Release 7.1.0

Version 7.1.0 contains behind-the-scenes structural improvements to the build system and the CI as well as a few
minor improvements and fixes to state_representation.

.github/workflows/build-release.yaml

@@ -0,0 +1,62 @@
+name: Build and Push Multi-Arch Images
+
+on:
+  push:
+    branches:
+      - develop
+      - main
+    tags:
+      - "v*.*.*"
+
+jobs:
+  get-tag:
+    runs-on: ubuntu-latest
+    name: Get tag
+    outputs:
+      tag: ${{ steps.parse-tag.outputs.tag }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: aica-technology/.github/.github/actions/docker-tag-from-git@v0.6.1
+        id: parse-tag
+
+  build:
+    needs: [get-tag]
+    strategy:
+      matrix:
+        arch: [amd64, arm64]
+        include:
+          - image: ubuntu-latest
+          # FIXME: using 4vcpu image because of heavy RAM usage when building pinoccio on arm64
+          - image: buildjet-4vcpu-ubuntu-2204-arm
+            arch: arm64
+
+    runs-on: ${{ matrix.image }}
+    name: Build and publish (${{ matrix.arch }})
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.1
+        id: merge-tags
+        with:
+          list: ${{ needs.get-tag.outputs.tag }}
+          suffixes: ${{ matrix.arch }}
+          glue_separator: "-"
+
+      - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1
+        with:
+          image_name: aica-technology/control-libraries
+          image_tags: ${{ steps.merge-tags.outputs.list }}
+          dockerfile_path: Dockerfile.ci
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+  multi-arch:
+    runs-on: ubuntu-latest
+    name: Merge into a multi-arch image
+    needs: [get-tag, build]
+    steps:
+      - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1
+        with:
+          image_name: aica-technology/control-libraries
+          image_tags: ${{ needs.get-tag.outputs.tag }}
+          archs: amd64,arm64
+          token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -45,4 +45,5 @@ source/build
 .clang-format
 
 # protobuf generated bindings
-protocol/protobuf/bindings/
+protocol/protobuf/bindings/
+.DS_Store

CHANGELOG.md

@@ -1,11 +1,25 @@
 # CHANGELOG
 
 Release Versions:
+- [7.1.0](#710)
 - [7.0.0](#700)
 - [6.3.1](#631)
 - [6.3.0](#630)
 - [6.2.0](#620)
 
+## 7.1.0
+
+Version 7.1.0 contains behind-the-scenes structural improvements to the build system and the CI as well as a few
+minor improvements and fixes to state_representation.
+
+### Full changelog:
+
+- Update push hooks in build-release.yaml (#127)
+- feat(ci): add prebuilt control-libraries image akin to network-interfaces (#125)
+- Add overloaded `make_shared_parameter` with no parameter  (#123)
+- Catch out of range exception in `ParameterMap::assert_parameter_valid` (#122)
+- Construct zero matrices in compliant twist controller (#120)
+
 ## 7.0.0
 
 Version 7.0.0 is a major update to the `state_representation` module to make `State` types more internally consistent

CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.15)
+project(all_control_libraries)
+
+add_subdirectory(source)
+add_subdirectory(protocol/clproto_cpp)
+
+if(BUILD_TESTING)
+  # reexport the test target defined in the subdirectories
+  enable_testing()
+endif()
+
+# add licenses
+install(
+  DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/licenses"
+  DESTINATION "share/doc/control-libraries/licenses"
+)

