[v1.0beta2] devel -> master

.docker/Dockerfile.ci

@@ -34,12 +34,13 @@ RUN apt-get update &&\
         python3.7 \
         libpython3.6-dev \
         libpython3.7-dev \
+        virtualenv \
         swig \
         &&\
     rm -rf /var/lib/apt/lists/*
 
 # Install ignition robotics
-ARG ignition_codename="blueprint"
+ARG ignition_codename="citadel"
 RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" \
         > /etc/apt/sources.list.d/gazebo-stable.list &&\
     wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\
@@ -49,7 +50,7 @@ RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_releas
 
 # Install idyntree
 RUN apt-get update &&\
-    apt-get install -y --no-install-recommends python3-numpy libxml2-dev coinor-libipopt-dev &&\
+    apt-get install -y --no-install-recommends python3-numpy libxml2-dev coinor-libipopt-dev libeigen3-dev &&\
     rm -rf /var/lib/apt/lists/* &&\
     git clone --depth 1 -b feature/numpy-and-ik https://github.com/diegoferigo/idyntree /tmp/idyntree &&\
     mkdir -p /tmp/idyntree/build && cd /tmp/idyntree/build &&\
@@ -60,6 +61,7 @@ RUN apt-get update &&\
         -DPython_ADDITIONAL_VERSIONS=3.6 \
         -DIDYNTREE_USES_PYTHON_VERSION=3.6 \
         -DPYTHON_NUMPY_INCLUDE_DIR:PATH=/usr/lib/python3/dist-packages/numpy/core/include \
+        -DIDYNTREE_USES_IPOPT:BOOL=ON \
         &&\
     cmake --build . --target install &&\
     rm -r /tmp/idyntree

.docker/Dockerfile.latest

@@ -17,11 +17,12 @@ RUN apt-get update &&\
         python3-pip \
         python3.6 \
         libpython3.6-dev \
+        virtualenv \
         &&\
     rm -rf /var/lib/apt/lists/*
 
 # Install ignition gazebo
-ARG ignition_codename="blueprint"
+ARG ignition_codename="citadel"
 RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" \
         > /etc/apt/sources.list.d/gazebo-stable.list &&\
     wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\

.docker/Dockerfile.pypi

@@ -26,13 +26,14 @@ RUN apt-get update &&\
         python3-pip \
         python3.6 \
         libpython3.6-dev \
+        virtualenv \
         swig \
         rename \
         &&\
     rm -rf /var/lib/apt/lists/*
 
 # Install ignition robotics
-ARG ignition_codename="blueprint"
+ARG ignition_codename="citadel"
 RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" \
         > /etc/apt/sources.list.d/gazebo-stable.list &&\
     wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\
@@ -42,7 +43,7 @@ RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_releas
 
 # Install idyntree (statically compiled)
 RUN apt-get update &&\
-    apt-get install -y --no-install-recommends python3-numpy libxml2-dev coinor-libipopt-dev &&\
+    apt-get install -y --no-install-recommends python3-numpy libxml2-dev coinor-libipopt-dev  libeigen3-dev &&\
     rm -rf /var/lib/apt/lists/* &&\
     git clone --depth 1 -b feature/numpy-and-ik https://github.com/diegoferigo/idyntree /tmp/idyntree &&\
     mkdir -p /tmp/idyntree/build && cd /tmp/idyntree/build &&\
@@ -54,6 +55,7 @@ RUN apt-get update &&\
         -DIDYNTREE_USES_PYTHON_VERSION=3.6 \
         -DPYTHON_NUMPY_INCLUDE_DIR:PATH=/usr/lib/python3/dist-packages/numpy/core/include \
         -DBUILD_SHARED_LIBS:BOOL=OFF \
+        -DIDYNTREE_USES_IPOPT:BOOL=ON \
         &&\
     cmake --build . --target install &&\
     rm -r /tmp/idyntree

.docker/setup_virtualenv.sh

@@ -9,9 +9,6 @@ if [ ! -x $(type -P ${PYTHON_EXE}) ] ; then
     exit 1
 fi
 
-# Install virtualenv
-pip3 install virtualenv
-
 # Create an empty virtualenv and enable it by default
 virtualenv -p $PYTHON_EXE ${VIRTUAL_ENV}
 

.github/workflows/ci.yml

@@ -13,16 +13,24 @@ jobs:
         python: [3.6]
         build_type: [Debug]
         compiler:
-          - gcc8
-          - clang7
-          - clang8
+          - gcc7
+          #- gcc8
+          #- clang7
+          #- clang8
     container:
       image: diegoferigo/gym-ignition:ci-master
       env:
         PYTHON_VERSION: ${{ matrix.python }}
 
     steps:
+      - name: Update git
+        run: |
+          add-apt-repository ppa:git-core/ppa
+          apt update
+          apt install -y git
+
       - uses: actions/checkout@master
+      - run: git fetch --prune --unshallow
 
