libsdformat v12.4.0

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[conda-forge-linter]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

[Tobias-Fischer]

On Linux/OSX the location of the sdf.hh header file seems to have changed from include/sdformat-12.4/sdf/sdf.hh to now $PREFIX/include/ignition/sdformat12/sdf/sdf.hh. I'm not sure about the implications as we have {{ pin_subpackage(name, max_pin='x') }} as run_exports but presumably this breaks compatibility.

On Windows, some components are not found, this probably needs re-applying some parts of the patch that I deleted as it didn't apply anymore due to major refactoring upstream:

CMake Warning at D:/bld/libsdformat12_1648626286041/_h_env/Library/share/cmake/ignition-cmake2/cmake2/IgnConfigureBuild.cmake:55 (message):
   CONFIGURATION WARNINGS:
   -- Skipping component [usd]: Missing dependency [ignition-common4] (Components: graphics).
      ^~~~~ Set SKIP_usd=true in cmake to suppress this warning.
-- Configuring incomplete, errors occurred!
See also "D:/bld/libsdformat12_1648626286041/work/build/CMakeFiles/CMakeOutput.log".
   
   -- Skipping component [usd]: Missing dependency [pxr].
      ^~~~~ Set SKIP_usd=true in cmake to suppress this warning.

and

CMake Error at D:/bld/libsdformat12_1648626286041/_h_env/Library/share/cmake/ignition-cmake2/cmake2/IgnConfigureBuild.cmake:61 (message):
  -- 	Couldn't find the urdfdom >= 1.0 system installation
Call Stack (most recent call first):
  CMakeLists.txt:122 (ign_configure_build)

[traversaro]

On Linux/OSX the location of the sdf.hh header file seems to have changed from include/sdformat-12.4/sdf/sdf.hh to now $PREFIX/include/ignition/sdformat12/sdf/sdf.hh. I'm not sure about the implications as we have {{ pin_subpackage(name, max_pin='x') }} as run_exports but presumably this breaks compatibility.

I think it is ok. As long as the ABI did not changed, a change in header location is not problematic, even because it was also changing for each minor release (i.e. from include/sdformat-12.2/sdf/sdf.hh to include/sdformat-12.3/sdf/sdf.hh) before.

Skipping component [usd]

The usd thing is a new component (see gazebosim/sdformat#817), so it is ok that we do not have it enabled, especially because we miss the main dependency (see conda-forge/staged-recipes#16666).

Couldn't find the urdfdom >= 1.0 system installation

The missing urdfdom instead seems an actual regression.

[Tobias-Fischer]

So urdfdom was previously found directly in sdformat, while now the cmake script from ignition-cmake is being used. There's quite a few flags related to URDF in the bld.bat, they might need updating?!?

[traversaro]

There's quite a few flags related to URDF in the bld.bat, they might need updating?!?

Good point, I think it may be worth to try just to remove them, finding urdfdom should work well out of the box (in theory).

[Tobias-Fischer]

Fix #46

[Tobias-Fischer]

I think we're now down to the urdfdom not being found issue. Any clues @traversaro?

[traversaro]

I think we're now down to the urdfdom not being found issue. Any clues @traversaro?

I think it is a combination of:

• .pc pkg-config file missing on Windows package of urdfdom, while .pc is used for detection on all other platforms
• Some bug in the detection of urdfdom cmake package without pkg-config, that I imagine is largerly untested as on most platforms .pc is used

I need to check more to find the solution.

[traversaro]

Some bug in the detection of urdfdom cmake package without pkg-config, that I imagine is largerly untested as on most platforms .pc is used

If pkg-config file is not found, the CMake logic will never work due to https://gitlab.kitware.com/cmake/cmake/-/issues/17135, see also https://github.com/osrf/gazebo/blob/212fae8ab6a3fd6ac95feeda13c829c36a909319/cmake/SearchForStuff.cmake#L386 for some related Gazebo code.

[traversaro]

Some bug in the detection of urdfdom cmake package without pkg-config, that I imagine is largerly untested as on most platforms .pc is used

If pkg-config file is not found, the CMake logic will never work due to https://gitlab.kitware.com/cmake/cmake/-/issues/17135, see also https://github.com/osrf/gazebo/blob/212fae8ab6a3fd6ac95feeda13c829c36a909319/cmake/SearchForStuff.cmake#L386 for some related Gazebo code.

Actually this is already handled in gazebosim/gz-cmake@08360a8#diff-ed6adcbc13a18c16651f09d50a008f29e6e9f91b0e5116aff2772791757560f9R146, so this is probably something else.

[traversaro]

In any case, installing the .pc file in urdfdom feedstock is probably the fastest solution.

[Tobias-Fischer]

In any case, installing the .pc file in urdfdom feedstock is probably the fastest solution.

Sounds good. Are you happy to tackle this?

[traversaro]

In any case, installing the .pc file in urdfdom feedstock is probably the fastest solution.

Sounds good. Are you happy to tackle this?

Yep, related issue: conda-forge/urdfdom-feedstock#2 .

[traversaro]

I fixed the issue of .pc files of urdfdom on Windows in conda-forge/urdfdom-feedstock#26 now, let's wait for the usual CDN propagation time and then restart the CI.

[traversaro]

Test compilation is quite slow, but it seems that urdfdom was found now.

[github-actions]

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[traversaro]

On Linux/OSX the location of the sdf.hh header file seems to have changed from include/sdformat-12.4/sdf/sdf.hh to now $PREFIX/include/ignition/sdformat12/sdf/sdf.hh. I'm not sure about the implications as we have {{ pin_subpackage(name, max_pin='x') }} as run_exports but presumably this breaks compatibility.

I think it is ok. As long as the ABI did not changed, a change in header location is not problematic, even because it was also changing for each minor release (i.e. from include/sdformat-12.2/sdf/sdf.hh to include/sdformat-12.3/sdf/sdf.hh) before.

Note, as discussed in ros/urdfdom_headers#73 in theory a change of header location can be a problem for a libraries that are consumed by downstream libraries via old-style CMake variables such as urdfdom_INCLUDE_DIRS. In case of sdformat I think that most downstream libraries use new style targets, so there should not be any problem (as indeed no one ever complained of the change of header location that already happened in the past).