Imported upstream version '1.2.1' of 'upstream'

fzi-forschungszentrum-informatik · May 10, 2023 · dc1f2ce · dc1f2ce
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diff --git a/.dockerignore b/.dockerignore
@@ -0,0 +1,4 @@
+.dockerignore
+Dockerfile
+
+.github
diff --git a/.github/conan_dockerfile/Dockerfile b/.github/conan_dockerfile/Dockerfile
@@ -0,0 +1,65 @@
+# Uses gcc8 for glibc 2.28
+ARG FROM=conanio/gcc10:latest
+FROM ${FROM} AS lanelet2_conan_deps
+
+ENV DEBIAN_FRONTEND noninteractive
+
+# install requirements for python installation
+RUN sudo -E apt-get update \
+  && sudo -E apt-get install -y libssl-dev zlib1g-dev \
+  libbz2-dev libreadline-dev libsqlite3-dev curl \
+  libncursesw5-dev xz-utils libxml2-dev libxmlsec1-dev libffi-dev liblzma-dev
+
+# setup python environment
+ARG PY_VERSION=3.8
+RUN pyenv install -s $PY_VERSION \
+  && pyenv global $PY_VERSION
+RUN pip install "conan==1.59.0" catkin_pkg numpy wheel auditwheel cmake
+
+# install patchelf
+RUN wget https://github.com/NixOS/patchelf/releases/download/0.17.2/patchelf-0.17.2-x86_64.tar.gz \
+  && tar -xzf patchelf-0.17.2-x86_64.tar.gz \
+  && sudo -E ln -s $HOME/bin/patchelf /bin/patchelf \
+  && patchelf --version
+
+# setup conan for python dependencies via bincrafters remote
+RUN conan remote add bincrafters https://bincrafters.jfrog.io/artifactory/api/conan/public-conan \
+  && conan config set general.revisions_enabled=1
+
+
+FROM lanelet2_conan_deps as lanelet2_conan_src
+
+# checkout code
+RUN mkdir src
+WORKDIR /home/conan/src
+COPY --chown=1000:1001 . lanelet2/
+
+FROM lanelet2_conan_src as lanelet2_conan
+
+# compile
+ARG CONAN_ARGS=""
+WORKDIR /home/conan/src/lanelet2
+RUN conan create . lanelet2/stable --build=missing ${CONAN_ARGS} \
+  && export LANELET2_VERSION=$(conan inspect . --raw version) \
+  && echo "Lanelet2 version: $LANELET2_VERSION" \
+  && conan install lanelet2/$LANELET2_VERSION@lanelet2/stable --build=missing -g virtualenv
+FROM lanelet2_conan as lanelet2_conan_with_pip_wheel
+
+SHELL ["/bin/bash", "-c"]
+WORKDIR /home/conan
+RUN source /home/conan/src/lanelet2/activate.sh \
+  && LANELET2_PACKAGE_DIR=$(python -c "import lanelet2; from pathlib import Path; print(Path(lanelet2.__file__).parent)") \
+  && cp -r $LANELET2_PACKAGE_DIR .
+RUN export LANELET2_VERSION=$(conan inspect ./src/lanelet2 --raw version) \
+  && echo "Lanelet2 version: $LANELET2_VERSION" \
+  && sed 's/{{ version }}/'"$LANELET2_VERSION"'/' /home/conan/src/lanelet2/lanelet2_python/setup.py.template > /home/conan/setup.py
+
+ARG PLATFORM="manylinux_2_31_x86_64"
+RUN source /home/conan/src/lanelet2/activate.sh \
+  && pip wheel -w broken-dist/ . \
+  && auditwheel repair -w dist/ --plat ${PLATFORM} broken-dist/*.whl
+
+# to extract the wheel manually run:
+# $ docker run -it -v /path/to/some/local/folder:/dist <image> /bin/bash
+# then inside the container:
+# $ sudo cp dist/lanelet2-<...>.whl /dist/.
diff --git a/.github/workflows/cd.yaml b/.github/workflows/cd.yaml
@@ -0,0 +1,124 @@
+name: Lanelet2 CD
+
+on:
+  push:
+    branches:
+      - master
+    tags:
+      - '*'
+  workflow_dispatch:
+
+permissions:
+  contents: write
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        # this should be kept in sync with ci.yaml
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+        include:
+          - python-version: "3.8"
+            boost-version: "1.75.0"
+            platform-version: manylinux_2_27_x86_64
+            image-version: conanio/gcc7:latest
+          - python-version: "3.9"
+            boost-version: "1.75.0"
+            platform-version: manylinux_2_27_x86_64
+            image-version: conanio/gcc7:latest
+          - python-version: "3.10"
+            boost-version: "1.81.0"
+            platform-version: manylinux_2_31_x86_64
+            image-version: conanio/gcc10:latest
+          - python-version: "3.11"
+            boost-version: "1.81.0"
+            platform-version: manylinux_2_31_x86_64
+            image-version: conanio/gcc10:latest
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup docker buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Create build container
+        uses: docker/build-push-action@v3
+        with:
+          builder: ${{ steps.buildx.outputs.name }}
+          file: .github/conan_dockerfile/Dockerfile
