Fix Python CI breakages (#262)

Mitigate drift in supported GitHub runner versions:
* ubuntu-latest now uses ubuntu-24.04, which broke our Python CI due to newer and stricter GCC.
* macos-12 is EOL.

Fix (1) by pinning Python builds to ubuntu-22.04. Note that ubuntu-24.04 also drops out-of-the-box support for Python 3.8, which we should continue testing to match the Brain.

Fix (2) by upgrading to macos-13, likewise the final runner with Python 3.8 baked in. This required a fix to an undefined behavior (compiler-dependent) bug in the pybindings for Lie group types.

Completes SWE-531 and SWE-538.

.github/workflows/api_reference.yml

@@ -12,7 +12,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04]
+        os: [ubuntu-22.04]
       fail-fast: false
 
 

.github/workflows/ci_python.yml

@@ -14,11 +14,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # Using macos-12 bc:
-        #  1. they removed support for python 3.8 & 3.9 on macos-14 (now macos-latest)
-        #    - See: https://github.com/actions/setup-python/issues/696#issuecomment-2071769156
-        #  2. `test_pose` fails on macos-13 and macos-14 (but not macos-12)
-        os: [ubuntu-latest, macos-12]
+        # We use ubuntu-22.04 and macos-13 because they are the final Github runner images
+        # with Python 3.8 pre-installed. Brain OS images based on Jetpack 5 use 3.8 as the
+        # system Python, so we want to test 3.8 even though it is EOL.
+        os: [ubuntu-22.04, macos-13]
         python-version: ['3.8', '3.9', '3.10', '3.11', '3.12']
     steps:
     - uses: actions/checkout@v4
@@ -28,7 +27,7 @@ jobs:
       with:
         python-version: ${{ matrix.python-version }}
     - name: Install dependencies
-      run: pip3 install -vvv -e .[dev]
+      run: pip3 install -v -e .[dev]
     - name: Run sequential tests
       run: ./run_python_tests.sh
     - name: Run asyncio tests

.github/workflows/docs.yml

@@ -12,7 +12,7 @@ on:
 jobs:
   deploy:
     name: Deploy to GitHub Pages
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
         with:

.github/workflows/format.yml

@@ -14,7 +14,7 @@ concurrency:
 
 jobs:
   pre-commit-check:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - uses: actions/setup-python@v3

.github/workflows/pypi-release.yml

@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, macos-12]
+        os: [ubuntu-22.04, macos-13]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -41,7 +41,7 @@ jobs:
 
   build_sdist:
     name: Build source distribution
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
       - name: Build sdist
@@ -52,7 +52,7 @@ jobs:
 
   upload_pypi:
     needs: [build_wheels, build_sdist]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     if: github.event_name == 'release' && github.event.action == 'published'
     steps:
       - uses: actions/download-artifact@v3

.github/workflows/release.yml

@@ -13,7 +13,7 @@ jobs:
   # Based on https://dev.to/eugenebabichenko/automated-multi-platform-releases-with-github-actions-1abg
   create_release:
     name: Create Release and Provide Upload URL.
-    runs-on: ubuntu-latest # OS to create release, not for build
+    runs-on: ubuntu-20.04 # OS to create release, not for build
     outputs:
       # This job will provide URL for build jobs to use for uploading assets
       upload_url: ${{ steps.create_release.outputs.upload_url }}

cpp/sophus/lie/pose3.h

@@ -102,7 +102,7 @@ class Pose3 {
         tangent_in_b_);
   }
 
-  friend Expected<Tangent> error(
+  static Expected<Tangent> error(
       Pose3 const& lhs_a_from_b, Pose3 const& rhs_a_from_b) {
     return (lhs_a_from_b.inverse() * rhs_a_from_b)
         .and_then([](Expected<Pose3> const& pose) -> Expected<Tangent> {

py/pybind/lie_pybind.cpp

@@ -332,9 +332,10 @@ void bind_lie(py::module_& m) {
           })
       .def_static(
           "error",
-          [](Pose3F64 const& lhs_a_from_b, Pose3F64 const& rhs_a_from_b) {
+          [](Pose3F64 const& lhs_a_from_b,
+             Pose3F64 const& rhs_a_from_b) -> Eigen::Vector<double, 6> {
             farm_ng::Expected<Pose3F64::Tangent> err =
-                error(lhs_a_from_b, rhs_a_from_b);
+                Pose3F64::error(lhs_a_from_b, rhs_a_from_b);
             if (err) {
               return err->array();
             }

py/tests/test_lie.py

@@ -142,10 +142,14 @@ def test_pose():
 
     for _i in range(50):
         world_from_robot_now = world_from_robot.evolve(dt)
+        print("world_from_robot:", world_from_robot.log())
+        print("world_from_robot_now:", world_from_robot_now.log())
 
         # computes the error between frame_b of two respective poses
         # e.g. robot and robot now
-        err = ng.Pose3F64.error(world_from_robot, world_from_robot_now) * (1 / dt)
+        err_unscaled = ng.Pose3F64.error(world_from_robot, world_from_robot_now)
+        print("err_unscaled:", err_unscaled)
+        err = err_unscaled * (1 / dt)
         print("err:", err)
         print("tan:", world_from_robot_now.tangent_of_b_in_a)
         assert np.allclose(err, world_from_robot_now.tangent_of_b_in_a)

scripts/install_deps_ubuntu.sh

@@ -36,5 +36,5 @@ sudo apt-get -y install \
      libtiff-dev \
      ninja-build \
      python3-dev \
-     python3.8-venv \
+     python3-venv \
      && sudo apt-get clean