Support newer colcon and setuptools

.github/workflows/build_test.yml

@@ -18,12 +18,6 @@ jobs:
     strategy:
       matrix:
         include:
-          - os: ubuntu-20.04
-            compiler: clang10
-            EXTRA_PACKAGES: clang-10
-            CC: /usr/bin/clang-10
-            CXX: /usr/bin/clang++-10
-            PYTHON_BINDING_VERSION: "3.10"
           - os: ubuntu-22.04
             compiler: gcc11
             EXTRA_PACKAGES: ""

.github/workflows/check_documentation.yml

@@ -14,7 +14,7 @@ jobs:
     permissions:
       contents: write
 
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     env:
       PYTHON_BINDING_VERSION: "3.10"
 

.github/workflows/install_dependencies.sh

@@ -11,36 +11,15 @@ if [ "${PYTHON_BINDING_VERSION}" == "3.10" ]; then
   IS_PYTHON_3_10=1
 fi
 
-IS_UBUNTU_20_04=0
-if [ `lsb_release -a | grep Release | grep "20.04" | wc -l` == 1 ]; then
-  echo "!!!!!!! Ubuntu 20.04: remove python2 !!!!!!!"
-  sudo apt autoremove python2 python2-dev -y
-  IS_UBUNTU_20_04=1
-  if [ "${PYTHON_BINDING_VERSION}" == "" ]; then
-    echo "!!!!!!! Setting default python version for Ubuntu20.04 !!!!!!!"
-    IS_PYTHON_3_10=0
-    PYTHON_BINDING_VERSION="3.8"
-  fi
-elif [ `lsb_release -a | grep Release | grep "22.04" | wc -l` == 1 ]; then
+if [ `lsb_release -a | grep Release | grep "22.04" | wc -l` == 1 ]; then
   if [ "${PYTHON_BINDING_VERSION}" == "" ]; then
     echo "!!!!!!! Setting default python version for Ubuntu22.04 !!!!!!!"
     IS_PYTHON_3_10=1
     PYTHON_BINDING_VERSION="3.10"
   fi
 fi
 
-if (( IS_UBUNTU_20_04 && IS_PYTHON_3_10 )); then
-  echo "!!!!!!! Ubunut 20.04 and python 3.10: install python 3.10 and remove boost !!!!!!!"
-  sudo add-apt-repository ppa:deadsnakes/ppa -y
-  sudo apt-get update
-  sudo apt-get install -y --no-install-recommends python${PYTHON_BINDING_VERSION}-full
-  sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.10 10
-  sudo apt autoremove libboost-all-dev -y
-else
-  echo "!!!!!!! Not Ubuntu 20.04 or not python 3.10: install python${PYTHON_BINDING_VERSION} and boost !!!!!!!"
-  sudo apt-get install -y --no-install-recommends python${PYTHON_BINDING_VERSION}
-  sudo apt-get install -y --no-install-recommends libboost-all-dev
-fi
+sudo apt-get install -y --no-install-recommends libboost-all-dev
 
 sudo apt-get install -y --no-install-recommends python${PYTHON_BINDING_VERSION}-dev libpython${PYTHON_BINDING_VERSION}-dev
 curl -sS https://bootstrap.pypa.io/get-pip.py | sudo python${PYTHON_BINDING_VERSION}
@@ -49,40 +28,5 @@ if [[ "${BUILD_DOCU}x" != "x" ]]; then
   sudo apt-get install doxygen graphviz lcov
 fi
 