+          tags: lanelet2_conan_with_pip_wheel
+          load: true
+          target: lanelet2_conan_with_pip_wheel
+          build-args: |
+            FROM=${{ matrix.image-version }}
+            PY_VERSION=${{ matrix.python-version }}
+            PLATFORM=${{ matrix.platform-version }}
+            CONAN_ARGS=--require-override=boost/${{ matrix.boost-version }}
+
+      - name: Create output directory
+        run: mkdir -p ${{ github.workspace }}/output
+
+      - name: Package lanelet2 in build container
+        uses: addnab/docker-run-action@v3
+        with:
+          image: lanelet2_conan_with_pip_wheel
+          shell: bash
+          options: -v ${{ github.workspace }}/dist:/dist
+          run: |
+            set -e
+            # set env variables
+            export HOME=/home/conan
+            
+            # copy wheel to dist directory
+            sudo cp -r $HOME/dist/* /dist
+
+      - name: Store wheel
+        uses: actions/upload-artifact@v3
+        with:
+          name: dist
+          path: dist/
+
+  test:
+    needs: build
+    strategy:
+      matrix:
+        # test only on currently supported version
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+        os: ["ubuntu-22.04", "ubuntu-20.04"]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Restore wheel
+        uses: actions/download-artifact@v3
+        with:
+          name: dist
+          path: dist/
+      - name: Setup Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install wheel
+        # use dist/ directory as package source instead of pypi.org
+        run: pip install lanelet2 --no-index --find-links dist/
+      - name: Test wheel
+        run: python -c "import lanelet2; assert lanelet2.core.Point2d(0, 0, 0) is not None"
+
+  publish:
+    if: contains(github.ref, 'refs/tags/')
+    runs-on: ubuntu-latest
+    needs: [build, test]
+    steps:
+      - name: Restore wheel
+        uses: actions/download-artifact@v3
+        with:
+          name: dist
+          path: dist/
+
+      - name: Release
+        uses: softprops/action-gh-release@v1
+        with:
+          files: dist/*
+
+      - name: Publish package to PyPI
+        if: github.repository == 'fzi-forschungszentrum-informatik/Lanelet2'
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          password: ${{ secrets.PYPI_API_TOKEN }}
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -176,3 +176,48 @@ jobs:
           coverage-files: ./lcov/full_coverage.lcov
           artifact-name: code-coverage-report
           github-token: ${{ secrets.GITHUB_TOKEN }}
+
+  full_conan_installation:
+    needs: lint
+    strategy:
+      matrix:
+        # to reach 2_27, we need a gcc7.
+        # to build python>3.10, we need boost>1.75.
+        # to build boost>1.81 we need a gcc>10.
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+        include:
+          - python-version: "3.8"
+            boost-version: "1.75.0"
+            platform-version: manylinux_2_27_x86_64
+            image-version: conanio/gcc7:latest
+          - python-version: "3.9"
+            boost-version: "1.75.0"
+            platform-version: manylinux_2_27_x86_64
+            image-version: conanio/gcc7:latest
+          - python-version: "3.10"
+            boost-version: "1.81.0"
+            platform-version: manylinux_2_31_x86_64
+            image-version: conanio/gcc10:latest 
+          - python-version: "3.11"
+            boost-version: "1.81.0"
+            platform-version: manylinux_2_31_x86_64
+            image-version: conanio/gcc10:latest
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup docker buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Build dependencies
+        uses: docker/build-push-action@v3
+        with:
+          builder: ${{ steps.buildx.outputs.name }}
+          file: .github/conan_dockerfile/Dockerfile
+          tags: lanelet2_conan_with_pip_wheel
+          load: true
+          target: lanelet2_conan_with_pip_wheel
+          build-args: |
+            FROM=${{ matrix.image-version }}
+            PY_VERSION=${{ matrix.python-version }}
+            PLATFORM=${{ matrix.platform-version }}
+            CONAN_ARGS=--require-override=boost/${{ matrix.boost-version }}
diff --git a/README.md b/README.md
@@ -1,8 +1,17 @@
 # Lanelet2
 
