoc /usr/local/bin
 RUN ldconfig
 
 
-FROM development-dependencies as ssh-configuration
+FROM development-dependencies as proto-dependencies-latest
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:latest /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:latest /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:latest /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig
+
+
+FROM proto-dependencies-${BASE_TAG} as license-information
+RUN mkdir -p /usr/share/doc/control-libraries
+COPY ./licenses /usr/share/doc/control-libraries/licenses
+
+
+FROM license-information as ssh-configuration
+
 RUN apt-get update && apt-get install -y \
     sudo \
     libssl-dev \

Dockerfile.proto

@@ -1,4 +1,5 @@
-FROM ubuntu:20.04 as build-stage
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as build-stage
 ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get install -y \
@@ -22,11 +23,11 @@ RUN wget -O protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz \
 WORKDIR /tmp/protobuf-3."${PROTOBUF_VERSION}"
 RUN ./autogen.sh \
     && ./configure \
-    && make \
+    && make -j $(nproc --ignore=1) \
     && make install
 
 
-FROM ubuntu:22.04 as google-dependencies
+FROM ubuntu:${BASE_TAG} as google-dependencies
 COPY --from=build-stage /usr/local/include/google /usr/local/include/google
 COPY --from=build-stage /usr/local/lib/libproto* /usr/local/lib/
 COPY --from=build-stage /usr/local/bin/protoc /usr/local/bin

README.md

@@ -21,7 +21,7 @@
 A set of libraries to facilitate the creation of full control loop algorithms,
 including trajectory planning, kinematics, dynamics and control.
 
-Documentation is available at <a href="https://epfl-lasa.github.io/control-libraries/versions/">epfl-lasa.github.io/control-libraries</a>.
+Documentation is available at <a href="https://epfl-lasa.github.io/control-libraries">epfl-lasa.github.io/control-libraries</a>.
 
 ## Core libraries
 
@@ -35,14 +35,19 @@ documentation, see the [protocol](./protocol) folder.
 
 ## Python bindings
 
-There exist Python bindings for the control library modules and the protocol module. See the [python](./python)</a>
+There exist Python bindings for the control library modules and the protocol module. See the [python](./python)
 folder for installation instructions.
 
 ## Demos
 
 For examples and demos in C++ and Python, refer to the [demos](./demos) folder.
 TODO link ros demos repo
 
+## License
+
+This project is provided free and open-source under the GPLv3 license.
+See the [licenses](./licenses) folder for more information.
+
 ## External resources
 
 - C++ remote development in CLion [here](https://github.com/eeberhard/docker-clion-cpp-env)

VERSION

@@ -1 +1 @@
-6.2.0
+6.3.0

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 6.2.0 CONFIG REQUIRED)
+find_package(control_libraries 6.3.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

demos/Dockerfile

@@ -1,4 +1,5 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest
+ARG BASE_TAG=latest
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:${BASE_TAG} as build
 ARG BRANCH=develop
 
 WORKDIR /source
@@ -9,6 +10,9 @@ RUN pip3 install control-libraries/python
 
 RUN rm -rf /source
 
+
+FROM build as demos
+
 USER developer
 WORKDIR ${HOME}/control_loop_examples
 COPY ./ ./

demos/run-demo.sh

@@ -1,14 +1,16 @@
 #!/usr/bin/env bash
 
-IMAGE_NAME=epfl-lasa/control-libraries/control-loop-examples
-IMAGE_TAG=latest
+BASE_TAG="latest"
 
+IMAGE_NAME=epfl-lasa/control-libraries/control-loop-examples
 BRANCH=$(git branch --show-current)
 
-HELP_MESSAGE="Usage: run-demo.sh [-b <branch>] [-r] [-v]
+HELP_MESSAGE="Usage: run-demo.sh [-b <branch>] [--base-tag <base-tag>] [-r] [-v]
 Options:
   -b, --branch <branch>    Specify the branch of control libraries
                            that should be used to build the image.
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -r, --rebuild            Rebuild the image using the docker
                            --no-cache option.
   -v, --verbose            Use the verbose option during the building
@@ -21,6 +23,7 @@ while [[ $# -gt 0 ]]; do
   opt="$1"
   case $opt in
     -b|--branch) BRANCH=$2; shift 2;;
+    --base-tag) BASE_TAG=$2; shift 2;;
     -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift ;;
     -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift ;;
     -h|--help) echo "${HELP_MESSAGE}" ; exit 0 ;;
@@ -32,8 +35,9 @@ done
 
 echo "Using control libraries branch ${BRANCH}"
 BUILD_FLAGS+=(--build-arg BRANCH="${BRANCH}")
+BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . -t "${IMAGE_NAME}:${IMAGE_TAG}" || exit 1
+docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}" || exit 1
+DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . -t "${IMAGE_NAME}":"${BASE_TAG}" || exit 1
 
-docker run -it --rm "${IMAGE_NAME}:${IMAGE_TAG}"
+docker run -it --rm "${IMAGE_NAME}":${BASE_TAG}

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 = 6.2.0
+PROJECT_NUMBER = 6.3.0
 
 # 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

licenses/COPYING.BOOST

@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.