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Permit building python bindings separately from main library (#554)
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This allows the python/CMakeLists.txt file to be built
as a top-level cmake project against an external gz-transport
library, with documentation added to the installation tutorial.

The logic for finding pybind11 is also moved from the root
CMakeLists.txt to python/CMakeLists.txt to reduce code
duplication. When invoked through the root CMakeLists.txt,
pybind11 is treated as an optional dependency, but when
invoked from the python folder, pybind11 is treated as
required by setting the variable
CMAKE_REQUIRE_FIND_PACKAGE_pybind11 to TRUE.

Signed-off-by: Silvio Traversaro <silvio@traversaro.it>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Co-authored-by: Silvio Traversaro <silvio@traversaro.it>
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@scpeters @traversaro
scpeters and traversaro authored Nov 8, 2024
1 parent 6256a56 commit 250e95f
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Showing 3 changed files with 86 additions and 54 deletions.
16 changes: 4 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -58,19 +58,11 @@ if (SKIP_PYBIND11)
message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
find_package(Python3 COMPONENTS Interpreter)
else()
find_package(Python3 COMPONENTS Interpreter Development)
find_package(Python3
COMPONENTS Interpreter
OPTIONAL_COMPONENTS Development)
if (NOT Python3_Development_FOUND)
GZ_BUILD_WARNING("Python development libraries are missing: Python interfaces are disabled.")
else()
set(PYBIND11_PYTHON_VERSION 3)
find_package(pybind11 2.4 CONFIG QUIET)

if (pybind11_FOUND)
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
else()
GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
message (STATUS "Searching for pybind11 - not found.")
endif()
endif()
endif()

Expand Down Expand Up @@ -164,7 +156,7 @@ add_subdirectory(conf)
#============================================================================
# gz transport python bindings
#============================================================================
if (pybind11_FOUND AND NOT SKIP_PYBIND11)
if (Python3_Development_FOUND AND NOT SKIP_PYBIND11)
add_subdirectory(python)
endif()

Expand Down
30 changes: 27 additions & 3 deletions python/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,3 +1,27 @@
# Detect if we are doing a standalone build of the bindings, using an external gz-transport
if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
cmake_minimum_required(VERSION 3.22.1)
set(GZ_TRANSPORT_VER 14)
project(gz-transport${GZ_TRANSPORT_VER}-python VERSION ${GZ_TRANSPORT_VER})
find_package(gz-transport${PROJECT_VERSION_MAJOR} REQUIRED)
set(PROJECT_LIBRARY_TARGET_NAME "gz-transport${PROJECT_VERSION_MAJOR}::gz-transport${PROJECT_VERSION_MAJOR}")
# require python dependencies to be found
find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
set(CMAKE_REQUIRE_FIND_PACKAGE_pybind11 TRUE)
include(GNUInstallDirs)
include(CTest)
endif()

set(PYBIND11_PYTHON_VERSION 3)
find_package(pybind11 2.4 CONFIG QUIET)

if (pybind11_FOUND)
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
else()
message(WARNING "pybind11 is missing: Python interfaces are disabled.")
return()
endif()

if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
if(NOT Python3_SITEARCH)
# Get install variable from Python3 module
Expand All @@ -12,7 +36,7 @@ if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
endif()
else()
# If not a system installation, respect local paths
set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
set(GZ_PYTHON_INSTALL_PATH ${CMAKE_INSTALL_LIBDIR}/python)
endif()

set(GZ_PYTHON_INSTALL_PATH "${GZ_PYTHON_INSTALL_PATH}/gz")
Expand Down Expand Up @@ -68,10 +92,10 @@ if (BUILD_TESTING AND NOT WIN32)
foreach (test ${python_tests})
if (pytest_FOUND)
add_test(NAME ${test}.py COMMAND
"${Python3_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/${test}.xml")
"${Python3_EXECUTABLE}" -m pytest "${CMAKE_CURRENT_SOURCE_DIR}/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/${test}.xml")
else()
add_test(NAME ${test}.py COMMAND
"${Python3_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
"${Python3_EXECUTABLE}" "${CMAKE_CURRENT_SOURCE_DIR}/test/${test}.py")
endif()
set(_env_vars)
list(APPEND _env_vars "CMAKE_BINARY_DIR=${CMAKE_BINARY_DIR}/bin")
Expand Down
94 changes: 55 additions & 39 deletions tutorials/02_installation.md
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Original file line number Diff line number Diff line change
Expand Up @@ -45,13 +45,10 @@ library and rebuilding dependencies due to the use of c++11. For
purposes of this documentation, assuming OS X 10.9 or greater is in
use. Here are the instructions:

