Add suport for ubuntu noble / resolute

.devcontainer/noble/devcontainer.json

@@ -19,7 +19,7 @@
     "--network=host",
     "--cap-add=sys_nice", // Grants the container the CAP_SYS_NICE capability, which allows the container to raise process nice values, set real-time scheduling policies, set CPU affinity, and other operations.
     "--security-opt", // allow core dumps
-    "seccomp=unconfined", // allow core dumps
+    "seccomp=unconfined" // allow core dumps
     // Uncomment for containers requiring use of nvidia GPUs
     // You will need to install NVIDIA Container Toolkit first
     // "--runtime=nvidia",

.devcontainer/resolute/devcontainer.json

@@ -0,0 +1,61 @@
+{
+  "name": "mc-rtc-superbuild-resolute-image",
+
+  // See .github/devcontainer/ubuntu-22.04/devcontainer.json to see how this image was built
+  // This image contains:
+  // - All of mc-rtc-superbuild dependencies
+  // - A ccache build cache built from the latest sources
+  // - A cython build cache built from the latest sources
+  // - All tools required to build the project
+  // - A sensible default configuration for vscode
+  "image": "ghcr.io/mc-rtc/mc-rtc-superbuild:resolute-devcontainer-latest",
+
+  "mounts": [
+    "type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix,consistency=cached"
+    // "source=${localEnv:HOME}${localEnv:USERPROFILE}/docker-ws/mc-rtc-superbuild-noble,target=/home/vscode/workspace,type=bind,consistency=cached"
+  ],
+
+  "runArgs": [
+    "--network=host",
+    "--cap-add=sys_nice", // Grants the container the CAP_SYS_NICE capability, which allows the container to raise process nice values, set real-time scheduling policies, set CPU affinity, and other operations.
+    "--security-opt", // allow core dumps
+    "seccomp=unconfined" // allow core dumps
+    // Uncomment for containers requiring use of nvidia GPUs
+    // You will need to install NVIDIA Container Toolkit first
+    // "--runtime=nvidia",
+    // "--gpus=all",
+  ],
+
+
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}"
+  },
+
+  "remoteUser": "vscode",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/superbuild,type=bind",
+  "workspaceFolder": "/home/vscode/superbuild",
+
+  "features":
+  {
+    "ghcr.io/devcontainers/features/node:1": {},
+    "ghcr.io/arntanguy/nvim-devcontainer-feature/nvim:latest": {},
+    "ghcr.io/devcontainers/features/github-cli": { "version": "latest" },
+    "ghcr.io/georgofenbeck/features/lazygit-linuxbinary:1": { "version": "latest" }
+  },
+
+  "customizations": {
+      "vscode": {
+          "extensions": [
+            "twxs.cmake",
+            "ms-vscode.cmake-tools",
+            "josetr.cmake-language-support-vscode",
+            "ms-vscode.cpptools",
+            "ms-vscode.docker",
+            "ms-vscode.cpptools-extension-pack",
+            "ms-vscode-remote.remote-containers",
+            "ms-python.python",
+            "GitHub.vscode-github-actions"
+          ]
+      }
+  }
+}

.github/devcontainer/Dockerfile

@@ -193,7 +193,7 @@ RUN --mount=type=cache,target=/var/cache/apt \
 # Workaround screen refresh issues with neovim/ncurses
 ENV TERM="xterm-256color"
 RUN \
-   if [ "$UBUNTU_VERSION" = "noble" ]; then \
+   if [ "$UBUNTU_VERSION" = "noble" ] || [ "$UBUNTU_VERSION" = "resolute" ]; then \
      apt install --no-install-recommends -y libtinfo6 ncurses-term; \
    else \
      apt install --no-install-recommends -y libtinfo5 ncurses-term; \
@@ -203,7 +203,7 @@ RUN \
 # Rename ubuntu user to vscode (noble)
 # Create a new vscode user (jammy)
 RUN \
-  if [ "$UBUNTU_VERSION" = "noble" ]; then \
+   if [ "$UBUNTU_VERSION" = "noble" ] || [ "$UBUNTU_VERSION" = "resolute" ]; then \
     usermod -l vscode ubuntu \
     && usermod -d /home/vscode -m vscode \
     && groupmod -n vscode ubuntu; \
@@ -255,7 +255,8 @@ RUN cp $SUPERBUILD_DIR/.devcontainer/docker-entrypoint.sh ~/.docker-entrypoint.s
 # CMake configure will install all APT/PIP dependencies (keep downloaded packages in mounted APT cache)
 RUN --mount=type=cache,target=/var/cache/apt \
      --mount=type=ssh,uid=1000 \
-     .github/devcontainer/build_superbuild.sh
+      mkdir -p $CCACHE_IMAGE_DIR \
+     && .github/devcontainer/build_superbuild.sh
 
