Merge branch 'master' into patch-1

fzi-forschungszentrum-informatik · Oct 25, 2024 · a0439f0 · a0439f0
2 parents 873dbd1 + 55c1f41
commit a0439f0
Show file tree

Hide file tree

Showing 6 changed files with 195 additions and 87 deletions.
diff --git a/.github/conan_dockerfile/Dockerfile b/.github/conan_dockerfile/Dockerfile
@@ -11,21 +11,18 @@ RUN sudo -E apt-get update \
   libncursesw5-dev xz-utils libxml2-dev libxmlsec1-dev libffi-dev liblzma-dev
 
 # setup python environment
-ARG PY_VERSION=3.8
-RUN pyenv install -s $PY_VERSION \
+ARG PY_VERSION=3.12
+RUN pyenv update \
+  && pyenv install -s $PY_VERSION \
   && pyenv global $PY_VERSION
-RUN pip install "conan==1.59.0" catkin_pkg "numpy<2.0" wheel auditwheel cmake
+RUN pip install "conan~=2.8.0" catkin_pkg "numpy<2.0" wheel auditwheel cmake
 
 # install patchelf
 RUN wget https://github.com/NixOS/patchelf/releases/download/0.17.2/patchelf-0.17.2-x86_64.tar.gz \
   && tar -xzf patchelf-0.17.2-x86_64.tar.gz \
   && sudo -E ln -s $HOME/bin/patchelf /bin/patchelf \
   && patchelf --version
 
-# setup conan for python dependencies via bincrafters remote
-RUN conan remote add bincrafters https://bincrafters.jfrog.io/artifactory/api/conan/public-conan \
-  && conan config set general.revisions_enabled=1
-
 
 FROM lanelet2_conan_deps as lanelet2_conan_src
 
@@ -38,28 +35,18 @@ FROM lanelet2_conan_src as lanelet2_conan
 
 # compile
 ARG CONAN_ARGS=""
+ARG PLATFORM="manylinux_2_31_x86_64"
 WORKDIR /home/conan/src/lanelet2
-RUN conan create . lanelet2/stable --build=missing ${CONAN_ARGS} \
-  && export LANELET2_VERSION=$(conan inspect . --raw version) \
-  && echo "Lanelet2 version: $LANELET2_VERSION" \
-  && conan install lanelet2/$LANELET2_VERSION@lanelet2/stable --build=missing -g virtualenv
+RUN conan profile detect \
+  && conan create . --format=json --build=missing -o "&:build_wheel=True" -o "&:platform=${PLATFORM}" ${CONAN_ARGS} > conaninfo.json
+
+# obtain wheel
 FROM lanelet2_conan as lanelet2_conan_with_pip_wheel
 
 SHELL ["/bin/bash", "-c"]
 WORKDIR /home/conan
-RUN source /home/conan/src/lanelet2/activate.sh \
-  && LANELET2_PACKAGE_DIR=$(python -c "import lanelet2; from pathlib import Path; print(Path(lanelet2.__file__).parent)") \
-  && cp -r $LANELET2_PACKAGE_DIR .
-RUN export LANELET2_VERSION=$(conan inspect ./src/lanelet2 --raw version) \
-  && echo "Lanelet2 version: $LANELET2_VERSION" \
-  && sed 's/{{ version }}/'"$LANELET2_VERSION"'/' /home/conan/src/lanelet2/lanelet2_python/setup.py.template > /home/conan/setup.py
-
-ARG PLATFORM="manylinux_2_31_x86_64"
-RUN source /home/conan/src/lanelet2/activate.sh \
-  && pip wheel -w broken-dist/ . \
-  && auditwheel repair -w dist/ --plat ${PLATFORM} broken-dist/*.whl
+RUN LANELET2_PACKAGE_DIR=$(python3 -c "import json; f=open('src/lanelet2/conaninfo.json'); data=json.load(f); ll2=next(d for d in data['graph']['nodes'].values() if 'lanelet2' in d['ref']); print(f'{ll2[\"package_folder\"]}/wheel')") \
+  && cp -r $LANELET2_PACKAGE_DIR dist
 
 # to extract the wheel manually run:
-# $ docker run -it -v /path/to/some/local/folder:/dist <image> /bin/bash
-# then inside the container:
-# $ sudo cp dist/lanelet2-<...>.whl /dist/.
+# $ docker run --rm -v /path/to/some/local/folder:/dist <image> /bin/bash -c 'sudo cp dist/lanelet2-<...>.whl /dist/.'
diff --git a/.github/workflows/cd.yaml b/.github/workflows/cd.yaml
@@ -19,19 +19,18 @@ jobs:
         python-version: ["3.8", "3.9", "3.10", "3.11"]
         include:
           - python-version: "3.8"
-            boost-version: "1.75.0"
             platform-version: manylinux_2_27_x86_64
             image-version: conanio/gcc7:latest
           - python-version: "3.9"
-            boost-version: "1.75.0"
             platform-version: manylinux_2_27_x86_64
             image-version: conanio/gcc7:latest
           - python-version: "3.10"
-            boost-version: "1.81.0"
             platform-version: manylinux_2_31_x86_64
             image-version: conanio/gcc10:latest
           - python-version: "3.11"
-            boost-version: "1.81.0"
+            platform-version: manylinux_2_31_x86_64
+            image-version: conanio/gcc10:latest
+          - python-version: "3.12"
             platform-version: manylinux_2_31_x86_64
             image-version: conanio/gcc10:latest
     runs-on: ubuntu-latest
@@ -52,7 +51,6 @@ jobs:
             FROM=${{ matrix.image-version }}
             PY_VERSION=${{ matrix.python-version }}
             PLATFORM=${{ matrix.platform-version }}
-            CONAN_ARGS=--require-override=boost/${{ matrix.boost-version }}
 
