Add ubuntu noble support

CMakeLists.txt

@@ -104,6 +104,8 @@ if(EMSCRIPTEN)
   )
 endif()
 
+include(cmake/detect-system.cmake)
+include(cmake/python.cmake)
 include(cmake/project.cmake)
 
 if(APPLE)
@@ -222,10 +224,16 @@ export LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:$LD_LIBRARY_PATH"
   )
 endif()
 
-if(MC_RTC_SUPERBUILD_DEFAULT_PYTHON AND NOT PYTHON_BINDING_USER_INSTALL)
+if(DISTRO STREQUAL "noble")
   set(FINAL_COMMAND "${FINAL_COMMAND}
-export PYTHONPATH=${EXTRA_PYTHONPATH}:$PYTHONPATH"
+  source ${CMAKE_INSTALL_PREFIX}/${MC_RTC_SUPERBUILD_VENV_NAME}/bin/activate"
   )
+else()
+  if(MC_RTC_SUPERBUILD_DEFAULT_PYTHON AND NOT PYTHON_BINDING_USER_INSTALL)
+    set(FINAL_COMMAND "${FINAL_COMMAND}
+  export PYTHONPATH=${EXTRA_PYTHONPATH}:$PYTHONPATH"
+    )
+  endif()
 endif()
 
 if(WITH_ROS_SUPPORT)

CMakePresets.json

@@ -26,13 +26,13 @@
         },
         {
             "name": "relwithdebinfo-noble",
-            "displayName": "RelWithDebInfo (noble, no ROS, no Python)",
+            "displayName": "RelWithDebInfo (noble, ROS, no Python)",
             "inherits": [
                 "relwithdebinfo"
             ],
             "cacheVariables": {
                 "PYTHON_BINDING": "OFF",
-		"WITH_ROS_SUPPORT": "OFF"
+                "WITH_ROS_SUPPORT": "ON"
             },
             "condition": {
                 "type": "equals",

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)

cmake/linux-dependencies.cmake

@@ -1,16 +1,5 @@
-find_program(LSB_RELEASE lsb_release)
-
-if(NOT LSB_RELEASE)
-  message(FATAL_ERROR "lsb_release must be installed before running this script")
-endif()
-
 set(ROS_IS_ROS2 OFF)
 set(APT_HAS_PYTHON2_PACKAGES ON)
-execute_process(
-  COMMAND lsb_release -sc
-  OUTPUT_VARIABLE DISTRO
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-)
 
 if(EXISTS ${PROJECT_SOURCE_DIR}/cmake/linux/${DISTRO}.cmake)
   include(${PROJECT_SOURCE_DIR}/cmake/linux/${DISTRO}.cmake)

cmake/linux/noble.cmake

@@ -1,17 +1,14 @@
 set(MC_LOG_UI_PYTHON_EXECUTABLE python3)
 set(APT_HAS_PYTHON2_PACKAGES OFF)
 set(ROS_IS_ROS2 ON)
-set(ROS_DISTRO humble)
-set(ROS_WORKSPACE_INSTALL_PYTHON_DESTINATION "lib/python3.10/site-packages")
+set(ROS_DISTRO jazzy)
+set(ROS_WORKSPACE_INSTALL_PYTHON_DESTINATION "lib/python3.12/site-packages")
 set(APT_DEPENDENCIES
     curl
     wget
     cmake
     build-essential
     gfortran
-    cython3
-    # python3-nose python3-pytest python3-numpy python3-coverage python3-setuptools
-    # python3-pip
     libeigen3-dev
     libboost-all-dev
     libtinyxml2-dev
@@ -26,6 +23,12 @@ set(APT_DEPENDENCIES
     # python-is-python3
     libnotify-dev
     # python3-git
+    cython3
+    python3-numpy
+    python3-coverage
+    python3-setuptools
+    python3-pytest
+    pre-commit
 )
 if(BUILD_BENCHMARKS)
   list(APPEND APT_DEPENDENCIES libbenchmark-dev)

cmake/options.cmake

@@ -78,6 +78,16 @@ if(MC_RTC_SUPERBUILD_DEFAULT_PYTHON)
         "${MC_RTC_SUPERBUILD_DEFAULT_PYTHON_USER_BASE}/bin"
     )
   endif()
+  if(DISTRO STREQUAL "noble")
+    # on ubuntu noble onwards, pip requires a virtualenv
+    # detect if we are already in one and if not create one for mc-rtc
+    # we should add options to options.cmake to specify a custom name for the venv
+    set(MC_RTC_SUPERBUILD_VENV_NAME
+        "mc-rtc-venv"
+        CACHE STRING "Name of the Python virtualenv to create/use"
+    )
+    #handle_noble_virtualenv(${MC_RTC_SUPERBUILD_DEFAULT_PYTHON} ${DISTRO})
+  endif()
   find_program(
     MC_RTC_SUPERBUILD_PRE_COMMIT
     NAMES pre-commit

