Refactor CMake with JRL CMake Modules v2 (v2) by ahoarau · Pull Request #40 · Simple-Robotics/nanoeigenpy

ahoarau · 2026-01-05T13:59:27Z

⚠️DO NOT MERGE UNTIL jrl-umi3218/jrl-cmakemodules#798 is merged ⚠️

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

Full rewrite of the CMake Files in modern CMake
Remove submodules: archives can now be used
Migrate python tests to pytest
🚧 NIX CI is temporarily disabled

NOTE: This the commit are cherry-picked and squashed from the previously accidentitaly merged #28

ManifoldFR

Seems good to me overall 😄

ManifoldFR · 2026-01-17T11:48:16Z

@nim65s we will need a followup PR for Nix in the future 😃

solves Simple-Robotics#2

gersemirc: put back gersemi definitions no chance observed in this repo. Its for future proofness.

we only need the minimum version to be set to enable the correct policies

It was always required from nanobind

we now export eigen and cholmod correctly

cmake: cosmetic remove cmake: generate ros2 python package files with condiition

jorisv · 2026-06-02T11:49:25Z

-        key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}-${{ github.sha }}
-        restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}-
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}


Add ${{ matrix.environment }}

jorisv · 2026-06-02T11:50:18Z

+          key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}
+          restore-keys: ccache-${{ matrix.ROS_DISTRO }}-


Suggested change

key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}

restore-keys: ccache-${{ matrix.ROS_DISTRO }}-

key: ccache-ros-ci-${{ matrix.ROS_DISTRO }}-${{github.run_id}}

restore-keys: ccache-ros-ci-${{ matrix.ROS_DISTRO }}-

jorisv · 2026-06-02T11:57:56Z

+endif()
+
+# Fallback to FetchContent if not found
+set(JRL_GIT_REPOSITORY "https://github.com/ahoarau/jrl-cmakemodules.git")


To update when jrl-next is released

jorisv · 2026-06-02T12:07:58Z

+- Switch to [JRL CMake modules v2](https://github.com/jrl-umi3218/jrl-cmakemodules/pull/798) ([#28](https://github.com/Simple-Robotics/nanoeigenpy/pull/28))
+- Remove submodules: archives can now be used
+- Migrate python tests to pytest


Suggested change

- Switch to [JRL CMake modules v2](https://github.com/jrl-umi3218/jrl-cmakemodules/pull/798) ([#28](https://github.com/Simple-Robotics/nanoeigenpy/pull/28))

- Remove submodules: archives can now be used

- Migrate python tests to pytest

- Switch to [JRL CMake modules v2](https://github.com/jrl-umi3218/jrl-cmakemodules/pull/798) ([#28](https://github.com/Simple-Robotics/nanoeigenpy/pull/28))

- Remove submodules: archives can now be used

- Migrate python tests to pytest

jorisv · 2026-06-02T12:10:36Z

+[feature.test-pixi-build]
+dependencies = { nanoeigenpy = { path = "." }, cmake = ">=3.22", python = "*", cxx-compiler = "*" }

-# [feature.test-pixi-build.tasks]
-# test-cmake = "cmake -S tests/packaging/pixi_build -B build_test_pixi_build"
-# test-python = "python -c 'import nanoeigenpy'"
-# test = { depends-on = ["test-cmake", "test-python"] }
+[feature.test-pixi-build.tasks]
+test-cmake = "cmake -S tests/packaging/cmake -B build/test_pixi_build"
+test-python = "python -c 'import nanoeigenpy; print(nanoeigenpy.__version__)'"
+test = { depends-on = ["test-cmake", "test-python"] }


Suggested change

[feature.test-pixi-build]

dependencies = { nanoeigenpy = { path = "." }, cmake = ">=3.22", python = "*", cxx-compiler = "*" }

# [feature.test-pixi-build.tasks]

# test-cmake = "cmake -S tests/packaging/pixi_build -B build_test_pixi_build"

# test-python = "python -c 'import nanoeigenpy'"

# test = { depends-on = ["test-cmake", "test-python"] }

[feature.test-pixi-build.tasks]

test-cmake = "cmake -S tests/packaging/cmake -B build/test_pixi_build"

test-python = "python -c 'import nanoeigenpy; print(nanoeigenpy.__version__)'"

test = { depends-on = ["test-cmake", "test-python"] }

# [feature.test-pixi-build]

# dependencies = { nanoeigenpy = { path = "." }, cmake = ">=3.22", python = "*", cxx-compiler = "*" }

# [feature.test-pixi-build.tasks]

# test-cmake = "cmake -S tests/packaging/cmake -B build/test_pixi_build"

# test-python = "python -c 'import nanoeigenpy; print(nanoeigenpy.__version__)'"

# test = { depends-on = ["test-cmake", "test-python"] }

To avoid issue with unwanted lockfile update

jorisv · 2026-06-02T12:23:20Z

+
+# Stub generation requires typing-extensions
+# ROS Humble ships an incompatible typing-extensions with python3.10
+if(Python_VERSION VERSION_GREATER_EQUAL 3.11.0)


This mean we don't generate stub on python 3.10 even on non ROS system ?
Do we have another way to detect being build on ROS with python 3.10 ?

jorisv · 2026-06-02T12:24:20Z

+endif()
+
+jrl_generate_ros2_package_files(
+  INSTALL_CPP_PACKAGE_FILES [[NOT BUILD_STANDALONE_PYTHON_INTERFACE]]


BUILD_STANDALONE_PYTHON_INTERFACE doesn't exists on this project.