 # mc_rtc configuration copy if MC_RTC_CONTROLLER_CONFIG is set and file exists
 RUN mkdir -p ~/.config/mc_rtc && \

.github/devcontainer/build_superbuild.sh

@@ -6,6 +6,7 @@ if [ "$BUILD_SUPERBUILD" != "true" ]; then
   echo "SUPERBUILD: Skipping build because BUILD_SUPERBUILD=$BUILD_SUPERBUILD"
 else
   ./utils/bootstrap-linux.sh
+  source ~/.mc-rtc-venv/bin/activate
   git config --global user.email "$EMAIL" && git config --global user.name "$NAME"
 
   # CMake configure will install all APT/PIP dependencies (keep downloaded packages in mounted APT cache)

.github/devcontainer/jammy/devcontainer.json

@@ -3,6 +3,7 @@
 
   "build": {
     "dockerfile": "../Dockerfile",
+    "target": "devcontainer",
     "context": "../../..",
     "args":
     {

.github/devcontainer/noble/devcontainer.json

@@ -3,10 +3,11 @@
 
   "build": {
     "dockerfile": "../Dockerfile",
+    "target": "devcontainer",
     "context": "../../..",
     "args":
     {
-      "CMAKE_PRESET": "${localEnv:CMAKE_PRESET:relwithdebinfo-noble}",
+      "CMAKE_PRESET": "${localEnv:CMAKE_PRESET:relwithdebinfo}",
       "BUILD_VERSION": "${localEnv:BUILD_VERSION:devcontainer}",
       "IMAGE_SOURCE_REPO": "",
       "UBUNTU_VERSION": "noble"
@@ -48,13 +49,13 @@
             "GitHub.vscode-github-actions"
           ]
       }
-  }
+  },
 
   "runArgs": [
     "--network=host",
     "--cap-add=sys_nice", // Grants the container the CAP_SYS_NICE capability, which allows the container to raise process nice values, set real-time scheduling policies, set CPU affinity, and other operations.
     "--security-opt", // allow core dumps
-    "seccomp=unconfined", // allow core dumps
+    "seccomp=unconfined" // allow core dumps
     // Uncomment for containers requiring use of nvidia GPUs
     // You will need to install NVIDIA Container Toolkit first
     // "--runtime=nvidia",

.github/devcontainer/resolute/devcontainer.json

@@ -0,0 +1,71 @@
+{
+  "name": "mc-rtc-superbuild-resolute-build",
+
+  "build": {
+    "dockerfile": "../Dockerfile",
+    "target": "devcontainer",
+    "context": "../../..",
+    "args":
+    {
+      "CMAKE_PRESET": "${localEnv:CMAKE_PRESET:relwithdebinfo}",
+      "BUILD_VERSION": "${localEnv:BUILD_VERSION:devcontainer}",
+      "IMAGE_SOURCE_REPO": "",
+      "UBUNTU_VERSION": "resolute",
+      // FIXME
+      "BUILD_SUPERBUILD": "false"
+    },
+    "options":
+    [
+      // "${localEnv:SSH_OPT:''}"
+      "${localEnv:SSH_OPT:--ssh=default}"
+    ]
+  },
+
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}"
+  },
+
+  "mounts": [
+    "type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix,consistency=cached",
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/devcontainers/volumes/mc-rtc-superbuild-resolute,target=/home/vscode/workspace,type=bind,consistency=cached"
+  ],
+
+  "features":
+  {
+    "ghcr.io/devcontainers/features/node:1": {},
+    // "ghcr.io/arntanguy/nvim-devcontainer-feature/nvim:latest": {},
+    "ghcr.io/devcontainers/features/github-cli": { "version": "latest" },
+    "ghcr.io/georgofenbeck/features/lazygit-linuxbinary:1": { "version": "latest" }
+  },
+
+  "customizations": {
+      "vscode": {
+          "extensions": [
+            "twxs.cmake",
+            "ms-vscode.cmake-tools",
+            "josetr.cmake-language-support-vscode",
+            "ms-vscode.cpptools",
+            "ms-vscode.docker",
+            "ms-vscode.cpptools-extension-pack",
+            "ms-vscode-remote.remote-containers",
+            "ms-python.python",
+            "GitHub.vscode-github-actions"
+          ]
+      }
+  },
+
+  "runArgs": [
+    "--network=host",
+    "--cap-add=sys_nice", // Grants the container the CAP_SYS_NICE capability, which allows the container to raise process nice values, set real-time scheduling policies, set CPU affinity, and other operations.
+    "--security-opt", // allow core dumps
+    "seccomp=unconfined" // allow core dumps
+    // Uncomment for containers requiring use of nvidia GPUs
+    // You will need to install NVIDIA Container Toolkit first
+    // "--runtime=nvidia",
+    // "--gpus=all",
+  ],
+
+  "remoteUser": "vscode",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/superbuild,type=bind",
+  "workspaceFolder": "/home/vscode/superbuild"
+}

