Skip to content

Refactor CMake with JRL CMake Modules v2#28

Merged
ManifoldFR merged 51 commits intoSimple-Robotics:mainfrom
ahoarau:jrl-next
Dec 20, 2025
Merged

Refactor CMake with JRL CMake Modules v2#28
ManifoldFR merged 51 commits intoSimple-Robotics:mainfrom
ahoarau:jrl-next

Conversation

@ahoarau
Copy link
Copy Markdown
Collaborator

@ahoarau ahoarau commented Dec 11, 2025

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

  • Full rewrite of the CMake Files in modern CMake
  • Remove submodules: archives can now be used
  • c++17 minimum required
  • Migrate python tests to pytest
  • Eigen 5 build fixes

@ahoarau ahoarau marked this pull request as draft December 11, 2025 16:38
@ManifoldFR ManifoldFR self-assigned this Dec 11, 2025
@ManifoldFR ManifoldFR self-requested a review December 11, 2025 21:54
@ahoarau ahoarau force-pushed the jrl-next branch 2 times, most recently from 551117d to 1c71142 Compare December 12, 2025 12:44
@ManifoldFR ManifoldFR marked this pull request as ready for review December 12, 2025 23:04
ManifoldFR
ManifoldFR reviewed Dec 15, 2025
View reviewed changes
Comment thread pixi.toml Outdated
Comment thread .gersemirc Outdated
Comment thread CMakeLists.txt
@ManifoldFR
Copy link
Copy Markdown
Member

ManifoldFR commented Dec 16, 2025

We need to update the changelog. I suggest adding this in the ### Changed subsection:

- Switch to JRL CMake modules v2 ([#28](https://github.com/Simple-Robotics/nanoeigenpy/pull/28))

ManifoldFR
ManifoldFR reviewed Dec 16, 2025
View reviewed changes
Comment thread CMakeLists.txt Outdated
ManifoldFR
ManifoldFR reviewed Dec 16, 2025
View reviewed changes
Comment thread CMakeLists.txt Outdated
ahoarau added 18 commits December 16, 2025 22:24
@ahoarau
add eigen 5 support
a724ea9
@ahoarau
remove unused macros in fwd.hpp
8ed2c2e
@ahoarau
add dependency headers wrt a compile def
a11d3c2
@ahoarau
merge internal.h into module.cpp
2b51ee0
@ahoarau
migrate tests to pytest
61b869b 
solves Simple-Robotics#2
@ahoarau
update gersemi config
509a238 
remove custom function as they behave strangely
@ahoarau
ignore more stuff
c920bbb
@ahoarau
pixi.toml: we can use forward slash in windows
8a22967
@ahoarau
pixi.tml: add install and test commands
523d7fd
@ahoarau
pixi.tml: add explicit testing, and build type
c061954
@ahoarau
remove submodules
be194b1
@ahoarau
refactor CMake files with JRL CMake Modules v2
656a007
@ahoarau
use set_property for multiline env
c4df50f
@ahoarau
fetch jrl-cmakemodules if not found, tmp solution
d01cf6a
@ahoarau
NB_SUPPRESS_WARNINGS appread on nanobind 2.5.0
98e657a
@ahoarau
intregrate get-jrl-cmakemodules.cmake
e007888
@ahoarau
pixi.toml: add pytest
b3513c9
@ahoarau
update pixi.lock
85bf1a7
@ahoarau
Copy link
Copy Markdown
Collaborator Author

ahoarau commented Dec 18, 2025

@ManifoldFR The find_nanobind in jrl V2 does like the official documentation.

Here's the output with find_nanobind(<any version>).

image

@ManifoldFR
Copy link
Copy Markdown
Member

ManifoldFR commented Dec 18, 2025

No it wasn't supposed to work. I added it to illustrate the case.

Oooh now I understand, I forgot how recent nanobind 2.x is (and that Ubuntu 24.04 only ships a relatively very old one). Good catch!

@ahoarau
fallback to fetchcontent if nanobind 2.5.0 is not found.
711d587 
we mimic the upstream behavior, but using fetchcontent instead of submodules
@ahoarau
add debug messages to explain what we do with nanobind
5c9487b 
if we apt install nanobind-dev on ubuntu 24, we get nanobind 1.9.1, which does not ship version from the config file
@ManifoldFR
Copy link
Copy Markdown
Member

ManifoldFR commented Dec 18, 2025

We've got a problem on ROS Humble during stubgen because typing_extensions is missing.