jorisv · 2026-06-02T12:24:43Z

+
+jrl_generate_ros2_package_files(
+  INSTALL_CPP_PACKAGE_FILES [[NOT BUILD_STANDALONE_PYTHON_INTERFACE]]
+  INSTALL_PYTHON_PACKAGE_FILES [[BUILD_PYTHON_INTERFACE]]


BUILD_PYTHON_INTERFACE doesn't exists on this project

jorisv · 2026-06-02T13:01:27Z

+  set_property(
+    TEST ${test_name}
+    PROPERTY
+      ENVIRONMENT_MODIFICATION
+        "PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:nanoeigenpy>"
+        "PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:quaternion>"


Suggested change

set_property(

TEST ${test_name}

PROPERTY

ENVIRONMENT_MODIFICATION

"PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:nanoeigenpy>"

"PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:quaternion>"

set_property(

TEST ${test_name}

PROPERTY

ENVIRONMENT_MODIFICATION

"PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:nanoeigenpy>"

"PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:quaternion>"

DEPENDS quaternion nanoeigenpy

jorisv · 2026-06-02T13:08:10Z

-if(WIN32)
-  string(REPLACE "\\" "/" Python_SITELIB "${Python_SITELIB}")
+if(BUILD_WITH_CHOLMOD_SUPPORT)
+  jrl_find_package(CHOLMOD CONFIG REQUIRED)


Same remark than in eigenpy

ahoarau marked this pull request as draft January 5, 2026 14:05

ahoarau force-pushed the jrl-next-v2 branch from 36566e6 to 1a0784c Compare January 5, 2026 16:17

ManifoldFR marked this pull request as ready for review January 9, 2026 20:55

ManifoldFR enabled auto-merge January 9, 2026 20:55

ManifoldFR reviewed Jan 9, 2026

View reviewed changes

Comment thread CHANGELOG.md Outdated

Comment thread CMakeLists.txt Outdated

Comment thread CMakeLists.txt Outdated

Comment thread CMakeLists.txt Outdated

ahoarau marked this pull request as draft January 10, 2026 07:25

auto-merge was automatically disabled January 10, 2026 07:25
Pull request was converted to draft

ahoarau force-pushed the jrl-next-v2 branch from 2eb9a9f to 4aa0c89 Compare January 10, 2026 14:32

ManifoldFR marked this pull request as ready for review January 10, 2026 16:01

ahoarau marked this pull request as draft January 12, 2026 06:29

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 5cedb44 to 099bd00 Compare January 16, 2026 09:56

ManifoldFR marked this pull request as ready for review January 17, 2026 10:00

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 05572ce to fcf926d Compare January 17, 2026 11:28

ManifoldFR approved these changes Jan 17, 2026

View reviewed changes

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 31fceae to e300dd5 Compare February 6, 2026 08:55

ahoarau mentioned this pull request Feb 11, 2026

CMake: use of Python_SITELIB #23

Open

ManifoldFR linked an issue Feb 11, 2026 that may be closed by this pull request

CMake: use of Python_SITELIB #23

Open

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 5b8813f to d8ac8b7 Compare March 18, 2026 15:47

ahoarau force-pushed the jrl-next-v2 branch from d8ac8b7 to 806e74c Compare April 21, 2026 08:11

ahoarau force-pushed the jrl-next-v2 branch from ecbd064 to 7b4631c Compare May 11, 2026 12:01

ahoarau added 5 commits May 11, 2026 14:01

cpp: remove unused macros in fwd.hpp

9eb68e6

cpp: add dependency headers wrt a compile def

febe629

cpp: merge internal.h into module.cpp

3328fb7

python: migrate tests to pytest

7c87c21

solves Simple-Robotics#2

gersemi: update config

c2f389f

gersemirc: put back gersemi definitions no chance observed in this repo. Its for future proofness.

ahoarau added 28 commits May 11, 2026 14:01

cmake: remove cmake version range

d00ff18

we only need the minimum version to be set to enable the correct policies

cmake: update nanobind GIT_TAG to v2.10.2

7a9a457

ci: remove warning by passing the explicit arguments to env

21d68a5

ci: remove explicit cache for pixi

4389ad8

ci: cosmetics on pixi job

9b7a576

ci: rosci enable cache and prerelease

7cf7101

package.xml: nanobind-dev not yet available

a42634c

ci: ros ci disable fail fast

1cce9dc

package.xml: add pytest dep

19a5acb

ci: name the ros jobs

1f48b44

rosci: configure cache

cf2c309

ci: relax cache availability

b1656c5

cmale: update cmake option docs

b708261

changelog: remove the c++17 required.

c99ebbd

It was always required from nanobind

cmake: move dependencies to headers instead of module

3ad885b

we now export eigen and cholmod correctly

cmake: add jrl_generate_ros2_package_files

e7f3181

cmake: cosmetic remove cmake: generate ros2 python package files with condiition

cmake: update jrl_target_generate_header API

005ba99

ci: display more info before clearing ccache cache

1bf6e3d

rosci: do not use prerelease

60d805a

cmake: update the get-jrl messages

1aee740

cmake: require jrl >=1.2 to get the jrl-v2

dc2ed59

cmake: update python and nanobind min required

0deb612

pixi: remove the custom python install dir for pixi build

2f6f661

cmake: include project version in config header generation

f877e0d

pixi.toml: re-enable pixi build

a7a86a6

cmake: format

60b2d5d

ci: comment out pixi build

3670fd9

pixi: update lock file

a747b22

ahoarau force-pushed the jrl-next-v2 branch from 7b4631c to a747b22 Compare May 11, 2026 12:03

jorisv requested changes Jun 2, 2026

View reviewed changes

		key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}
		restore-keys: ccache-${{ matrix.ROS_DISTRO }}-

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ahoarau commented Jan 5, 2026 •

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