fix: refactor cmake project to deal with robot model dependencies

Dockerfile

@@ -19,6 +19,8 @@ RUN echo "Set disable_coredump false" >> /etc/sudo.conf
 # create the credentials to be able to pull private repos using ssh
 RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
 
+ARG CMAKE_BUILD_TYPE=Release
+
 FROM base as apt-dependencies
 COPY apt-packages.tx[t] /
 
@@ -81,31 +83,44 @@ ARG TARGETPLATFORM
 ARG CACHEID
 COPY dependencies/base_dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-base-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -DCMAKE_BUILD_TYPE=Release && cmake --build build && cmake --install build --prefix /tmp/deps
+  cmake -B build -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
 
 FROM base as pinocchio-dependencies
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=base-dependencies /tmp/deps /usr
 ARG TARGETPLATFORM
 ARG CACHEID
-ARG PINOCCHIO_TAG=v2.9.0
-ARG HPP_FCL_TAG=v1.8.1
+ARG PINOCCHIO_TAG=v2.6.9
+ARG HPP_FCL_TAG=v2.4.4
 # FIXME: it would be nicer to have it all in the root CMakelists.txt but:
 #  * `pinocchio` doesn't provide an include directory we can easily plug into `target_include_directories` and thus needs to be installed first
 #  * `pinocchio` uses hacks relying on undocumented CMake quirks which break if you use `FetchContent`
 # FIXME: it needs `CMAKE_INSTALL_PREFIX` and `--prefix` because it doesn't install to the right place otherwise
-RUN --mount=type=cache,target=/hpp-fcl,id=cmake-hpp-fcl-src-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  --mount=type=cache,target=/build,id=cmake-hpp-fcl-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  if [ ! -f hpp-fcl/CMakeLists.txt ]; then rm -rf hpp-fcl/* && git clone --depth 1 -b ${HPP_FCL_TAG} --recursive https://github.com/humanoid-path-planner/hpp-fcl; fi \
-  && cmake -B build -S hpp-fcl -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_INSTALL_PREFIX=/tmp/deps \
-  && cmake --build build --target all install
 RUN --mount=type=cache,target=/pinocchio,id=cmake-pinocchio-src-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  --mount=type=cache,target=/build,id=cmake-pinocchio-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  if [ ! -f pinocchio/CMakeLists.txt ]; then rm -rf pinocchio/* && git clone --depth 1 -b ${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio; fi \
-  && cmake -B build -S pinocchio -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON -DCMAKE_INSTALL_PREFIX=/tmp/deps \
-  && cmake --build build --target all install
+  --mount=type=cache,target=/hpp-fcl,id=cmake-hpp-fcl-src-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  --mount=type=cache,target=/build,id=cmake-pinocchio-${PINOCCHIO_TAG}-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+<<EOF
+set -e
+
+if [ ! -f hpp-fcl/CMakeLists.txt ]; then
+  rm -rf hpp-fcl/*
+  git clone --depth 1 -b ${HPP_FCL_TAG} --recursive https://github.com/humanoid-path-planner/hpp-fcl
+fi
+
+cmake -B build/hpp-fcl -S hpp-fcl -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_INSTALL_PREFIX=/tmp/deps
+cmake --build build/hpp-fcl --target all install
+
+if [ ! -f pinocchio/CMakeLists.txt ]; then
+  rm -rf pinocchio/*
+  git clone --depth 1 -b ${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio
+fi
+
+cmake -B build/pinocchio -S pinocchio -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON -DCMAKE_INSTALL_PREFIX=/tmp/deps
+cmake --build build/pinocchio --target all install
+
 # FIXME: pinocchio produces non-portable paths
-RUN find /tmp/deps -type f -exec sed -i 's#/tmp/deps#/usr#g' '{}' \;
+find /tmp/deps -type f -exec sed -i 's#/tmp/deps#/usr#g' '{}' \;
+EOF
 
 FROM base as dependencies
 ARG TARGETPLATFORM
@@ -114,7 +129,7 @@ ARG CACHEID
 COPY --from=base-dependencies /tmp/deps /usr
 COPY dependencies/dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release && cmake --build build && cmake --install build --prefix /tmp/deps
+  cmake -B build -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
 COPY --from=base-dependencies /tmp/deps /tmp/deps
 COPY --from=pinocchio-dependencies /tmp/deps /tmp/deps
 
@@ -163,13 +178,13 @@ COPY protocol protocol
 COPY source source
 COPY CMakeLists.txt CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-build-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -DCMAKE_BUILD_TYPE=Release && cmake --build build
+  cmake -B build -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build
 