@ahoarau
Copy link
Copy Markdown
Collaborator Author

ahoarau commented Dec 18, 2025

https://github.com/Simple-Robotics/nanoeigenpy/actions/runs/20345632610/job/58457091615#step:3:2331

Still an issue, most probably related to an old version of typing_exensions being used.

ahoarau and others added 16 commits December 18, 2025 20:46
@ahoarau
use the commands defined in pixi.toml
1ee091f
@ahoarau
ignore nix result
83230d1
@ahoarau
ignore conda generated files
e68d206
@ahoarau
change message verbosity to STATUS and fix env case
8df66c6
@ahoarau
override python install dir on windows
064a57a 
Otherwise the lib is install in %PREFIX%/Library/Lib/site-packages/nanoeigenpy.pyd
But we need %PREFIX%/Lib/site-packages/nanoeigenpy.pyd
@ahoarau
look for version >=1.1.2 of the jrl
c6c9382 
we havent updated the version number yet
@ahoarau
Revert "add python3-typing-extensions dep for ros humble"
02eb915 
This reverts commit 8c708f1.
@ahoarau
require python 3.11 for stubs generation
2fe9c4f 
ROS Humble not supported
@nim65s
flake.lock: Update
f9b508c 
Flake lock file updates:

• Updated input 'flake-parts':
    'github:hercules-ci/flake-parts/af66ad14b28a127c5c0f3bbb298218fc63528a18?narHash=sha256-pHYj8gUBapuUzKV/kN/tR3Zvqc7o6gdFB9XKXIp1SQ8%3D' (2025-08-06)
  → 'github:hercules-ci/flake-parts/a34fae9c08a15ad73f295041fec82323541400a9?narHash=sha256-XswHlK/Qtjasvhd1nOa1e8MgZ8GS//jBoTqWtrS1Giw%3D' (2025-12-15)
• Updated input 'flake-parts/nixpkgs-lib':
    'github:nix-community/nixpkgs.lib/0f36c44e01a6129be94e3ade315a5883f0228a6e?narHash=sha256-zvaMGVn14/Zz8hnp4VWT9xVnhc8vuL3TStRqwk22biA%3D' (2025-07-27)
  → 'github:nix-community/nixpkgs.lib/2075416fcb47225d9b68ac469a5c4801a9c4dd85?narHash=sha256-k00uTP4JNfmejrCLJOwdObYC9jHRrr/5M/a/8L2EIdo%3D' (2025-12-14)
• Updated input 'nixpkgs':
    'github:NixOS/nixpkgs/8a6d5427d99ec71c64f0b93d45778c889005d9c2?narHash=sha256-cr748nSmpfvnhqSXPiCfUPxRz2FJnvf/RjJGvFfaCsM%3D' (2025-08-27)
  → 'github:nim65s/nixpkgs/a945047facf45faddcbfa2315207950334c62720?narHash=sha256-lIagbRYXHD1DClqzuqmkC3N/GOxZrwTh13eRtmNUyEg%3D' (2025-12-19)
@nim65s
nix: use github:ahoarau/jrl-cmakemodules/jrl-next
464acd9
@ahoarau
use VERSION_GREATER_EQUAL and use correct python var
1d3c91f
@ahoarau
disable cholmod and postFixup
20ed7bd 
the version shipped on nix does not ship the config.cmake
@ahoarau
add BUILD_TESTING so it appears in the summary
6d4786e
@ahoarau
disabling cache for testing
84c965c
@ahoarau
flake.lock: update to latest jrl-cmakemodules
0e1d7c5
@ahoarau
flake.nix: disable doc expectations we don't have any
af427c7
@ManifoldFR ManifoldFR enabled auto-merge December 20, 2025 14:05
@ManifoldFR ManifoldFR self-requested a review December 20, 2025 14:05
@ManifoldFR ManifoldFR merged commit 26845b1 into Simple-Robotics:main Dec 20, 2025
32 checks passed
@nim65s nim65s mentioned this pull request Dec 20, 2025
Merged
@ManifoldFR ManifoldFR mentioned this pull request Jan 5, 2026
Merged
@ahoarau ahoarau mentioned this pull request Jan 5, 2026
Open
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@ManifoldFR ManifoldFR ManifoldFR approved these changes

Assignees

@ManifoldFR ManifoldFR

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@ahoarau @ManifoldFR @nim65s