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Add gym-ignition project #685

Merged
merged 5 commits into from
Apr 13, 2021
Merged

Add gym-ignition project #685

merged 5 commits into from
Apr 13, 2021

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diegoferigo
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@diegoferigo diegoferigo commented Apr 11, 2021

Remarks:

  • The Ignition logic matches 1:1 the Gazebo Classic logic
  • I added gym-ignition to the core profile since on the long term we could have something similar to gazebo-yarp-plugins for Ignition Gazebo, and Ignition support will likely be part of core
  • gym-ignition depends on idyntree, therefore if ROBOTOLOGY_USES_IGNITION=ON and ROBOTOLOGY_ENABLE_DYNAMICS=OFF, also idyntree and all its dependent projects will be installed
  • CI tests ROBOTOLOGY_USES_IGNITION only in conda
  • macOS and Windows are not tested in conda due to Add OSX build conda-forge/libignition-gazebo-feedstock#2

TODOs:

@traversaro
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traversaro commented Apr 12, 2021

@diegoferigo
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* [x]  Can you add the latest release to https://github.com/robotology/robotology-superbuild/blob/master/releases/latest.releases.yaml ?

* [x]  Can you update the profiles.md table specifying where `ROBOTOLOGY_USES_IGNITION` is supported (i.e. tested by CI)

Done in https://github.com/robotology/robotology-superbuild/compare/85d1ea32192cfb7f026715b7c5b750a77f44a06f..6a3e8b6b3ff38756781c575274145dc19f5aff8b

CMAKE_ARGS -DSCENARIO_USE_IGNITION:BOOL=${ROBOTOLOGY_USES_IGNITION}
-DSCENARIO_ENABLE_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}
-DBINDINGS_INSTALL_PREFIX:PATH=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}
DEPENDS iDynTree ign-gazebo5)
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@traversaro is the ign-gazeboX dependency OK? (There's a typo and this should be 4 for the current master, but I'm not sure that adding it is necessary)

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I typically set DEPENDS only to the value of other projects that are handled by the superbuild. I am not really sure how it works for projects not handled by the superbuild, so if it works I would just leave iDynTree there.

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doc/profiles.md Outdated
Comment on lines 238 to 242
Follow the official instructions to install Ignition on your platform, available at https://ignitionrobotics.org/docs.

Different Ignition distributions can be installed alongside.
The projects included in the superbuild might require different distributions.
From the superbuild point of view, we currently do not allow enabling projects that only support a specific Ignition distribution, therefore all required distributions have to be found in the system.
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If we support only Conda/Linux for ROBOTOLOGY_USES_IGNITION, we should describe here how to install Ignition Gazebo on conda (preferably the version tested in CI), as the official docs of Ignition Gazebo do not cover that the installation in conda.

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@diegoferigo diegoferigo force-pushed the feature/gym-ignition branch 2 times, most recently from b76fbfe to 640c577 Compare April 12, 2021 11:07
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CI failures don't seem related to this PR.

CI failure message
FAILED: src/yarp-matlab-bindings/CMakeFiles/YCMStamp/yarp-matlab-bindings-configure 
cd /home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings && /usr/share/miniconda/envs/test/bin/cmake --no-warn-unused-cli "-DCMAKE_PREFIX_PATH:PATH=/home/runner/work/robotology-superbuild/robotology-superbuild/build/install;/usr/share/miniconda/envs/test;/usr/share/miniconda/envs/test/x86_64-conda-linux-gnu/sysroot/usr" -DMatlab_ROOT_DIR:PATH=/home/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020b_mexa64 -DMatlab_MEX_EXTENSION:STRING=mexa64 -DYARP_USES_MATLAB:BOOL=ON -DYARP_USES_OCTAVE:BOOL=OFF -C/home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/YCMTmp/yarp-matlab-bindings-cache-Release.cmake -GNinja /home/runner/work/robotology-superbuild/robotology-superbuild/src/yarp-matlab-bindings && /usr/share/miniconda/envs/test/bin/cmake -E touch /home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/YCMStamp/yarp-matlab-bindings-configure
Not searching for unused variables given on the command line.
loading initial cache file /home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/YCMTmp/yarp-matlab-bindings-cache-Release.cmake
-- Found YARP: /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.4.3+38-20210330.6+gitf7f000f39")
CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:226 (message):
  The YARP_INCLUDE_DIRS variable is deprecated
Call Stack (most recent call first):
  CMakeLists.txt:9223372036854775807 (_yarp_deprecated_variable_warning)
  CMakeLists.txt:29 (get_target_property)


-- Found YCM: /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/cmake/YCM (found version "0.12.1.12-20210301.4+gitdc98072")
CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/cmake/YARP/YARPConfig.cmake:226 (message):
  The YARP_INCLUDE_DIRS variable is deprecated
Call Stack (most recent call first):
  CMakeLists.txt:9223372036854775807 (_yarp_deprecated_variable_warning)
  CMakeLists.txt:42 (include_directories)


CMake Error at cmake/FindMatlab.cmake:1197 (list):
  list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
  matlab/CMakeLists.txt:96 (find_package)


-- Found Matlab: /home/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020b_mexa64/extern/include (found version "/home/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020b_mexa64") found components: MX_LIBRARY 
CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/YCM/modules/InstallBasicPackageFiles.cmake:314 (message):
  TARGETS is deprecated.  Use EXPORT instead
Call Stack (most recent call first):
  matlab/CMakeLists.txt:168 (install_basic_package_files)


CMake Deprecation Warning at /home/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/YCM/modules/InstallBasicPackageFiles.cmake:385 (message):
  Compatibility variables are no longer generated.  Use
  ENABLE_COMPATIBILITY_VARS to re-enable them (deprecated) or define them
  using either INCLUDE_FILE or INCLUDE_CONTENT (recommended).
Call Stack (most recent call first):
  matlab/CMakeLists.txt:168 (install_basic_package_files)


-- Configuring incomplete, errors occurred!
See also "/home/runner/work/robotology-superbuild/robotology-superbuild/build/src/yarp-matlab-bindings/CMakeFiles/CMakeOutput.log".

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CI failures don't seem related to this PR.
CI failure message

Are you sure? All other CI builds are working fine. Are you sure that it is not due to the cmake --build build/ -DROBOTOLOGY_USES_IGNITION:BOOL=ON command? Not that this does not configure again the cmake project, but rather builds it.

@diegoferigo
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diegoferigo commented Apr 12, 2021

CI failures don't seem related to this PR.
CI failure message

Are you sure? All other CI builds are working fine. Are you sure that it is not due to the cmake --build build/ -DROBOTOLOGY_USES_IGNITION:BOOL=ON command? Not that this does not configure again the cmake project, but rather builds it.

Checking the logs you're right, not sure why my local setup just configures it. I tried it locally before committing (and thinking about it, it's not the first time I notice this behavior) 🤷‍♂️

@traversaro
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It seems good to go now, thanks (even if I would like to solve conda-forge/libignition-gazebo-feedstock#4 before advertising it).

@traversaro traversaro merged commit 63caa58 into master Apr 13, 2021
@traversaro traversaro deleted the feature/gym-ignition branch April 13, 2021 06:48
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