 FROM build as cpp-test
 ARG TARGETPLATFORM
 ARG CACHEID
 RUN --mount=type=cache,target=/build,id=cmake-build-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -DBUILD_TESTING=ON && cd build && make && CTEST_OUTPUT_ON_FAILURE=1 make test
+  cmake -B build -DBUILD_TESTING=ON && make -C build && CTEST_OUTPUT_ON_FAILURE=1 make -C build test
 
 FROM build as install
 ARG TARGETPLATFORM

source/CMakeLists.txt

@@ -54,46 +54,30 @@ if(EXPERIMENTAL_FEATURES)
   add_compile_definitions(EXPERIMENTAL_FEATURES)
 endif()
 
+set(INSTALL_SUPPORTED_COMPONENTS)
+
 add_subdirectory(state_representation)
-list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES state_representation)
-get_target_property(TARGET_INTERFACE_LINK_LIBRARIES state_representation INTERFACE_LINK_LIBRARIES)
-if(TARGET_INTERFACE_LINK_LIBRARIES)
-  list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES "${TARGET_INTERFACE_LINK_LIBRARIES}")
-endif()
+list(APPEND INSTALL_SUPPORTED_COMPONENTS state_representation)
 add_pkgconfig_library(state_representation ${PROJECT_VERSION})
 
 if(BUILD_DYNAMICAL_SYSTEMS)
   add_subdirectory(dynamical_systems)
-  list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES dynamical_systems)
-  get_target_property(TARGET_INTERFACE_LINK_LIBRARIES dynamical_systems INTERFACE_LINK_LIBRARIES)
-  if(TARGET_INTERFACE_LINK_LIBRARIES)
-    list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES "${TARGET_INTERFACE_LINK_LIBRARIES}")
-  endif()
+  list(APPEND INSTALL_SUPPORTED_COMPONENTS dynamical_systems)
   add_pkgconfig_library(dynamical_systems ${PROJECT_VERSION})
 endif()
 
 if(BUILD_ROBOT_MODEL OR BUILD_CONTROLLERS)
   add_subdirectory(robot_model)
-  list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES robot_model)
-  get_target_property(TARGET_INTERFACE_LINK_LIBRARIES robot_model INTERFACE_LINK_LIBRARIES)
-  if(TARGET_INTERFACE_LINK_LIBRARIES)
-    list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES "${TARGET_INTERFACE_LINK_LIBRARIES}")
-  endif()
+  list(APPEND INSTALL_SUPPORTED_COMPONENTS robot_model)
   add_pkgconfig_library(robot_model ${PROJECT_VERSION})
 endif()
 
 if(BUILD_CONTROLLERS)
   add_subdirectory(controllers)
-  list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES controllers)
-  get_target_property(TARGET_INTERFACE_LINK_LIBRARIES controllers INTERFACE_LINK_LIBRARIES)
-  if(TARGET_INTERFACE_LINK_LIBRARIES)
-    list(APPEND INSTALL_INTERFACE_LINK_LIBRARIES "${TARGET_INTERFACE_LINK_LIBRARIES}")
-  endif()
+  list(APPEND INSTALL_SUPPORTED_COMPONENTS controllers)
   add_pkgconfig_library(controllers ${PROJECT_VERSION})
 endif()
 
-list(REMOVE_DUPLICATES INSTALL_INTERFACE_LINK_LIBRARIES)
-
 # generate the version file for the config file
 write_basic_package_version_file(
   "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"

source/control_librariesConfig.cmake.in

@@ -1,34 +1,58 @@
 @PACKAGE_INIT@
 
-set(_control_libraries_supported_components state_representation dynamical_systems robot_model controllers)
-set(control_libraries_LIBRARIES "@INSTALL_INTERFACE_LINK_LIBRARIES@")
+set(_control_libraries_namespace "control_libraries::")
+set(_control_libraries_supported_components "@INSTALL_SUPPORTED_COMPONENTS@")
 
 include(CMakeFindDependencyMacro)
 find_dependency(Eigen3)
 
-# Find robot model dependencies if it is in the interface library list and no components are explicitly listed
-if ("robot_model" IN_LIST control_libraries_LIBRARIES AND NOT control_libraries_FIND_COMPONENTS)
-  find_dependency(pinocchio)
-  find_dependency(OsqpEigen)
-  find_dependency(osqp)
+set(_control_libraries_to_find ${control_libraries_FIND_COMPONENTS})
+if (NOT control_libraries_FIND_COMPONENTS)
+  set(_control_libraries_to_find ${_control_libraries_supported_components})
 endif()
 
