fix: build wheels on manylinux

CMakeLists.txt

@@ -15,13 +15,13 @@ if (LANELET2_ENABLE_TESTING)
     enable_testing()
 endif ()
 
+add_subdirectory(lanelet2_maps)
 add_subdirectory(lanelet2_core)
 add_subdirectory(lanelet2_io)
 add_subdirectory(lanelet2_projection)
 add_subdirectory(lanelet2_traffic_rules)
 add_subdirectory(lanelet2_routing)
 add_subdirectory(lanelet2_validation)
-#add_subdirectory(lanelet2_examples)
-add_subdirectory(lanelet2_python)
-add_subdirectory(lanelet2_maps)
 add_subdirectory(lanelet2_matching)
+add_subdirectory(lanelet2_python)
+#add_subdirectory(lanelet2_examples)

lanelet2_matching/CMakeLists.txt

@@ -24,7 +24,6 @@ add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules)
 
-
 #############
 ## Install ##
 #############

lanelet2_python/CMakeLists.txt

@@ -7,19 +7,27 @@ project(lanelet2_python)
 find_package(Boost REQUIRED COMPONENTS python)
 find_package(Python REQUIRED COMPONENTS Interpreter Development.Module REQUIRED)
 
-########################
+##########################
 ## Build python modules ##
-########################
+##########################
 set(PROJECT_PYTHON_TARGETS)
 file(GLOB PROJECT_PYTHON_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/python_api/*.cpp")
 foreach (PROJECT_PYTHON_SOURCE_FILE ${PROJECT_PYTHON_SOURCE_FILES_SRC})
     get_filename_component(PYTHON_MODULE_NAME ${PROJECT_PYTHON_SOURCE_FILE} NAME_WE)
     python_add_library(${PYTHON_MODULE_NAME} MODULE ${PROJECT_PYTHON_SOURCE_FILE} WITH_SOABI)
+    list(APPEND PROJECT_PYTHON_TARGETS ${PYTHON_MODULE_NAME})
+
     target_compile_definitions(${PYTHON_MODULE_NAME} PRIVATE -DPYTHON_API_MODULE_NAME=${PYTHON_MODULE_NAME})
     target_include_directories(${PYTHON_MODULE_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
     target_include_directories(${PYTHON_MODULE_NAME} PRIVATE ${Python3_INCLUDE_DIRS})
     target_link_libraries(${PYTHON_MODULE_NAME} PUBLIC Boost::python lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules lanelet2_routing lanelet2_matching)
-    list(APPEND PROJECT_PYTHON_TARGETS ${PYTHON_MODULE_NAME})
+
+    if (DEFINED SKBUILD AND NOT WIN32)
+        set_target_properties(${PYTHON_MODULE_NAME} PROPERTIES
+                BUILD_WITH_INSTALL_RPATH TRUE
+                INSTALL_RPATH_USE_LINK_PATH TRUE
+                INSTALL_RPATH "${SKBUILD_NULL_DIR}")
+    endif ()
 endforeach ()
 
 #############
@@ -29,15 +37,13 @@ endforeach ()
 if (DEFINED SKBUILD)
     install(TARGETS ${PROJECT_PYTHON_TARGETS} DESTINATION "lanelet2")
     if (WIN32)
-        # Bundles shared library dependencies on Windows
+        # Bundle shared library dependencies on Windows
+        get_filename_component(PYTHON_LIBRARIES_NAME ${Python_LIBRARIES} NAME_WE)
         foreach (PROJECT_PYTHON_TARGET ${PROJECT_PYTHON_TARGETS})
-            install(FILES "$<TARGET_RUNTIME_DLLS:${PROJECT_PYTHON_TARGET}>" DESTINATION "lanelet2/bin")
+            install(FILES $<FILTER:$<TARGET_RUNTIME_DLLS:${PROJECT_PYTHON_TARGET}>,EXCLUDE,${PYTHON_LIBRARIES_NAME}.dll> DESTINATION "lanelet2/bin")
         endforeach ()
+    else ()
+        # Save shared library dependencies to RPATH on Unix
+        install(TARGETS lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules lanelet2_routing lanelet2_matching DESTINATION ${SKBUILD_NULL_DIR})
     endif ()
 endif ()
-
-#############
-## Testing ##
-#############
-# Add test targets for cpp and python tests
-# TODO:

pyproject.toml

@@ -49,7 +49,7 @@ input = "lanelet2_python/src/lanelet2/__init__.py"
 
 [[tool.scikit-build.overrides]]
 if.platform-system = "win32"
-cmake.args = ["--preset conan-default"]
+cmake.args = ["--preset conan-default"] # override for multi-configuration generator (i.e. MSVC) on Windows
 
 [tool.cibuildwheel]
 skip = ["*-win32", "*-musllinux_x86_64", "*_i686"]
@@ -66,9 +66,16 @@ before-build = [
 
 [tool.cibuildwheel.linux]
 before-build = [
+    # here, we restore libpython*.a - otherwise conan will fail when adding boost::python
+    # see https://github.com/pypa/manylinux/blob/main/docker/build_scripts/finalize-python.sh
+    "pushd /opt/_internal",
+    "tar -xJf static-libs-for-embedding-only.tar.xz",
+    "popd",
     "python -m pip install --upgrade pip",
     "pip install -r requirements.txt",
     "conan profile detect --force",
+    # we force the build of everything from source - prebuilt b2 does not work in manylinux
+    # also set the generator to use ninja because scikit-build-core will default to ninja
     "conan install . --output-folder=build --build=* -c tools.cmake.cmaketoolchain:generator=Ninja"
 ]
 
@@ -77,5 +84,6 @@ before-build = [
     "python -m pip install --upgrade pip",
     "pip install -r requirements.txt",
     "conan profile detect --force",
+    # set the generator to use ninja because scikit-build-core will default to ninja
     "conan install . --output-folder=build --build=missing -c tools.cmake.cmaketoolchain:generator=Ninja"
 ]