       - name: Create output directory
         run: mkdir -p ${{ github.workspace }}/output
@@ -82,8 +80,8 @@ jobs:
     strategy:
       matrix:
         # test only on currently supported version
-        python-version: ["3.8", "3.9", "3.10", "3.11"]
-        os: ["ubuntu-22.04", "ubuntu-20.04"]
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
+        os: ["ubuntu-20.04", "ubuntu-22.04", "ubuntu-24.04"]
     runs-on: ${{ matrix.os }}
     steps:
       - name: Restore wheel
@@ -95,8 +93,13 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: ${{ matrix.python-version }}
+      - name: Install wheel 24.04
+        # use dist/ directory as package source instead of pypi.org
+        if: ${{ matrix.os == 'ubuntu-24.04' }}
+        run: pip install lanelet2 --break-system-packages --no-index --find-links dist/
       - name: Install wheel
         # use dist/ directory as package source instead of pypi.org
+        if: ${{ matrix.os != 'ubuntu-24.04' }}
         run: pip install lanelet2 --no-index --find-links dist/
       - name: Test wheel
         run: python -c "import lanelet2; assert lanelet2.core.Point2d(0, 0, 0) is not None"
@@ -124,7 +127,7 @@ jobs:
           password: ${{ secrets.PYPI_API_TOKEN }}
 
   deploy-pages:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     if: github.ref == 'refs/heads/master'
     concurrency: deploy-${{ github.ref }}
     steps:

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -187,19 +187,18 @@ jobs:
         python-version: ["3.8", "3.9", "3.10", "3.11"]
         include:
           - python-version: "3.8"
-            boost-version: "1.75.0"
             platform-version: manylinux_2_27_x86_64
             image-version: conanio/gcc7:latest
           - python-version: "3.9"
-            boost-version: "1.75.0"
             platform-version: manylinux_2_27_x86_64
             image-version: conanio/gcc7:latest
           - python-version: "3.10"
-            boost-version: "1.81.0"
             platform-version: manylinux_2_31_x86_64
             image-version: conanio/gcc10:latest 
           - python-version: "3.11"
-            boost-version: "1.81.0"
+            platform-version: manylinux_2_31_x86_64
+            image-version: conanio/gcc10:latest
+          - python-version: "3.12"
             platform-version: manylinux_2_31_x86_64
             image-version: conanio/gcc10:latest
     runs-on: ubuntu-latest
@@ -220,4 +219,3 @@ jobs:
             FROM=${{ matrix.image-version }}
             PY_VERSION=${{ matrix.python-version }}
             PLATFORM=${{ matrix.platform-version }}
-            CONAN_ARGS=--require-override=boost/${{ matrix.boost-version }}
diff --git a/README.md b/README.md
@@ -136,26 +136,23 @@ catkin build
 If unsure, see the [Dockerfile](Dockerfile) or the [travis build log](https://travis-ci.org/fzi-forschungszentrum-informatik/Lanelet2). It shows the full installation process, with subsequent build and test based on a docker image with a clean Ubuntu installation.
 
 ### Manual, experimental installation using conan
+**Note: Updated instructions for conan2!**
 For non-catkin users, we also offer a conan based install process. Its experimental and might not work on all platforms, especially Windows.
 Since conan handles installing all C++ dependencies, all you need is a cloned repository, conan itself and a few python dependencies:
 ```bash
 pip install conan catkin_pkg numpy
-conan remote add bincrafters https://bincrafters.jfrog.io/artifactory/api/conan/public-conan # required for python bindings
-conan config set general.revisions_enabled=1 # requried to use bincrafters remote
 git clone https://github.com/fzi-forschungszentrum-informatik/lanelet2.git
 cd lanelet2
 ```
 
 From here, just use the default conan build/install procedure, e.g.:
 ```bash
-conan source .
-conan create . lanelet2/stable --build=missing
+conan create . --build=missing
 ```
 Different from the conan defaults, we build lanelet2 and boost as shared libraries, because otherwise the lanelet2's plugin mechanisms as well as boost::python will fail. E.g. loading maps will not be possible and the python API will not be usable.
 
-To be able to use the python bindings, you have to make conan export the PYTHONPATH for lanelet2:
+To be able to use the python bindings, you have to make conan export the PYTHONPATH for lanelet2 after `conan create`:
 ```bash
-conan install lanelet2/0.0.0@lanelet2/stable --build=missing -g virtualenv # replace 0.0.0 with the version shown by conan
 source activate.sh
 python -c "import lanelet2" # or whatever you want to do
 source deactivate.sh