       # The entrypoint is not called because it is overridden by GH Actions.
       # Even using the 'jobs.<job_id>.container.options' does not work because the
@@ -71,8 +79,7 @@ jobs:
         run: |
           pip3 install colour-valgrind
           cd tests/python
-          valgrind --log-file=/tmp/valgrind.log pytest -v -s
-          colour-valgrind -t /tmp/valgrind.log
+          valgrind --log-file=/tmp/valgrind.log pytest -v -s || colour-valgrind -t /tmp/valgrind.log
 
   user:
     name: User installation
@@ -87,11 +94,18 @@ jobs:
       image: diegoferigo/gym-ignition:ci-master
       env:
         PYTHON_VERSION: ${{ matrix.python }}
-        CC: gcc-8
-        CXX: g++-8
+        CC: gcc-7
+        CXX: g++-7
 
     steps:
+      - name: Update git
+        run: |
+          add-apt-repository ppa:git-core/ppa
+          apt update
+          apt install -y git
+
       - uses: actions/checkout@master
+      - run: git fetch --prune --unshallow
 
       # The entrypoint is not called because it is overridden by GH Actions.
       # Even using the 'jobs.<job_id>.container.options' does not work because the
@@ -117,5 +131,4 @@ jobs:
         run: |
           pip3 install colour-valgrind
           cd tests/python
-          valgrind --log-file=/tmp/valgrind.log pytest -v -s
-          colour-valgrind -t /tmp/valgrind.log
+          valgrind --log-file=/tmp/valgrind.log pytest -v -s || colour-valgrind -t /tmp/valgrind.log

.github/workflows/docker.yml

@@ -28,13 +28,9 @@ jobs:
           - latest
           - nightly
         include:
-          - tag: ci-devel
-            extra_docker_options: --build-arg ignition_codename='blueprint'
-          - tag: pypi-devel
-            extra_docker_options: --build-arg ignition_codename='blueprint'
           - tag: nightly
             extra_docker_options: |
-              --build-arg pypi_package='gym-ignition-nightly' --build-arg ignition_codename='blueprint' --build-arg branch='devel' \
+              --build-arg pypi_package='gym-ignition-nightly' --build-arg branch='devel' \
 
     steps:
       - uses: actions/checkout@master

.github/workflows/pypi.yml

@@ -29,12 +29,19 @@ jobs:
       # setup with ignition robotics installed from the official ppa
       image: diegoferigo/gym-ignition:ci-master
       env:
-        CC: gcc-8
-        CXX: g++-8
+        CC: gcc-7
+        CXX: g++-7
         PYTHON_VERSION: ${{ matrix.python_version }}
 
     steps:
-      - uses: actions/checkout@master
+      - name: Update git
+        run: |
+          add-apt-repository ppa:git-core/ppa
+          apt update
+          apt install -y git
+
+      - uses: actions/checkout@v2
+      - run: git fetch --prune --unshallow
 
       # The entrypoint is not called because it is overridden by GH Actions.
       # Even using the 'jobs.<job_id>.container.options' does not work because the
@@ -53,7 +60,7 @@ jobs:
       - name: Python tests
         run: |
           cd tests/python
-          pytest
+          pytest -v
 
   # ========================
   # TEST BDIST_WHEEL PACKAGE
@@ -72,14 +79,21 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     steps:
-      - uses: actions/checkout@master
+      - name: Update git
+        run: |
+          sudo add-apt-repository ppa:git-core/ppa
+          sudo apt update
+          sudo apt install -y git
+
+      - uses: actions/checkout@v2
+      - run: git fetch --prune --unshallow
 
       # Workaround to export environment variables that persist in next steps
       # https://jasonet.co/posts/new-features-of-github-actions/#passing-data-to-future-steps
       - name: Setup Environment
         run: |
-          echo "::set-env name=CC::gcc-8"
-          echo "::set-env name=CXX::g++-8"
+          echo "::set-env name=CC::gcc-7"
+          echo "::set-env name=CXX::g++-7"
           echo "::set-env name=PYTHON_VERSION::${{ matrix.python_version }}"
           env
 
@@ -103,16 +117,15 @@ jobs:
           docker run \
             -d -i --name test -e PYTHON_VERSION=$PYTHON_VERSION \
             -v $(pwd)/dist:/dist \
+            -v $(pwd)/tests:/tests \
             diegoferigo/gym-ignition:ci-master bash
           sleep 15
 
       - name: Install bdist
         run: docker exec -i -w /dist test sh -c 'pip install *.whl'
 
       - name: Python tests
-        run: |
-          docker exec -i test sh -c "git clone https://github.com/robotology/gym-ignition"
-          docker exec -i test sh -c "cd gym-ignition/tests/python && pytest -v"
+        run: docker exec -i -w /tests/python test sh -c 'pytest -v'
 
