Enable 24.04 CI, require cmake 3.22.1 (#2420)

* Part of gazebosim/gz-cmake#350. * Remove old cmake code * Use Python3_EXECUTABLE, not GZ_PYTHON_EXECUTABLE * Remove logic for skipping tests with old cmake Signed-off-by: Steve Peters <[email protected]>
gazebosim · Jun 1, 2024 · 6f46876 · 6f46876
1 parent 4c34f4e
commit 6f46876
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -34,3 +34,19 @@ jobs:
  codecov-enabled: true
  cppcheck-enabled: true
  cpplint-enabled: true
+ noble-ci:
+ runs-on: ubuntu-latest
+ name: Ubuntu Noble CI
+ steps:
+ - name: Checkout
+ uses: actions/checkout@v4
+ - uses: actions/setup-python@v3
+ - uses: pre-commit/[email protected]
+ with:
+ extra_args: --all-files
+ - name: Compile and test
+ id: ci
+ uses: gazebo-tooling/action-gz-ci@noble
+ with:
+ # per bug https:/gazebosim/gz-sim/issues/1409
+ cmake-args: '-DBUILD_DOCS=OFF'
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 #============================================================================
 # Initialize the project
@@ -65,9 +65,6 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
 # Search for project-specific dependencies
 #============================================================================
 
-# Setting this policy enables using the protobuf_MODULE_COMPATIBLE
-# set command in CMake versions older than 13.13
-set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
 # It needs to be set before any find_package(...) call

diff --git a/examples/plugin/command_actor/CMakeLists.txt b/examples/plugin/command_actor/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

diff --git a/examples/plugin/custom_component/CMakeLists.txt b/examples/plugin/custom_component/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

diff --git a/examples/plugin/gui_system_plugin/CMakeLists.txt b/examples/plugin/gui_system_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 if(POLICY CMP0100)
  cmake_policy(SET CMP0100 NEW)

diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

diff --git a/examples/plugin/rendering_plugins/CMakeLists.txt b/examples/plugin/rendering_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 if(POLICY CMP0100)
  cmake_policy(SET CMP0100 NEW)

diff --git a/examples/plugin/reset_plugin/CMakeLists.txt b/examples/plugin/reset_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(ResetPlugins)
 

diff --git a/examples/plugin/system_plugin/CMakeLists.txt b/examples/plugin/system_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

diff --git a/examples/standalone/acoustic_comms_demo/CMakeLists.txt b/examples/standalone/acoustic_comms_demo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-acoustic-comms-demo)
 

diff --git a/examples/standalone/comms/CMakeLists.txt b/examples/standalone/comms/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-comms)
 

diff --git a/examples/standalone/custom_server/CMakeLists.txt b/examples/standalone/custom_server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-custom-server)
 

diff --git a/examples/standalone/each_performance/CMakeLists.txt b/examples/standalone/each_performance/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-each-performance)
 

diff --git a/examples/standalone/entity_creation/CMakeLists.txt b/examples/standalone/entity_creation/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-entity-creation)
 

diff --git a/examples/standalone/external_ecm/CMakeLists.txt b/examples/standalone/external_ecm/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-external-ecm)
 

diff --git a/examples/standalone/gtest_setup/CMakeLists.txt b/examples/standalone/gtest_setup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(GTestSetup)
 

diff --git a/examples/standalone/joy_to_twist/CMakeLists.txt b/examples/standalone/joy_to_twist/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-joy-to-twist)
 

diff --git a/examples/standalone/joystick/CMakeLists.txt b/examples/standalone/joystick/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 # joystick currently works only on linux
 
 project(gz-sim-joystick)

diff --git a/examples/standalone/keyboard/CMakeLists.txt b/examples/standalone/keyboard/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-keyboard)
 

diff --git a/examples/standalone/light_control/CMakeLists.txt b/examples/standalone/light_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-light-control)
 

diff --git a/examples/standalone/lrauv_control/CMakeLists.txt b/examples/standalone/lrauv_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-lrauv-control)
 

diff --git a/examples/standalone/marker/CMakeLists.txt b/examples/standalone/marker/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-marker)
 

diff --git a/examples/standalone/multi_lrauv_race/CMakeLists.txt b/examples/standalone/multi_lrauv_race/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-multi-lrauv-race)
 

diff --git a/examples/standalone/scene_requester/CMakeLists.txt b/examples/standalone/scene_requester/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-scene-requester)
 