Install homebrew, which should also prompt you to install the XCode
command-line tools:
```
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
```
After installing the [Homebrew package manager](https://brew.sh),
which should also prompt you to install the XCode command-line tools
add OSRF packages and run the install command:

Run the following commands:
```
brew tap osrf/simulation
brew install gz-transport<#>
Expand Down Expand Up @@ -81,7 +78,9 @@ which version you need.

# Source Install

## Ubuntu Linux
## Install Prerequisites

### Ubuntu Linux

For compiling the latest version of Gazebo Transport you will need an
Ubuntu distribution equal to 24.04 (Noble) or newer.
Expand All @@ -97,10 +96,29 @@ Install prerequisites. A clean Ubuntu system will need:
sudo apt-get install git cmake pkg-config python ruby-ronn libprotoc-dev libprotobuf-dev protobuf-compiler uuid-dev libzmq3-dev libgz-msgs11-dev libgz-utils3-cli-dev
```

### macOS

After installing the [Homebrew package manager](https://brew.sh),
which should also prompt you to install the XCode command-line tools
add OSRF packages and run the command to install dependencies:

```
brew tap osrf/simulation
brew install --only-dependencies gz-transport<#>
```

Be sure to replace `<#>` with a number value, such as 10 or 11, depending on
which version you need.

## Clone, Configure, and Build

Clone the repository
```
git clone https://github.com/gazebosim/gz-transport
git clone https://github.com/gazebosim/gz-transport -b gz-transport<#>
```
Be sure to replace `<#>` with a number value, such as 10 or 11, depending on
which version you need. From version 12 use `gz-transport<#>` for lower versions
use `ign-transport<#>`

Configure and build
```
Expand All @@ -111,6 +129,13 @@ cmake ..
make
```

Optionally, install
```
sudo make install
```

### Configuration options

Configure Gazebo Transport (choose either method a or b below):

A. Release mode (recommended): This will generate optimized code, but will not have
Expand Down Expand Up @@ -159,6 +184,28 @@ modify your `LD_LIBRARY_PATH`:
echo "export LD_LIBRARY_PATH=<install_path>/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
```

### Build python bindings separately from main library

If you want to build Python bindings separately from the main gz-transport library
(for example if you want to build Python bindings for multiple versions of Python),
you can invoke cmake on the `python` folder instead of the root folder.
Specify the path to the python executable with which you wish to build bindings
in the `Python3_EXECUTABLE` cmake variable.
Specify the install path for the bindings in the `CMAKE_INSTALL_PREFIX`
variable, and be sure to set your `PYTHONPATH` accordingly after install.

```bash
cd sdformat
mkdir build_python3
cd build_python3
cmake ../python \
-DPython3_EXECUTABLE=/usr/local/bin/python3.12 \
-DCMAKE_INSTALL_PREFIX=<prefix>
```

See the homebrew [sdformat15 formula](https://github.com/osrf/homebrew-simulation/blob/027d06f5be49da1e40d01180aedae7f76dc7ff47/Formula/sdformat15.rb#L12-L56)
for an example of building bindings for multiple versions of Python.

### Uninstalling Source-based Install

If you need to uninstall Gazebo Transport or switch back to a
Expand All @@ -170,37 +217,6 @@ cd /tmp/gz-transport/build
sudo make uninstall
```

### macOS

1. Clone the repository
```
git clone https://github.com/gazebosim/gz-transport -b gz-transport<#>
```
Be sure to replace `<#>` with a number value, such as 10 or 11, depending on
which version you need. From version 12 use `gz-transport<#>` for lower versions
use `ign-transport<#>`

2. Install dependencies
```
brew install --only-dependencies gz-transport<#>
```
Be sure to replace `<#>` with a number value, such as 10 or 11, depending on
which version you need.

3. Configure and build
```
cd gz-transport
mkdir build
cd build
cmake ..
make
```

4. Optionally, install
```
sudo make install
```

## Windows

### Prerequisites
Expand Down

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