-if (( IS_UBUNTU_20_04 && IS_PYTHON_3_10 )); then
-  echo "!!!!!!! Ubunut 20.04 and python 3.10: compile boost 1.78 !!!!!!!"
-  pushd dependencies
-
-  BOOST_VERSION=1.78.0
-  BOOST_PACKAGE_BASENAME=boost_${BOOST_VERSION//./_}
-  wget "https://archives.boost.io/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz"
-
-  tar -xzf ${BOOST_PACKAGE_BASENAME}.tar.gz
-  pushd ${BOOST_PACKAGE_BASENAME}
-
-  py3=`which python3.10`
-  py3_root=`${py3} -c "import sys; print(sys.prefix)"`
-  pyv=`$py3 -c "import sys;x='{v[0]}.{v[1]}'.format(v=list(sys.version_info[:2]));sys.stdout.write(x)";`
-
-  ./bootstrap.sh \
-    --prefix="/usr" \
-    --with-libraries=python,filesystem,system,program_options \
-    --with-python=${py3} --with-python-version=${pyv} --with-python-root=${py3_root}
-  if (( $? )); then
-    echo "!!!!!!! boost bootstrap failed !!!!!!!"
-    cat bootstrap.log
-  fi
-
-  ./b2 --prefix="/usr" cxxflags="-fPIC" -j 10 stage release
-  sudo ./b2 --prefix="/usr" cxxflags="-fPIC" -j 10 install
-
-  # ensure our colcon build process ignores boost sources
-  touch COLCON_IGNORE
-
-  popd
-  popd
-
-fi
-
 sudo apt remove python3-pygments
 sudo python${PYTHON_BINDING_VERSION} -m pip install -r .github/workflows/requirements.txt

.github/workflows/requirements.txt

@@ -3,11 +3,12 @@ Markdown==3.7
 markdown-include==0.8.1
 mdx_truly_sane_lists==1.3
 mkdocs==1.6.1
+packaging==24.1
 pygccxml==2.6.1
 Pygments==2.19.1
 pymdown-extensions==10.14.3
 pyplusplus==1.8.7
-setuptools==75.8.0
+setuptools==80.8.0
 six==1.17.0
 testresources==2.0.1
 unittest-xml-reporting==3.2.0

.gitignore

@@ -1,3 +1,4 @@
 /build/
 /install/
 /log/
+/python.venv/

README.md

@@ -117,8 +117,8 @@ Note: The RSS module in this library does not initiate evasive manuevers. At the
 ## Getting started <a name="started"></a>
 