Dockerfile.ci

@@ -0,0 +1,129 @@
+FROM ghcr.io/aica-technology/ros2-ws:humble as base
+FROM base as apt-dependencies
+COPY apt-packages.tx[t] /
+
+RUN <<HEREDOC
+if [ ! -s /apt-packages.txt ]; then
+  set +e # FIXME: without this, the script fails because of an issue with `clear_console`
+  exit 0
+fi
+
+mkdir -p /tmp/apt
+
+sudo apt-get update
+# We then do a dry-run and parse the output of apt to gather the list of packages to be installed
+# Example output:
+# ```
+# #########
+# NOTE: This is only a simulation!
+#       apt-get needs root privileges for real execution.
+#       Keep also in mind that locking is deactivated,
+#       so don't depend on the relevance to the real current situation!
+# Reading package lists...
+# Building dependency tree...
+# Reading state information...
+# The following additional packages will be installed:
+#   libavutil56 libblosc1
+# The following NEW packages will be installed:
+#   libavutil56 libblosc1
+# 0 upgraded, 5 newly installed, 0 to remove and 28 not upgraded.
+# Inst libavutil56 (7:4.4.2-0ubuntu0.22.04.1 Ubuntu:22.04/jammy-updates, Ubuntu:22.04/jammy-security [arm64])
+# Inst libblosc1 (1.21.1+ds2-2 Ubuntu:22.04/jammy [arm64])
+# Conf libavutil56 (7:4.4.2-0ubuntu0.22.04.1 Ubuntu:22.04/jammy-updates, Ubuntu:22.04/jammy-security [arm64])
+# Conf libblosc1 (1.21.1+ds2-2 Ubuntu:22.04/jammy [arm64])
+# ```
+# Transformed into:
+# ```
+# libavutil56
+# libblosc1
+# ```
+xargs -a /apt-packages.txt apt-get install --dry-run \
+  | grep -e '^Inst ' \
+  | sed -E 's/^Inst (\S+) .*$/\1/' > /tmp/new-packages.txt
+# Then we install apt packages like normal
+xargs -a /apt-packages.txt sudo apt-get install -y
+# Finally we use dpkg to get all files installed by those packages and copy them to a new root
+#  - get list of files installed by all the packages
+#  - remove empty lines
+#  - sort
+#  - remove duplicates
+#  - copy files while keeping file hierarchy and preserving links as-is
+#  - remove "omitting directory" messages (we don't do recursive copy as we only want specific files) for cleaner output
+xargs -a /tmp/new-packages.txt dpkg-query -L \
+  | sed '/^$/d' | sort | uniq \
+  | xargs -d "\n" cp --parents -dp -t /tmp/apt  2>&1 \
+  | grep -v 'omitting directory'
+# this root can then be copied to / to install everything globally or use LD_LIBRARY_PATH to use it locally
+HEREDOC
+
+FROM base as dep-pinocchio
+COPY --from=apt-dependencies /tmp/apt /
+ARG PINOCCHIO_TAG=v2.6.9
+# FIXME: it would be nicer to have it all in the root CMakelists.txt but:
+#  * `pinocchio` doesn't provide an include directory we can easily plug into `target_include_directories` and thus needs to be installed first
+#  * `pinocchio` uses hacks relying on undocumented CMake quirks which break if you use `FetchContent`
+# FIXME: it needs `CMAKE_INSTALL_PREFIX` and `--prefix` because it doesn't install to the right place otherwise
+RUN \
+  --mount=type=cache,target=./pinocchio,id=cmake-pinocchio-src-${PINOCCHIO_TAG}-${TARGETPLATFORM},uid=1000 \
+  --mount=type=cache,target=./build,id=cmake-pinocchio-${PINOCCHIO_TAG}-${TARGETPLATFORM},uid=1000 \
+  if [ ! -f pinocchio/CMakeLists.txt ]; then rm -rf pinocchio/* && git clone --depth 1 -b ${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio; fi \
+  && cmake -B build -S pinocchio -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_INSTALL_PREFIX=/tmp/deps \
+  && cmake --build build --target all install
+# FIXME: pinocchio produces non-portable paths
+RUN find /tmp/deps -type f -exec sed -i 's#/tmp/deps#/usr#g' '{}' \;
+
+FROM base as dep-osqp
+COPY dependencies/osqp.cmake CMakeLists.txt
+RUN \
+  --mount=type=cache,target=./build,id=cmake-osqp-${TARGETPLATFORM},uid=1000 \
+  cmake -B build -DCMAKE_BUILD_TYPE=Release \
+  && cmake --build build \
+  && cmake --install build --prefix /tmp/deps
+
+FROM base as dependencies
+# Needed to build `osqp-eigen`
+COPY --from=dep-osqp /tmp/deps /usr
+COPY dependencies/dependencies.cmake CMakeLists.txt
+RUN \
+  --mount=type=cache,target=./build,id=cmake-deps-${TARGETPLATFORM},uid=1000 \
+  cmake -B build -DCMAKE_BUILD_TYPE=Release \
+  && cmake --build build \
+  && cmake --install build --prefix /tmp/deps
+COPY --from=dep-osqp /tmp/deps /tmp/deps
+COPY --from=dep-pinocchio /tmp/deps /tmp/deps
+
+FROM base as code
+WORKDIR /src
+COPY --from=apt-dependencies /tmp/apt /
+COPY --from=dependencies /tmp/deps /usr
+COPY --chown=${USER} . /src
+
+FROM code as build
+RUN \
+  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
+  cmake -B build -DCMAKE_BUILD_TYPE=Release \
+  && cmake --build build
+
+FROM build as test
+RUN \
+  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
+  cmake -B build -DBUILD_TESTING=ON \
+  && CTEST_OUTPUT_ON_FAILURE=1 cmake --build build --target test
+
+FROM build as install
+RUN \
+  --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM},uid=1000 \
+  cmake --install build --prefix /tmp/cl
+
+FROM base as python
+COPY --chown=${USER} ./python /python
+COPY --from=install /tmp/cl /usr
+RUN \
+  --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM},uid=1000 \
+  python3 -m pip install --prefix=/tmp/python /python
+
+FROM scratch
+COPY --from=apt-dependencies /tmp/apt /
+COPY --from=dependencies /tmp/deps /usr
+COPY --from=install /tmp/cl /usr
+COPY --from=python /tmp/python/local/lib/python3.10/dist-packages/ /home/ros2/.local/lib/python3.10/site-packages/

