Merge pull request #311 from epfl-lasa/release/v6.2.0

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

@@ -0,0 +1,43 @@
+name: 'Build and Push'
+description: 'Build the Docker image and push to GitHub Container Registry'
+inputs:
+  image:
+    description: 'The image to build.'
+    required: true
+    options:
+      - 'Development dependencies'
+      - 'Protocol dependencies'
+  secret:
+    description: 'GitHub Container Registry secret'
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v1
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v1
+
+    - name: Checkout repository
+      uses: actions/checkout@v2
+
+    - name: Login to GitHub Package Registry
+      run: echo "${{ inputs.secret }}" | docker login ghcr.io -u ${{ github.actor }} --password-stdin
+      shell: bash
+
+    - name: Build and push image
+      run: |
+        if [ "${{ inputs.image }}" = "Development dependencies" ]; then
+          DOCKERFILE=Dockerfile.base
+          IMAGE_NAME=${{ github.repository }}/development-dependencies:latest
+        else
+          DOCKERFILE=Dockerfile.proto
+          IMAGE_NAME=${{ github.repository }}/proto-dependencies
+        fi
+        docker buildx build --file "${DOCKERFILE}" \
+          --platform=linux/arm64,linux/amd64 \
+          --push --tag ghcr.io/${IMAGE_NAME} \
+          .
+      shell: bash

.github/actions/build-test-python/entrypoint.sh

@@ -7,7 +7,6 @@ bash /github/workspace/protocol/install.sh --auto || exit 1
 echo ">>> Building Python bindings..."
 
 export OSQP_INCLUDE_DIR='/usr/local/include/osqp'
-export OPENROBOTS_INCLUDE_DIR='/opt/openrobots/include'
 pip3 install /github/workspace/python || (echo ">>> [ERROR] Build stage failed!" && exit 2) || exit $?
 
 echo ">>> Running all test stages..."

.github/workflows/build-push.yml

@@ -8,27 +8,18 @@ on:
   workflow_dispatch:
 
 jobs:
-
   build-publish-proto-dependencies:
     runs-on: ubuntu-latest
     name: Build and publish proto dependencies image
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v2
 
-      - name: Build image
-        run: |
-          docker build . --file ./Dockerfile.proto  --tag proto-dependencies
-
-      - name: Login to GitHub Container Registry
-        run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.actor }} --password-stdin
-
-      - name: Push image
-        run: |
-          IMAGE_NAME=${{ github.repository }}/proto-dependencies:latest
-          IMAGE_NAME=${IMAGE_NAME/_/-}
-          docker tag proto-dependencies ghcr.io/${IMAGE_NAME}
-          docker push ghcr.io/${IMAGE_NAME}
+      - name: Build and Push
+        uses: ./.github/actions/build-push
+        with:
+          image: "Protocol dependencies"
+          secret: ${{ secrets.GITHUB_TOKEN }}
 
   build-publish-development-dependencies:
     needs: build-publish-proto-dependencies
@@ -38,16 +29,8 @@ jobs:
       - name: Checkout Repository
         uses: actions/checkout@v2
 
-      - name: Build image
-        run: |
-          docker build . --file ./Dockerfile.base  --tag development-dependencies
-
-      - name: Login to GitHub Container Registry
-        run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.actor }} --password-stdin
-
-      - name: Push image
-        run: |
-          IMAGE_NAME=${{ github.repository }}/development-dependencies:latest
-          IMAGE_NAME=${IMAGE_NAME/_/-}
-          docker tag development-dependencies ghcr.io/${IMAGE_NAME}
-          docker push ghcr.io/${IMAGE_NAME}
+      - name: Build and Push
+        uses: ./.github/actions/build-push
+        with:
+          image: "Development dependencies"
+          secret: ${{ secrets.GITHUB_TOKEN }}

CHANGELOG.md

@@ -1,6 +1,7 @@
 # CHANGELOG
 
 Release Versions:
+- [6.2.0](#620)
 - [6.1.0](#610)
 - [6.0.0](#600)
 - [5.2.0](#520)
@@ -13,6 +14,34 @@ Release Versions:
 - [2.0.0](#200)
 - [1.0.0](#100)
 