-| [ROS focal/noetic](https://build.ros.org/job/Ndev__lanelet2__ubuntu_focal_amd64/lastBuild) | [ROS focal/foxy](https://build.ros2.org/job/Fdev__lanelet2__ubuntu_focal_amd64/lastBuild) | Gitlab CI | Coverage |
-| --------- | --------- | -------- | -------- |
-| [![](https://build.ros.org/job/Ndev__lanelet2__ubuntu_focal_amd64/lastBuild/badge/icon)](https://build.ros.org/job/Ndev__lanelet2__ubuntu_focal_amd64/lastBuild) | [![](https://build.ros2.org/job/Fdev__lanelet2__ubuntu_focal_amd64/lastBuild//badge/icon)](https://build.ros2.org/job/Fdev__lanelet2__ubuntu_focal_amd64/lastBuild) | ![build](https://www.mrt.kit.edu/z/gitlab/lanelet2/pipeline.svg) | ![coverage](https://www.mrt.kit.edu/z/gitlab/lanelet2/coverage.svg) |
+[![CI](https://github.com/fzi-forschungszentrum-informatik/lanelet2/actions/workflows/ci.yaml/badge.svg)](
+https://github.com/fzi-forschungszentrum-informatik/lanelet2/actions/workflows/ci.yaml)
+[![CD](https://github.com/fzi-forschungszentrum-informatik/lanelet2/actions/workflows/cd.yaml/badge.svg)](
+https://github.com/fzi-forschungszentrum-informatik/lanelet2/actions/workflows/cd.yaml)
+[![Build Status ROS focal/noetic](https://build.ros.org/job/Ndev__lanelet2__ubuntu_focal_amd64/lastBuild/badge/icon?subject=ROS%20noetic%20%28on%20focal%29)](
+https://build.ros.org/job/Ndev__lanelet2__ubuntu_focal_amd64/lastBuild/)
+[![Build Status ROS2 focal/foxy](https://build.ros2.org/job/Fdev__lanelet2__ubuntu_focal_amd64/lastBuild/badge/icon?subject=ROS2%20foxy%20%28on%20focal%29)](
+https://build.ros2.org/job/Fdev__lanelet2__ubuntu_focal_amd64/lastBuild/)
+[![Build Status ROS2 jammy/humble](https://build.ros2.org/job/Hdev__lanelet2__ubuntu_jammy_amd64/lastBuild/badge/icon?subject=ROS2%20humble%20%28on%20jammy%29)](
+https://build.ros2.org/job/Hdev__lanelet2__ubuntu_jammy_amd64/lastBuild/)
+[![PyPI Downloads](https://img.shields.io/pypi/dm/lanelet2.svg?label=PyPI%20downloads)](
+https://pypi.org/project/lanelet2/)
 