cmake/python.cmake

@@ -0,0 +1,56 @@
+# Usage example (after DISTRO and MC_RTC_SUPERBUILD_DEFAULT_PYTHON are set):
+# handle_noble_virtualenv(${MC_RTC_SUPERBUILD_DEFAULT_PYTHON} ${DISTRO})
+macro(handle_noble_virtualenv PYTHON_EXEC DISTRO)
+  if(${DISTRO} STREQUAL "noble")
+    # Check if we are already in a virtualenv
+    execute_process(
+      COMMAND
+        ${PYTHON_EXEC} -c
+        "import sys; exit(0) if (hasattr(sys, 'real_prefix') or (getattr(sys, 'base_prefix', sys.prefix) != sys.prefix)) else exit(1)"
+      RESULT_VARIABLE IN_VENV # 0 if in venv, 1 otherwise
+    )
+    if(IN_VENV EQUAL 0 # we are in a venv
+       AND ENV{VIRTUAL_ENV} STREQUAL
+           ${MC_RTC_SUPERBUILD_VENV_NAME} # and the active venv matches the expected one
+    )
+      message(
+        STATUS
+          "Already in the expected Python virtualenv: ${MC_RTC_SUPERBUILD_VENV_NAME}"
+      )
+    else()
+      set(VENV_PATH "${CMAKE_INSTALL_PREFIX}/${MC_RTC_SUPERBUILD_VENV_NAME}")
+      message(STATUS "Creating Python virtualenv at ${VENV_PATH} for Ubuntu Noble")
+      execute_process(
+        COMMAND ${PYTHON_EXEC} -m venv "${VENV_PATH}" RESULT_VARIABLE VENV_RESULT
+      )
+      if(NOT VENV_RESULT EQUAL 0)
+        message(FATAL_ERROR "Failed to create Python virtualenv at ${VENV_PATH}")
+      endif()
+      # Re-execute python from the venv for subsequent pip installs
+      set(MC_RTC_SUPERBUILD_DEFAULT_PYTHON
+          "${VENV_PATH}/bin/python"
+          CACHE INTERNAL ""
+      )
+      # "Activate" the venv for subsequent commands by setting Python and pip paths
+      set(MC_RTC_SUPERBUILD_DEFAULT_PIP
+          "${VENV_PATH}/bin/pip"
+          CACHE INTERNAL ""
+      )
+      # set environment variables for subprocesses
+      set(ENV{VIRTUAL_ENV} "${VENV_PATH}")
+      set(ENV{PATH} "${VENV_PATH}/bin:$ENV{PATH}")
+    endif()
+  endif()
+endmacro()
+
+execute_process(
+  COMMAND
+    ${MC_RTC_SUPERBUILD_DEFAULT_PYTHON} -c
+    "import sys; print(\"python{}.{}\".format(sys.version_info.major, sys.version_info.minor));"
+  OUTPUT_VARIABLE PYTHON_VERSION
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+set(ENV{PYTHONPATH}
+    "${CMAKE_INSTALL_PREFIX}/lib/${PYTHON_VERSION}/site-packages:$ENV{PYTHONPATH}"
+)

cmake/ros.cmake

@@ -18,7 +18,7 @@ function(AppendROSWorkspace DEV_DIR SRC_DIR)
     set(ENV{AMENT_PREFIX_PATH} "${DEV_DIR}:$ENV{AMENT_PREFIX_PATH}")
     set(ENV{COLCON_PREFIX_PATH} "${DEV_DIR}:$ENV{COLCON_PREFIX_PATH}")
     set(ENV{PYTHONPATH}
-        "${DEV_DIR}/local/lib/python3.10/dist-packages:$ENV{PYTHONPATH}"
+        "${DEV_DIR}/local/lib/${PYTHON_VERSION}/dist-packages:$ENV{PYTHONPATH}"
     )
   else()
     set(ENV{ROS_VERSION} "1")

mc_rtc.cmake

@@ -45,8 +45,10 @@ AddProject(
 if(PYTHON_BINDING)
   AddProject(
     Eigen3ToPython
-    GITHUB jrl-umi3218/Eigen3ToPython
-    GIT_TAG origin/master
+    # GITHUB jrl-umi3218/Eigen3ToPython
+    # GIT_TAG origin/master
+    GITHUB arntanguy/Eigen3ToPython
+    GIT_TAG origin/topic/noble
     CMAKE_ARGS -DPIP_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
     APT_PACKAGES python-eigen python3-eigen
   )
@@ -228,8 +230,10 @@ else()
 endif()
 AddProject(
   mc_rtc
-  GITHUB jrl-umi3218/mc_rtc
-  GIT_TAG origin/master
+  # GITHUB jrl-umi3218/mc_rtc
+  # GIT_TAG origin/master
+  GITHUB mathieu-celerier/mc_rtc
+  GIT_TAG origin/topic/fixing-fmt
   CMAKE_ARGS -DMC_LOG_UI_PYTHON_EXECUTABLE=${MC_LOG_UI_PYTHON_EXECUTABLE}
              ${MC_RTC_ROS_OPTION} ${MC_RTC_EXTRA_OPTIONS}
   DEPENDS ${mc_rtc_DEPENDS}