+## 6.2.0
+
+Version 6.2.0 contains minor changes to the Python bindings and robot model installation dependencies.
+
+### Features and improvements
+
+- Refactor frame_name parameters (#309)
+- Support ARM64 (#310)
+- Remove openrobots directives (#312)
+
+An inconsistency in nomenclature was resolved; see [issue #308](https://github.com/epfl-lasa/control-libraries/issues/308)
+and [PR #309](https://github.com/epfl-lasa/control-libraries/pull/309) for more details.
+
+Behind the scenes, the docker images for
+[development dependencies](https://github.com/orgs/epfl-lasa/packages/container/package/control-libraries%2Fdevelopment-dependencies)
+and [proto dependencies](https://github.com/epfl-lasa/control-libraries/pkgs/container/control-libraries%2Fproto-dependencies)
+are now built for multiple architectures: `linux/amd64` and `linux/arm64`.
+
+At the time of release, no pre-built arm64 binaries existed for Pinocchio, a dependency of the **robot_model** library.
+For this reason, the installation script is revised to install Pinocchio from source, which has the side effect of
+simplifying the CMake configuration; the path inclusion of `/opt/openrobots` is no longer required.
+
+### Upgrade notes
+
+The core C++ API is unchanged, and therefore this release is not marked by a major version change. However, some
+unintended usages of the Python bindings may be affected as noted in issue #308. Additionally, it may be necessary
+to redo the installation steps for the revised dependencies if using the robot model library on a local installation.
+
 ## 6.1.0
 
 Version 6.1.0 contains a few small new features as well as several fixes, mainly in

Dockerfile.base

@@ -10,69 +10,90 @@ RUN apt-get update && apt-get install -y \
     curl \
     g++ \
     gcc \
-    gnupg2 \
-    make \
     git \
-    wget \
+    gnupg2 \
     libtool \
     lsb-release \
+    make \
+    pkg-config \
+    wget \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+
+FROM core-build-dependencies as google-dependencies
+
+RUN apt-get update && apt-get install -y \
+    libgtest-dev \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
+# install gtest
+WORKDIR /tmp
+RUN mkdir gtest_build && cd gtest_build && cmake /usr/src/gtest && make -j \
+    && cp lib/* /usr/local/lib || cp *.a /usr/local/lib
 
-FROM core-build-dependencies as project-dependencies
-ARG OSQP_TAG=v0.6.2
-ARG OSQP_EIGEN_TAG=v0.6.4
+RUN rm -rf /tmp/* && ldconfig
 
-# add pinocchio to package list
-RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \
-    | tee /etc/apt/sources.list.d/robotpkg.list \
-    && curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
-    | apt-key add -
 
-RUN wget -c https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz -O - | tar -xz
-RUN cd eigen-3.4.0 && mkdir build && cd build && cmake .. && make install
-RUN rm -r eigen-3.4.0
+FROM core-build-dependencies as robot-model-dependencies
 
-# install dependencies for building the libraries
 RUN apt-get update && apt-get install -y \
-    robotpkg-pinocchio \
+    libboost-all-dev \
+    liburdfdom-dev \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
-# install osqp and eigen wrapper
-WORKDIR /tmp/osqp_build
-RUN git clone --depth 1 -b ${OSQP_TAG} --recursive https://github.com/oxfordcontrol/osqp \
-    && cd osqp && mkdir build && cd build && cmake -G "Unix Makefiles" .. && cmake --build . --target install
+WORKDIR /tmp
+ARG EIGEN_TAG=3.4.0
+RUN wget -c https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_TAG}/eigen-${EIGEN_TAG}.tar.gz -O - | tar -xz \
+    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && cmake .. && make install \
+    && cd ../.. && rm -r eigen-${EIGEN_TAG} || exit 1
 
-RUN git clone --depth 1 -b ${OSQP_EIGEN_TAG} https://github.com/robotology/osqp-eigen.git \
-    && cd osqp-eigen && mkdir build && cd build && cmake .. && make -j && make install
+ARG OSQP_TAG=0.6.2
+RUN git clone --depth 1 -b v${OSQP_TAG} --recursive https://github.com/oxfordcontrol/osqp \
+    && cd osqp && mkdir build && cd build && cmake -G "Unix Makefiles" .. && cmake --build . --target install \
+    && cd ../.. && rm -r osqp || exit 1
 
-ENV LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib:/opt/openrobots/lib/
+ARG OSQP_EIGEN_TAG=0.6.4
+RUN git clone --depth 1 -b v${OSQP_EIGEN_TAG} https://github.com/robotology/osqp-eigen.git \
+    && cd osqp-eigen && mkdir build && cd build && cmake .. && make -j && make install \
+    && cd ../.. && rm -r osqp-eigen || exit 1
 
-WORKDIR /home
-RUN rm -rf /tmp/*
+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
 