 ## Overview
 
@@ -43,6 +52,29 @@ Lanelet2 has been released for ROS. Just install `ros-[distribution]-lanelet2`,
 sudo apt install ros-noetic-lanelet2
 ```
 
+### Without ROS
+Outside of ROS, Lanelet2 can be installed from PyPI. Note that currently only Python 3.8-3.11 linux builds are available and that Python 3.10+ is only supported for recent linux distributions such as Ubuntu 20.04+.
+```
+pip install lanelet2
+```
+#### Note:
+
+If you receive the error
+
+```
+ERROR: Could not find a version that satisfies the requirement lanelet2 (from versions: none)
+ERROR: No matching distribution found for lanelet2
+```
+
+during installation, even when using e.g. python 3.9 or 3.8 on a somewhat recent linux such as Ubuntu 18.04 or newer, your pip version is probably too old, 
+as e.g. the pip version that comes with apt on Ubuntu 20.04 (20.0.2) is not recent enough for the provided package.
+
+In this case you need to simply update pip with 
+
+```
+pip3 install -U pip 
+```
+
 ### Using Docker
 
 There is a Docker container from which you can test things out:
@@ -167,4 +199,3 @@ If you are using Lanelet2 for scientific research, we would be pleased if you wo
 }
 ```
 
-
diff --git a/conanfile.py b/conanfile.py
@@ -21,6 +21,7 @@
 conan_basic_setup(SKIP_STD)
 
 # hint to gtest
+set(GOOGLETEST_VERSION 1.0.0)
 set(MRT_GTEST_DIR ${CMAKE_CURRENT_LIST_DIR})
 enable_testing()
 
@@ -69,11 +70,13 @@ class Lanelet2Conan(ConanFile):
     options = {"shared": [True, False], "fPIC": [True]}
     default_options = {"shared": True, "fPIC": True, "boost:shared": True, "boost:python_version": get_py_version(), "boost:without_python": False, "python_dev_config:python": get_py_exec()}
 
-    requires = ("python_dev_config/0.6@bincrafters/stable",
-                "boost/1.75.0",
-                "eigen/3.3.9",
-                "geographiclib/1.50.1",
-                "pugixml/1.11")
+    requires = (
+        "python_dev_config/0.6@bincrafters/stable",
+        "boost/[>=1.75.0 <=1.81.0]",
+        "eigen/3.4.0",
+        "geographiclib/1.52",
+        "pugixml/1.13",
+    )
 
     exports_sources = "*"
     exports = "lanelet2_core/package.xml"

diff --git a/lanelet2/CHANGELOG.rst b/lanelet2/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package lanelet2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2023-05-10)
+------------------
+
 1.2.0 (2023-01-30)
 ------------------
 * Add CI using GitHub Actions (`#256 <https://github.com/fzi-forschungszentrum-informatik/Lanelet2/issues/256>`_)

diff --git a/lanelet2/package.xml b/lanelet2/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lanelet2</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>Meta-package for lanelet2</description>
 
   <license>BSD</license>

diff --git a/lanelet2_core/CHANGELOG.rst b/lanelet2_core/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package lanelet2_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.2.1 (2023-05-10)
+------------------
+* Update thirdparty deps, rework projected point, enable python 3.10/3.11 (`#300 <https://github.com/immel-f/Lanelet2/issues/300>`_)
+* Fix typos in documentation (`#286 <https://github.com/immel-f/Lanelet2/issues/286>`_)
+* Contributors: Johannes Schmitz, poggenhans
+
 1.2.0 (2023-01-30)
 ------------------
 * Add zero-width character after colon to avoid markdown emoji