 #### Installation of dependencies
-Currently, the focused operating systems are Ubuntu 20.04 and Ubuntu 22.04. Nevertheless, the library should work in a similar way for any other Linux OS.
-To install the basic dependencies for Ubuntu 20.04/22.04 execute the following command:
+Currently, the focused operating systems is Ubuntu 22.04. Nevertheless, the library should work in a similar way for any other Linux OS.
+To install the basic dependencies for Ubuntu 22.04 execute the following command:
 ```bash
  user$> sudo apt-get install git build-essential cmake libboost-dev libpugixml-dev libgtest-dev libpython-dev libproj-dev
 ```
@@ -136,17 +136,16 @@ To download the library, you may run:
 ```
 
 #### Supported systems <a name="systems"></a>
-Development systems are Ubuntu 20.04 and 22.04
+Development system is Ubuntu 22.04
 Following compiler and Python combinations are [tested continously](https://github.com/intel/ad-rss-lib/blob/main/.github/workflows/build_test.yml):
 
-|                 | Ubuntu 20.04 | Ubuntu 22.04 |
-|:---------------:|:------------:|:------------:|
-|  Clang 10       |       x      |              |
-|   GCC 11        |              |       x      |
-|  Clang 14       |              |       x      |
-|  Python 3.10    |       x      |       x      |
+|                 | Ubuntu 22.04 |
+|:---------------:|:------------:|
+|   GCC 11        |       x      |
+|  Clang 14       |       x      |
+|  Python 3.10    |       x      |
 
-Important: cmake is required to be at least version 3.5!
+Important: cmake is required to be at least version 3.10!
 
 ## Building the library <a name="building"></a>
 See the detailed [Build instructions](https://intel.github.io/ad-rss-lib/BUILDING/index.html).

ad_rss/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ad_rss</name>
+  <version>4.5.3</version>
+  <description>ad_rss</description>
+  <maintainer email="[email protected]">Intel Corporation</maintainer>
+  <license>LGPL-2.1-only</license>
+
+  <exec_depend>ad_physics</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ad_rss/python/CMakeLists.txt

@@ -62,6 +62,12 @@ target_link_libraries(${target} PRIVATE
 )
 
 configure_file(setup.py.in ${CMAKE_CURRENT_BINARY_DIR}/setup.py)
+# fake the ament_cmake_python local_setup.bash file
+configure_file(local_setup.bash.in ${CMAKE_CURRENT_BINARY_DIR}/local_setup.bash @ONLY)
+install(FILES 
+        ${CMAKE_CURRENT_BINARY_DIR}/local_setup.bash
+        DESTINATION
+        ${CMAKE_INSTALL_PREFIX}/share/ad_rss)
 
 install(CODE "\
   EXECUTE_PROCESS(\

ad_rss/python/local_setup.bash.in

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+
+export PYTHONPATH=${PYTHONPATH}:${CURRENT_PREFIX}/local/lib/@PYTHON_BINDING_FOLDER_NAME@/dist-packages

ad_rss_map_integration/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ad_rss_map_integration</name>
+  <version>4.5.3</version>
+  <description>ad_rss_map_integration</description>
+  <maintainer email="[email protected]">Intel Corporation</maintainer>
+  <license>LGPL-2.1-only</license>
+
+  <exec_depend>ad_map_access</exec_depend>
+  <exec_depend>ad_rss</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ad_rss_map_integration/python/CMakeLists.txt

@@ -65,7 +65,13 @@ target_link_libraries(${target} PRIVATE
 )
 
 configure_file(setup.py.in ${CMAKE_CURRENT_BINARY_DIR}/setup.py)
-
+# fake the ament_cmake_python local_setup.bash file
+configure_file(local_setup.bash.in ${CMAKE_CURRENT_BINARY_DIR}/local_setup.bash @ONLY)
+install(FILES 
+        ${CMAKE_CURRENT_BINARY_DIR}/local_setup.bash
+        DESTINATION
+        ${CMAKE_INSTALL_PREFIX}/share/ad_rss_map_integration)
+
 install(CODE "\
   EXECUTE_PROCESS(\
     COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/setup.py egg_info --egg-base ${CMAKE_CURRENT_BINARY_DIR} build --build-base ${CMAKE_CURRENT_BINARY_DIR} install --prefix ${CMAKE_INSTALL_PREFIX} --record ${CMAKE_CURRENT_BINARY_DIR}/install.log --single-version-externally-managed bdist_wheel --dist-dir ${CMAKE_INSTALL_PREFIX}/dist ${CMAKE_CURRENT_BINARY_DIR}/${PYTHON_BINDING_NAME}\

ad_rss_map_integration/python/local_setup.bash.in

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+
+export PYTHONPATH=${PYTHONPATH}:${CURRENT_PREFIX}/local/lib/@PYTHON_BINDING_FOLDER_NAME@/dist-packages

colcon.meta

@@ -5,6 +5,12 @@
         },
         "ad_map_opendrive_reader": {
             "dependencies": ["odrSpiral", "PROJ4"]
-        }
+        },
+        "ad_map_access": {
+            "dependencies": ["ad_map_opendrive_reader"]
+        },
+        "ad_physics": {
+            "dependencies": ["spdlog"]
+        },
     }
 }

colcon_python.meta

@@ -4,13 +4,15 @@
             "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DSPDLOG_BUILD_TESTS=OFF", "-DSPDLOG_BUILD_EXAMPLE=Off"]
         },
         "ad_physics": {
-            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"]
+            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"],
+            "dependencies": ["spdlog"]
         },
         "ad_map_opendrive_reader": {
             "dependencies": ["odrSpiral", "PROJ4"]
         },
         "ad_map_access": {
-            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"]
+            "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"],
+            "dependencies": ["ad_map_opendrive_reader"]
         },
         "ad_map_access_qgis": {
             "cmake-args": ["-DBUILD_PYTHON_BINDING=ON"],

doc/ad_rss/HLD-Security.md

@@ -172,7 +172,7 @@ Unit testing achieved code coverage can be retrieved via [github deployment](htt
 
 #### Compiler and compiler security flags
 
-The development platforms are Ubuntu Linux 20.04 Focal Fossa and 22.04 Jammy Jellyfish.
+The development platform is Ubuntu Linux 22.04 Jammy Jellyfish.
 
 A standard cmake toolchain has been used to compile the library. Other supported compilers are listed at the [main page](../../#systems)