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -1,22 +1,6 @@
-if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
- # pybind11 logic for setting up a debug build when both a debug and release
- # python interpreter are present in the system seems to be pretty much broken.
- # This works around the issue.
- set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
-endif()
-
-
 if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
- if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
- execute_process(
- COMMAND "${PYTHON_EXECUTABLE}" -c "if True:
- from distutils import sysconfig as sc
- print(sc.get_python_lib(plat_specific=True))"
- OUTPUT_VARIABLE Python3_SITEARCH
- OUTPUT_STRIP_TRAILING_WHITESPACE)
- else()
- # Get install variable from Python3 module
- # Python3_SITEARCH is available from 3.12 on, workaround if needed:
+ if(NOT Python3_SITEARCH)
+ # Get variable from Python3 module
  find_package(Python3 COMPONENTS Interpreter)
  endif()
 
@@ -31,7 +15,6 @@ else()
  set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
 endif()
 
-set(GZ_PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
 set(GZ_PYTHON_INSTALL_PATH "${GZ_PYTHON_INSTALL_PATH}/gz")
 
 # Set the build location and install location for a CPython extension
@@ -101,7 +84,7 @@ if (BUILD_TESTING)
  world_TEST
  )
 
- execute_process(COMMAND "${GZ_PYTHON_EXECUTABLE}" -m pytest --version
+ execute_process(COMMAND "${Python3_EXECUTABLE}" -m pytest --version
  OUTPUT_VARIABLE PYTEST_output
  ERROR_VARIABLE PYTEST_error
  RESULT_VARIABLE PYTEST_result)
@@ -115,10 +98,10 @@ if (BUILD_TESTING)
  foreach (test ${python_tests})
  if (pytest_FOUND)
  add_test(NAME ${test} COMMAND
- "${GZ_PYTHON_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/UNIT_${test}.xml")
+ "${Python3_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/UNIT_${test}.xml")
  else()
  add_test(NAME ${test} COMMAND
- "${GZ_PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
+ "${Python3_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
  endif()
 
  set(_env_vars)

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -306,10 +306,8 @@ foreach(CMD_TEST
  # and executables in a common CMAKE_RUNTIME_OUTPUT_DIRECTORY, so that the .dll are found
  # as they are in the same directory where the executable is loaded. For tests that are
  # launched via Ruby, this does not work, so we need to manually add CMAKE_RUNTIME_OUTPUT_DIRECTORY
- # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that is only available
- # since CMake 3.22. However, if an older CMake is used another trick to install the libraries
- # beforehand
- if (WIN32 AND CMAKE_VERSION STRGREATER "3.22")
+ # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that was added in CMake 3.22.
+ if (WIN32)
  set_tests_properties(${CMD_TEST} PROPERTIES
  ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
  endif()

diff --git a/test/integration/examples_build.cc b/test/integration/examples_build.cc
@@ -57,28 +57,6 @@ struct ExampleEntry
  }
 };
 
-//////////////////////////////////////////////////
-/// Filter examples that are known to not build or require
-/// specific configurations
-/// \param[in] _entry Example entry to check
-/// \return true if example entry should be built, false otherwise
-bool FilterEntry(const ExampleEntry &_entry)
-{
- math::SemanticVersion cmakeVersion{std::string(CMAKE_VERSION)};
- if (cmakeVersion < math::SemanticVersion(3, 11, 0) &&
- (_entry.base == "custom_sensor_system" ||
- _entry.base == "gtest_setup"))
- {
- gzdbg << "Skipping [" << _entry.base
- << "] test, which requires CMake version "
- << ">= 3.11.0. Currently using CMake "
- << cmakeVersion
- << std::endl;
- return false;
- }
- return true;
-}
-
 //////////////////////////////////////////////////
 /// Generate a list of examples to be built.
 std::vector<ExampleEntry> GetExamples()
@@ -116,11 +94,6 @@ void ExamplesBuild::Build(const ExampleEntry &_entry)
 {
  common::Console::SetVerbosity(4);
 
- if (!FilterEntry(_entry))
- {
- GTEST_SKIP();
- }
-
  // Path to examples of the given type
  ASSERT_TRUE(gz::common::exists(_entry.sourceDir));
 

diff --git a/test/test_config.hh.in b/test/test_config.hh.in
@@ -23,7 +23,6 @@
 
 #define PROJECT_SOURCE_PATH "${PROJECT_SOURCE_DIR}"
 #define PROJECT_BINARY_PATH "${CMAKE_BINARY_DIR}"
-#define CMAKE_VERSION "${CMAKE_VERSION}"
 
 #define GZ_CONFIG_PATH "@CMAKE_BINARY_DIR@/test/conf"