.github/workflows/jammy-ci.yml → .github/workflows/build.yml

@@ -1,9 +1,9 @@
-name: CI Ubuntu Jammy
+name: CI Ubuntu
 
 on:
   repository_dispatch:
     types:
-    - build-jammy
+    - build
   push:
     branches:
       - 'main'
@@ -21,15 +21,21 @@ concurrency:
 
 jobs:
   run:
+    name: "${{ matrix.os }}, use apt: ${{ matrix.use-mc-rtc-apt-mirror }} (stable: ${{ matrix.use-mc-rtc-apt-mirror-stable }})"
     strategy:
       fail-fast: false
       matrix:
         use-mc-rtc-apt-mirror: [ON, OFF]
         use-mc-rtc-apt-mirror-stable: [ON, OFF]
+        # TODO: add ubuntu-26.04 once the github runner is available
+        os: [ ubuntu-22.04, ubuntu-24.04 ]
         exclude:
           - use-mc-rtc-apt-mirror: OFF
             use-mc-rtc-apt-mirror-stable: ON
-    runs-on: ubuntu-22.04
+          # TODO: generate packages for 24.04
+          - os: ubuntu-24.04
+            use-mc-rtc-apt-mirror: ON
+    runs-on: ${{ matrix.os }}
     steps:
     - name: Maximize build space
       shell: bash
@@ -54,14 +60,16 @@ jobs:
       shell: bash
       run: |
         ./utils/bootstrap-linux.sh
-    - name: Install system dependencies
+    - name: Configure superbuild
       shell: bash
       run: |
+        source ~/.mc-rtc-venv/bin/activate
         mkdir -p ${TMPDIR-/tmp}/build-mc-rtc
         cmake -S ${GITHUB_WORKSPACE} -B ${TMPDIR-/tmp}/build-mc-rtc -DCMAKE_BUILD_TYPE=RelWithDebInfo -DVERBOSE_TEST_OUTPUT=ON -DUSE_MC_RTC_APT_MIRROR=${{ matrix.use-mc-rtc-apt-mirror }} -DUSE_MC_RTC_APT_MIRROR_STABLE=${{ matrix.use-mc-rtc-apt-mirror-stable }}
     - name: Install mc_rtc and related projects
       shell: bash
       run: |
+        source ~/.mc-rtc-venv/bin/activate
         git config --global user.name "GitHub Actions"
         git config --global user.email "actions@example.com"
         cmake --build ${TMPDIR-/tmp}/build-mc-rtc --config RelWithDebInfo

.github/workflows/devcontainer-ci.yaml

@@ -5,6 +5,7 @@ on:
     types:
       - build-jammy
       - build-noble
+      - build-resolute
   push:
     branches:
       - 'main'
@@ -22,18 +23,20 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [jammy, noble]
+        os: [jammy, noble, resolute]
     uses: jrl-umi3218/github-actions/.github/workflows/superbuild-devcontainer.yml@master
     with:
       runner: ubuntu-24.04
       free-disk-space: true
       os: ${{ matrix.os }}
-      preset: relwithdebinfo${{ matrix.os == 'noble' && '-noble' || '' }}
+      preset: relwithdebinfo
       include-preset-in-name: false
       build-standalone-release: true
       build-standalone-devel: true
       build-devcontainer: true
-      container-repository: ghcr.io/mc-rtc/mc-rtc-superbuild
-      push: ${{ github.ref == 'refs/heads/main' && github.repository == 'mc-rtc/mc-rtc-superbuild' }}
+      # container-repository: ghcr.io/mc-rtc/mc-rtc-superbuild
+      # push: ${{ github.ref == 'refs/heads/main' && github.repository == 'mc-rtc/mc-rtc-superbuild' }}
+      container-repository: ghcr.io/arntanguy/mc-rtc-superbuild
+      push: ${{ github.ref == 'refs/heads/topic/noble' }}
     secrets:
       SSH_KEY: ${{ secrets.SSH_KEY }}