VERSION

@@ -1 +1 @@
-7.0.0
+7.1.0

apt-packages.txt

@@ -0,0 +1,2 @@
+libboost-all-dev
+liburdfdom-dev

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.0.0 CONFIG REQUIRED)
+find_package(control_libraries 7.1.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

dependencies/dependencies.cmake

@@ -0,0 +1,21 @@
+# FIXME: it would be nicer to have it all in the root CMakelists.txt but:
+#  * `OVERRIDE_FIND_PACKAGE` requires CMake 3.24
+#  * some `protobuf` includes don't work when using `FetchContent`
+cmake_minimum_required(VERSION 3.15)
+project(control-libraries-dependencies)
+
+include(FetchContent)
+FetchContent_Declare(
+  OsqpEigen
+  GIT_REPOSITORY https://github.com/robotology/osqp-eigen.git
+  GIT_TAG        v0.6.4
+)
+
+FetchContent_Declare(
+  protobuf
+  GIT_REPOSITORY https://github.com/protocolbuffers/protobuf.git
+  GIT_TAG        v3.17.0
+  SOURCE_SUBDIR  cmake
+)
+
+FetchContent_MakeAvailable(OsqpEigen protobuf)

dependencies/osqp.cmake

@@ -0,0 +1,14 @@
+# FIXME: it would be nicer to have it all in the root CMakelists.txt but:
+#  * `OVERRIDE_FIND_PACKAGE` requires CMake 3.24
+#  * `osqp::osqp` is somehow not working in OSQP-Eigen when built together
+cmake_minimum_required(VERSION 3.15)
+project(control-libraries-osqp)
+
+include(FetchContent)
+FetchContent_Declare(
+  osqp
+  GIT_REPOSITORY https://github.com/oxfordcontrol/osqp
+  GIT_TAG        v0.6.2
+)
+
+FetchContent_MakeAvailable(osqp)

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.0.0
+PROJECT_NUMBER = 7.1.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.0.0)
+project(clproto VERSION 7.1.0)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
@@ -26,7 +26,11 @@ endif()
 
 include(FindProtobuf)
 find_package(Protobuf 3.17 REQUIRED)
-find_package(control_libraries ${PROJECT_VERSION} REQUIRED COMPONENTS state_representation)
+if (NOT TARGET state_representation)
+  # if we can't find the state_representation target, we are the top-level project and need to find it,
+  # otherwise, we are a subproject and the state_representation target is already available
+  find_package(control_libraries ${PROJECT_VERSION} REQUIRED COMPONENTS state_representation)
+endif()
 
 if(BUILD_TESTING)
   enable_testing()
@@ -46,7 +50,38 @@ add_custom_target(generate_proto_bindings COMMAND make cpp_bindings
   WORKING_DIRECTORY ${PROTOBUF_DIR}
 )
 