+RUN ldconfig
 
-FROM core-build-dependencies as google-dependencies
 
+FROM robot-model-dependencies as development-dependencies
 RUN apt-get update && apt-get install -y \
-    libgtest-dev \
+    clang \
+    gdb \
+    python3 \
+    python3-dev \
+    python3-pip \
+    tar \
+    unzip \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
-# install gtest
-WORKDIR /tmp/gtest_build
-RUN cmake /usr/src/gtest \
-    && make \
-    && cp lib/* /usr/local/lib || cp *.a /usr/local/lib
-
-WORKDIR /home
-RUN rm -rf /tmp/*
+# install python requirements
+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
+RUN ldconfig
 
-FROM project-dependencies as ssh-configuration
 
+FROM development-dependencies as ssh-configuration
 RUN apt-get update && apt-get install -y \
     sudo \
     libssl-dev \
@@ -93,7 +114,7 @@ RUN ( \
 ENV USER developer
 ENV HOME /home/${USER}
 
-# create amd configure a new user
+# create and configure a new user
 ARG UID=1000
 ARG GID=1000
 RUN addgroup --gid ${GID} ${USER}
@@ -112,27 +133,4 @@ RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
 
 RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
 
-
-FROM ssh-configuration as development-dependencies
-
-RUN apt-get update && apt-get install -y \
-    clang \
-    gdb \
-    python3 \
-    python3-dev \
-    python3-pip \
-    tar \
-    unzip \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# install python requirements
-RUN pip3 install numpy setuptools pybind11
-
-# install google dependencies
-COPY --from=google-dependencies /usr/include/gtest /usr/include/gtest
-COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies /usr/local/include/google /usr/local/include/google
-COPY --from=google-dependencies /usr/local/lib/libgtest* /usr/local/lib/
-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
-RUN ldconfig
+WORKDIR ${HOME}

Dockerfile.proto

@@ -1,5 +1,4 @@
 FROM ubuntu:20.04 as build-stage
-ARG PROTOBUF_VERSION=3.17.0
 ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get install -y \
@@ -14,19 +13,20 @@ RUN apt-get update && apt-get install -y \
     && rm -rf /var/lib/apt/lists/*
 
 WORKDIR /tmp
+ARG PROTOBUF_VERSION=21.0
 RUN wget -O protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz \
-    https://github.com/protocolbuffers/protobuf/releases/download/v"${PROTOBUF_VERSION}"/protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz \
+    https://github.com/protocolbuffers/protobuf/releases/download/v${PROTOBUF_VERSION}/protobuf-cpp-3.${PROTOBUF_VERSION}.tar.gz \
     && tar -xzf protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz \
     && rm protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz
 
-WORKDIR /tmp/protobuf-"${PROTOBUF_VERSION}"
+WORKDIR /tmp/protobuf-3."${PROTOBUF_VERSION}"
 RUN ./autogen.sh \
     && ./configure \
     && make \
     && make install
 
 
-FROM ubuntu:20.04 as google-dependencies
+FROM ubuntu:22.04 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

VERSION

@@ -1 +1 @@
-6.1.0
+6.2.0

demos/CMakeLists.txt

@@ -15,10 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-list(APPEND CMAKE_PREFIX_PATH /opt/openrobots)
-include_directories(/opt/openrobots/include)
-
-find_package(control_libraries 6.1.0 CONFIG REQUIRED)
+find_package(control_libraries 6.2.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

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 = 6.1.0
+PROJECT_NUMBER = 6.2.0
 
 # 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

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 6.1.0)
+project(clproto VERSION 6.2.0)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

python/Dockerfile.python

@@ -11,7 +11,6 @@ COPY include control-libraries/python/include
 COPY source control-libraries/python/source
 COPY pyproject.toml setup.py control-libraries/python/
 ENV OSQP_INCLUDE_DIR /usr/local/include/osqp
-ENV OPENROBOTS_INCLUDE_DIR /opt/openrobots/include
 RUN pip3 install control-libraries/python
 
 

python/README.md

@@ -26,10 +26,9 @@ pip3 install control-libraries/python
 ```
 
 If the installation fails, it may be because of non-default installation directories for some dependencies.
-In this case, the include path for OSQP and OpenRobots can be set through environment variables before the pip install.
+In this case, the include path for OSQP can be set through environment variables before the pip install.
 ```shell
 export OSQP_INCLUDE_DIR='/path/to/include/osqp'  # default /usr/local/include/osqp
-export OPENROBOTS_INCLUDE_DIR='/path/to/openrobots/include'  # default /opt/openrobots/include
 pip3 install control-libraries/python
 ```