CMakeLists.txt

@@ -104,6 +104,8 @@ if(EMSCRIPTEN)
   )
 endif()
 
+include(cmake/detect-system.cmake)
+include(cmake/python.cmake)
 include(cmake/project.cmake)
 
 if(APPLE)

CMakePresets.json

@@ -11,7 +11,8 @@
                 "CMAKE_BUILD_TYPE": "RelWithDebInfo",
                 "SOURCE_DESTINATION": "${sourceDir}/../workspace/devel",
                 "BUILD_DESTINATION": "${sourceDir}/../workspace/build/projects",
-                "CMAKE_INSTALL_PREFIX": "${sourceDir}/../workspace/install"
+                "CMAKE_INSTALL_PREFIX": "${sourceDir}/../workspace/install",
+		"MC_RTC_SUPERBUILD_VERBOSE": "ON"
             }
         },
         {
@@ -23,22 +24,6 @@
             "cacheVariables": {
                 "BUILD_TESTING": "OFF"
             }
-        },
-        {
-            "name": "relwithdebinfo-noble",
-            "displayName": "RelWithDebInfo (noble, ROS, no Python)",
-            "inherits": [
-                "relwithdebinfo"
-            ],
-            "cacheVariables": {
-                "PYTHON_BINDING": "OFF",
-                "WITH_ROS_SUPPORT": "ON"
-            },
-            "condition": {
-                "type": "equals",
-                "lhs": "$env{UBUNTU_VERSION}",
-                "rhs": "noble"
-            }
         }
     ],
     "buildPresets": [
@@ -59,15 +44,6 @@
             "targets": [
                 "install"
             ]
-        },
-        {
-            "name": "relwithdebinfo-noble",
-            "displayName": "RelWithDebInfo (ubuntu noble)",
-            "configurePreset": "relwithdebinfo-noble",
-            "configuration": "RelWithDebInfo",
-            "targets": [
-                "install"
-            ]
         }
     ]
 }

cmake/command-prefix.cmake

@@ -15,7 +15,6 @@ function(GetCommandPrefix VAR WRITE_TO)
       APPEND
       CMAKE_COMMAND_PREFIX
       ROS_DISTRO=$ENV{ROS_DISTRO}
-      PYTHONPATH=$ENV{PYTHONPATH}
       ROS_ROOT=$ENV{ROS_ROOT}
       ROS_ETC_DIR=$ENV{ROS_ETC_DIR}
       ROS_PARALLEL_JOBS="$ENV{ROS_PARALLEL_JOBS}"
@@ -48,6 +47,10 @@ function(GetCommandPrefix VAR WRITE_TO)
       "LDFLAGS=-s USE_PTHREADS=1 -s DISABLE_EXCEPTION_CATCHING=0"
     )
   endif()
+  # python
+  list(APPEND CMAKE_COMMAND_PREFIX PATH=$ENV{VIRTUAL_ENV}/bin:$ENV{PATH}
+       VIRTUAL_ENV=$ENV{VIRTUAL_ENV} PYTHONPATH=$ENV{PYTHONPATH}
+  )
   list(TRANSFORM CMAKE_COMMAND_PREFIX REPLACE " " "\\\\ " OUTPUT_VARIABLE
                                                           CMAKE_COMMAND_PREFIX
   ) # restore backslash before spaces in env variables
@@ -58,4 +61,6 @@ function(GetCommandPrefix VAR WRITE_TO)
       ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/scripts/cmake-with-prefix.cmake --
       PARENT_SCOPE
   )
+  # FIXME
+  message(STATUS "CMAKE_COMMAND_PREFIX IS ${CMAKE_COMMAND_PREFIX}")
 endfunction()

cmake/detect-system.cmake

@@ -0,0 +1,13 @@
+macro(detect_distro OUT_VAR)
+  find_program(LSB_RELEASE lsb_release)
+  if(NOT LSB_RELEASE)
+    message(FATAL_ERROR "lsb_release must be installed before running this script")
+  endif()
+  execute_process(
+    COMMAND lsb_release -sc
+    OUTPUT_VARIABLE ${OUT_VAR}
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+endmacro()
+
+detect_distro(DISTRO)