-file(GLOB_RECURSE GENERATED_PROTO_BINDINGS "${PROTOBUF_BINDINGS_DIR}/*.pb.cc" "${PROTOBUF_BINDINGS_DIR}/*.pb.h")
+# if we are the top-level project, we assume the protobuf bindings are already built manually by the Makefile,
+# otherwise, we built them ourselves in this project
+if (CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  file(GLOB_RECURSE GENERATED_PROTO_BINDINGS "${PROTOBUF_BINDINGS_DIR}/*.pb.cc" "${PROTOBUF_BINDINGS_DIR}/*.pb.h")
+else()
+  # FIXME: unfortunately, protobuf_generate_* is a bit broken, so we do it by hand
+  set(IMPORT_PATH ${PROTOBUF_DIR}/proto)
+  file(GLOB_RECURSE PROTO_FILES "${IMPORT_PATH}/*.proto")
+  set(PROTOBUF_BINDINGS_DIR ${CMAKE_CURRENT_BINARY_DIR}/bindings)
+
+  set(GENERATED_PROTO_BINDINGS)
+  set(PROTO_FILES_TEXT)
+  foreach(PROTO_FILE ${PROTO_FILES})
+    string(REPLACE "${IMPORT_PATH}/" "" PROTO_FILE_REL "${PROTO_FILE}")
+    get_filename_component(PROTO_FILE_PATH ${PROTO_FILE_REL} DIRECTORY)
+    get_filename_component(PROTO_FILE_NAME ${PROTO_FILE_REL} NAME_WE)
+    list(APPEND GENERATED_PROTO_BINDINGS "${PROTOBUF_BINDINGS_DIR}/${PROTO_FILE_PATH}/${PROTO_FILE_NAME}.pb.cc")
+    list(APPEND GENERATED_PROTO_BINDINGS "${PROTOBUF_BINDINGS_DIR}/${PROTO_FILE_PATH}/${PROTO_FILE_NAME}.pb.h")
+    list(APPEND PROTO_FILES_TEXT ${PROTO_FILE_REL})
+  endforeach()
+  string(REPLACE ";" ", " PROTO_FILES_TEXT "${PROTO_FILES_TEXT}")
+
+  make_directory(${PROTOBUF_BINDINGS_DIR})
+  add_custom_command(
+    OUTPUT ${GENERATED_PROTO_BINDINGS}
+    COMMAND  protobuf::protoc
+    ARGS --cpp_out ${PROTOBUF_BINDINGS_DIR} -I${IMPORT_PATH} ${PROTO_FILES}
+    DEPENDS ${PROTOBUF_BINDINGS_DIR} ${PROTO_FILES} protobuf::protoc
+    COMMENT "Running C++ protocol buffer compiler on ${PROTO_FILES_TEXT}"
+    VERBATIM
+  )
+endif()
 
 add_library(${PROJECT_NAME}_bindings STATIC ${GENERATED_PROTO_BINDINGS})
 target_include_directories(${PROJECT_NAME}_bindings PUBLIC ${PROTOBUF_BINDINGS_DIR})
@@ -63,7 +98,7 @@ target_include_directories(${PROJECT_NAME}
   $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
 set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER ${CMAKE_CURRENT_SOURCE_DIR}/include/clproto.hpp)
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} state_representation PRIVATE ${PROJECT_NAME}_bindings)
+target_link_libraries(${PROJECT_NAME} PUBLIC protobuf::libprotobuf state_representation PRIVATE ${PROJECT_NAME}_bindings)
 
 # install the target and create export-set
 install(TARGETS ${PROJECT_NAME}
@@ -122,10 +157,10 @@ install(FILES
 if(${PKG_CONFIG_FOUND})
   set(PKG_NAME ${CMAKE_PROJECT_NAME})
   set(PKG_DESC "This library provides a simple interface for encoding and decoding control library type objects to and from a serialized binary string representation (the wire format).")
-  set(PKG_EXTERNAL_DEPS "state_representation >= ${CMAKE_PROJECT_VERSION}")
+  set(PKG_EXTERNAL_DEPS "state_representation >= ${PROJECT_VERSION}")
   set(PKG_CFLAGS "-lprotobuf")
   set(pkg_conf_file "clproto.pc")
-  configure_file("${CMAKE_SOURCE_DIR}/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
-  install(FILES "${CMAKE_BINARY_DIR}/${pkg_conf_file}"
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${pkg_conf_file}.in" "${CMAKE_CURRENT_BINARY_DIR}/${pkg_conf_file}" @ONLY)
+  install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${pkg_conf_file}"
     DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
-endif()
+endif()