Merge 6 into 7

Signed-off-by: Addisu Z. Taddese <[email protected]>

.github/workflows/ci.yml

@@ -1,14 +1,20 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-math[0-9]'
+      - 'gz-math[0-9]'
+      - 'main'
 
 jobs:
   focal-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@focal
@@ -22,7 +28,7 @@ jobs:
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

CMakeLists.txt

@@ -99,16 +99,32 @@ endif()
 if (SKIP_PYBIND11)
   message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
 else()
-  include(GzPython)
-  find_package(PythonLibs QUIET)
-  if (NOT PYTHONLIBS_FOUND)
-    GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
-    message (STATUS "Searching for Python - not found.")
+  #include(GzPython) TODO: allow to specify for what it should search and then
+  # the code below can be removed; e.g. pybind needs Interpreter and Development components
+  # see https://pybind11.readthedocs.io/en/stable/cmake/index.html#new-findpython-mode
+  if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
+    set(GZ_PYTHON_VERSION "3")
+    find_package(PythonInterp ${GZ_PYTHON_VERSION} QUIET)
+    if(PYTHONINTERP_FOUND)
+      set(Python3_FOUND ${PYTHONINTERP_FOUND})
+      set(Python3_Interpreter_FOUND ${PYTHONINTERP_FOUND})
+      set(Python3_EXECUTABLE ${PYTHON_EXECUTABLE})
+      find_package(PythonLibs QUIET)
+      # we found the interpreter but did we also find the libs? both are required
+      set(Python3_FOUND ${PYTHONLIBS_FOUND})
+      set(Python3_VERSION ${PYTHONLIBS_VERSION_STRING})
+    endif()
+  else()
+    find_package(Python3 QUIET COMPONENTS Interpreter Development)
+  endif()
+
+  if (NOT Python3_FOUND)
+    GZ_BUILD_WARNING("Python3 is missing: Python interfaces are disabled.")
+    message (STATUS "Searching for Python3 - not found.")
   else()
-    message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+    message (STATUS "Searching for Python3 - found version ${Python3_VERSION}.")
 
     set(PYBIND11_PYTHON_VERSION 3)
-    find_package(Python3 QUIET COMPONENTS Interpreter Development)
     find_package(pybind11 2.2 QUIET)
 
     if (${pybind11_FOUND})

Changelog.md

@@ -270,6 +270,28 @@
 
 ## Gazebo Math 6.x
 
+## Gazebo Math 6.15.1 (2024-01-05)
+
+1. Replace CMake Python variables with new ones from FindPython3 module
+    * [Pull request #402](https://github.com/gazebosim/gz-math/pull/402)
+
+1. Suppress warnings on MSVC
+    * [Pull request #564](https://github.com/gazebosim/gz-math/pull/564)
+
+1. Infrastructure
+    * [Pull request #569](https://github.com/gazebosim/gz-math/pull/569)
+
+## Gazebo Math 6.15.0 (2023-09-01)
+
+1. Fixes for testing in non standard architectures
+    * [Pull request #546](https://github.com/gazebosim/gz-math/pull/546)
+
+1. MecanumDriveOdometry to handle odometry estimation of Mecanum wheeled models
+    * [Pull request #486](https://github.com/gazebosim/gz-math/pull/486)
+
+1. Infrastructure
+    * [Pull request #547](https://github.com/gazebosim/gz-math/pull/547)
+
 ## Gazebo Math 6.14.0 (2023-04-14)
 
 1. Disable pybind11 on windows by default

src/python_pybind11/CMakeLists.txt

@@ -1,8 +1,11 @@
-if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
-  # pybind11 logic for setting up a debug build when both a debug and release
-  # python interpreter are present in the system seems to be pretty much broken.
-  # This works around the issue.
-  set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
+if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
+  # TODO: remove once the minimum CMake version is increased
+  if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    # pybind11 logic for setting up a debug build when both a debug and release
+    # python interpreter are present in the system seems to be pretty much broken.
+    # This works around the issue.
+    set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
+  endif()
 endif()
 
 message(STATUS "Building pybind11 interfaces")
@@ -73,17 +76,15 @@ if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
 endif()
 
 if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
+  # Get install variable from Python3 module
   if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
+    # Python3_SITEARCH is available via FindPython3 from 3.12 on, workaround if needed
     execute_process(
-      COMMAND "${PYTHON_EXECUTABLE}" -c "if True:
+      COMMAND "${Python3_EXECUTABLE}" -c "if True:
   from distutils import sysconfig as sc
   print(sc.get_python_lib(plat_specific=True))"
       OUTPUT_VARIABLE Python3_SITEARCH
       OUTPUT_STRIP_TRAILING_WHITESPACE)
-  else()
-    # Get install variable from Python3 module
-    # Python3_SITEARCH is available from 3.12 on, workaround if needed:
-    find_package(Python3 COMPONENTS Interpreter)
   endif()
 
   if(USE_DIST_PACKAGES_FOR_PYTHON)