   # =============
   # PUSH PACKAGES
@@ -132,12 +145,19 @@ jobs:
     container:
       image: diegoferigo/gym-ignition:ci-master
       env:
-        CC: gcc-8
-        CXX: g++-8
+        CC: gcc-7
+        CXX: g++-7
         PYTHON_VERSION: ${{ matrix.python_version }}
 
     steps:
-      - uses: actions/checkout@master
+      - name: Update git
+        run: |
+          add-apt-repository ppa:git-core/ppa
+          apt update
+          apt install -y git
+
+      - uses: actions/checkout@v2
+      - run: git fetch --prune --unshallow
 
       # Validate the last tag accordingly to PEP440
       # From https://stackoverflow.com/a/37972030/12150968

CMakeLists.txt

@@ -3,7 +3,7 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 cmake_minimum_required(VERSION 3.12)
-project(Gympp VERSION 0.1)
+project(GymIgnition VERSION 0.1)
 
 # C++ standard
 set(CMAKE_CXX_STANDARD 17)
@@ -18,31 +18,35 @@ if(NOT CMAKE_CONFIGURATION_TYPES)
         set(CMAKE_BUILD_TYPE "Release" CACHE STRING
             "Choose the type of build, recommended options are: Debug or Release" FORCE)
     endif()
-    set(GYMPP_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
-    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${GYMPP_BUILD_TYPES})
+    set(GYMIGNITION_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${GYMIGNITION_BUILD_TYPES})
 endif()
 
 # This new build mode configures the CMake project to be compatible with the pipeline to
 # create the PyPI linux wheel
 include(cmake/AddNewBuildMode.cmake)
 add_new_build_mode(NAME "PyPI" TEMPLATE "Release")
 
-if(CMAKE_BUILD_TYPE STREQUAL "PyPI")
+# Expose shared or static compilation
+set(GYMIGNITION_BUILD_SHARED_LIBRARY TRUE
+    CACHE BOOL "Compile libraries as shared libraries")
+
+if(NOT ${CMAKE_BUILD_TYPE} STREQUAL "PyPI")
+    # Apply the user choice
+    set(BUILD_SHARED_LIBS ${GYMIGNITION_BUILD_SHARED_LIBRARY})
+else()
     # Check that is Linux
     if(NOT (UNIX AND NOT APPLE))
         message(FATAL_ERROR "PyPI packages can be only created for Linux at the moment")
     endif()
 
-    # Compile libraries as static, if possible
-    set(GYMPP_BUILD_SHARED_LIBRARY FALSE
-        CACHE BOOL "Compile libraries as shared libraries" FORCE)
-else()
-    set(GYMPP_BUILD_SHARED_LIBRARY TRUE BOOL
-        CACHE BOOL "Compile libraries as shared libraries")
-endif()
+    if(${GYMIGNITION_BUILD_SHARED_LIBRARY})
+        message(WARNING "Enabling static compilation, required by the PyPI build mode")
+    endif()
 
-# Set the final option for shared / static libraries
-set(BUILD_SHARED_LIBS ${GYMPP_BUILD_SHARED_LIBRARY})
+    # Force static compilation
+    set(BUILD_SHARED_LIBS FALSE)
+endif()
 
 # Use -fPIC even if statically compiled
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@@ -64,8 +68,8 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
 
 # Get include-what-you-use information when compiling
-option(USE_IWYU "Get the output of include-what-you-use" OFF)
-if(USE_IWYU)
+option(GYMIGNITION_USE_IWYU "Get the output of include-what-you-use" OFF)
+if(GYMIGNITION_USE_IWYU)
     find_program(IWYU_PATH NAMES include-what-you-use iwyu)
     if(IWYU_PATH)
         set(CMAKE_CXX_INCLUDE_WHAT_YOU_USE ${IWYU_PATH})
@@ -106,12 +110,16 @@ add_subdirectory(deps)
 # Add the C++ sources subdirectory
 add_subdirectory(gympp)
 
-# This target is not found automatically when searching for 'all' components and
-# ign-gazebo is statically compiled. Adding this find_package here solves the problem.
-find_package(ignition-gazebo2-gui)
+# ========
+# IGNITION
+# ========
+
+find_package(ignition-gazebo3 COMPONENTS all)
+option(GYMIGNITION_USE_IGNITION
+       "Build C++ code depending on Ignition Robotics" ${ignition-gazebo3_FOUND})
 
-find_package(ignition-gazebo2 COMPONENTS all)
-if(ignition-gazebo2_FOUND)
+# Add the targets depending on Ignition Robotics
+if(${GYMIGNITION_USE_IGNITION})
     add_subdirectory(ignition)
     add_subdirectory(plugins)
     add_subdirectory(gym_ignition_data)