-foreach(_comp ${control_libraries_FIND_COMPONENTS})
+set(control_libraries_LIBRARIES "")
+while(_control_libraries_to_find)
+  list(POP_FRONT _control_libraries_to_find _comp)
+
   if (${_comp} IN_LIST _control_libraries_supported_components)
     set(control_libraries_${_comp}_FOUND True)
   else()
     set_and_check(control_libraries_FOUND False)
     set_and_check(control_libraries_NOT_FOUND_MESSAGE "Unsupported component: ${_comp}")
   endif()
 
-  # Find robot model dependencies if the corresponding components are explicitly listed
-  if (${_comp} STREQUAL "controllers" OR ${_comp} STREQUAL "robot_model")
+  # Find robot model dependencies if the corresponding component is needed
+  # FIXME: this should be done automatically
+  if (${_comp} STREQUAL "robot_model")
     find_dependency(pinocchio)
     find_dependency(OsqpEigen)
     find_dependency(osqp)
   endif()
 
   include("${CMAKE_CURRENT_LIST_DIR}/control_libraries_${_comp}_targets.cmake")
-endforeach()
+
+  list(APPEND control_libraries_LIBRARIES "${_control_libraries_namespace}${_comp}")
+
+  get_property(_comp_link_libraries TARGET "${_control_libraries_namespace}${_comp}" PROPERTY INTERFACE_LINK_LIBRARIES)
+  foreach(_dep ${_comp_link_libraries})
+    if (_dep MATCHES "^${_control_libraries_namespace}")
+      string(REPLACE "${_control_libraries_namespace}" "" _dep ${_dep})
+      if (NOT _dep IN_LIST _control_libraries_to_find)
+        list(APPEND _control_libraries_to_find ${_dep})
+      endif()
+    else()
+      list(APPEND control_libraries_LIBRARIES ${_dep})
+    endif()
+  endforeach()
+endwhile()
+
+list(REMOVE_DUPLICATES control_libraries_LIBRARIES)
+
+unset(_dep)
+unset(_comp)
+unset(_comp_link_libraries)
+unset(_control_libraries_to_find)
+unset(_control_libraries_supported_components)
 
 check_required_components(control_libraries)

source/controllers/CMakeLists.txt

@@ -19,7 +19,7 @@ target_include_directories(${LIBRARY_NAME}
   $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
 
-target_link_libraries(${LIBRARY_NAME} robot_model)
+target_link_libraries(${LIBRARY_NAME} ${PROJECT_NAME}::robot_model)
 
 # install the target and create export-set
 install(TARGETS ${LIBRARY_NAME}

source/dynamical_systems/CMakeLists.txt

@@ -18,7 +18,7 @@ target_include_directories(${LIBRARY_NAME}
   $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
 
-target_link_libraries(${LIBRARY_NAME} state_representation)
+target_link_libraries(${LIBRARY_NAME} ${PROJECT_NAME}::state_representation)
 
 # install the target and create export-set
 install(TARGETS ${LIBRARY_NAME}

source/robot_model/CMakeLists.txt

@@ -1,7 +1,7 @@
 set(LIBRARY_NAME robot_model)
 
-set(PINOCCHIO_VERSION 2.9.0)
-set(HPP_FCL_VERSION 1.8.1)
+set(PINOCCHIO_VERSION 2.6.9)
+set(HPP_FCL_VERSION 2.4.4)
 set(OSQP_EIGEN_VERSION 0.8.1)
 find_package(pinocchio ${PINOCCHIO_VERSION} REQUIRED)
 find_package(hpp-fcl ${HPP_FCL_VERSION} REQUIRED)
@@ -24,7 +24,7 @@ target_include_directories(${LIBRARY_NAME}
 )
 
 target_link_libraries(${LIBRARY_NAME}
-  state_representation
+  ${PROJECT_NAME}::state_representation
   ${PINOCCHIO_LIBRARIES}
   ${hpp-fcl_LIBRARIES}
   OsqpEigen::OsqpEigen

source/robot_model/test/tests/test_model.cpp

@@ -128,4 +128,4 @@ TEST_F(RobotModelTest, TestCreateURDFFromStringFail) {
 TEST_F(RobotModelTest, TestModelGetter) {
   const pinocchio::Model& robot_model = franka->get_pinocchio_model();
   EXPECT_TRUE(robot_model.existBodyName("panda_link0"));
-}
+}