Avoid calling colcon twice and passing CMake args to Acados (#25)

* download tera renderer

* download acados sources to avoid recalling colcon

* forward CMake args to Acados

* CMAKE linting

* add pip-casadi deps

* update README

* make CI happy

---------

Co-authored-by: tpoignonec <[email protected]>

CMakeLists.txt

@@ -11,6 +11,15 @@ option(BUILD_ACADOS_TEMPLATE
   ON
 )
 
+# ACADOS options on External libs
+option(ACADOS_WITH_QPOASES "qpOASES solver" OFF)
+option(ACADOS_WITH_DAQP "DAQP solver" OFF)
+option(ACADOS_WITH_HPMPC "HPMPC solver" OFF)
+option(ACADOS_WITH_QORE "QORE solver" OFF)
+option(ACADOS_WITH_OOQP "OOQP solver" OFF)
+option(ACADOS_WITH_QPDUNES "qpDUNES solver" OFF)
+option(ACADOS_WITH_OSQP "OSQP solver" OFF)
+
 # Setup
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17) # Default to C++17
@@ -28,39 +37,71 @@ ament_vendor(acados_vendor_ros2
   SATISFIED ${acados_FOUND}
   VCS_URL https://github.com/acados/acados.git
   VCS_VERSION v0.3.2
+  CMAKE_ARGS
+  "-DACADOS_WITH_QPOASES=${ACADOS_WITH_QPOASES};\
+  -DACADOS_WITH_DAQP=${ACADOS_WITH_DAQP};\
+  -DACADOS_WITH_HPMPC=${ACADOS_WITH_HPMPC};\
+  -DACADOS_WITH_QORE=${ACADOS_WITH_QORE};\
+  -DACADOS_WITH_OOQP=${ACADOS_WITH_OOQP};\
+  -DACADOS_WITH_QPDUNES=${ACADOS_WITH_QPDUNES};\
+  -DACADOS_WITH_OSQP=${ACADOS_WITH_OSQP}"
 )
 ament_export_dependencies(acados)
 
 set(ACADOS_SOURCE_DIR ${CMAKE_INSTALL_PREFIX}/opt/acados_vendor_ros2) # lib + include
 set(ACADOS_SOURCE_BUILD_DIR ${CMAKE_BINARY_DIR}/acados_vendor_ros2-prefix/src/acados_vendor_ros2) # Source files
+
+# Source files
 set(ACADOS_PYTHON_INTERFACE_PATH none) # Python package after install, set below if package built
 
 if(${BUILD_ACADOS_TEMPLATE})
   set(ACADOS_PYTHON_INTERFACE_PCK_DIR "${ACADOS_SOURCE_BUILD_DIR}/interfaces/acados_template/acados_template")
-  if(EXISTS "${ACADOS_PYTHON_INTERFACE_PCK_DIR}/__init__.py")
-    ament_python_install_package(
-      acados_template
-      PACKAGE_DIR ${ACADOS_PYTHON_INTERFACE_PCK_DIR}
-    )
-    set(ACADOS_PYTHON_INTERFACE_PATH ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/acados_template) # Python package after install
-    message(
-      STATUS
-      "The Python interface (acados_template) \
-      found in '${ACADOS_PYTHON_INTERFACE_PCK_DIR}' will be installed in \
-      '${ACADOS_PYTHON_INTERFACE_PATH}'."
-    )
+
+  if(NOT EXISTS "${ACADOS_PYTHON_INTERFACE_PCK_DIR}")
+    message(STATUS "Cloning Acados source")
+    file(MAKE_DIRECTORY ${ACADOS_SOURCE_BUILD_DIR})
+    execute_process(COMMAND git clone -c advice.detachedHead=false --quiet --recursive https://github.com/acados/acados.git -b v0.3.2 .
+                    WORKING_DIRECTORY ${ACADOS_SOURCE_BUILD_DIR}
+                    RESULT_VARIABLE ACADOS_GIT_OUT
+                    OUTPUT_VARIABLE ACADOS_GIT_OUT)
   else()
-    # Force a CMAKE regeneration at next 'colcon build' call
-    include("${CMAKE_CURRENT_LIST_DIR}/cmake/force_regenerate.cmake")
-    force_regenerate_at_next_build()
-
-    message(
-      WARNING
-      "The Python interface (acados_template) could not be built \
-      because the external project was not yet downloaded!\n \
-      Please re-build the project once again.\n \
-      Note: if it doesn't work, please try with the cmake arg '-DBUILD_ACADOS_TEMPLATE=ON'!"
-    )
+    message(STATUS "${ACADOS_SOURCE_BUILD_DIR} already exists")
+  endif()
+
+  ament_python_install_package(
+    acados_template
+    PACKAGE_DIR ${ACADOS_PYTHON_INTERFACE_PCK_DIR}
+  )
+  set(ACADOS_PYTHON_INTERFACE_PATH ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/acados_template) # Python package after install
+  message(
+    STATUS
+    "The Python interface (acados_template) \
+    found in '${ACADOS_PYTHON_INTERFACE_PCK_DIR}' will be installed in \
+    '${ACADOS_PYTHON_INTERFACE_PATH}'."
+  )
+
+  set(TERA_RENDERER "${ACADOS_SOURCE_DIR}/bin/t_renderer")
+  if(NOT EXISTS "${TERA_RENDERER}")
+    # Add empty bin directory (used to download the tera renderer)
+    install(DIRECTORY DESTINATION "opt/${PROJECT_NAME}/bin")
+    message(STATUS "Downloading tera renderer")
+
+    set(TERA_VERSION "0.0.34")
+    if(UNIX AND NOT APPLE)
+      set(TERA_SUFFIX linux)
+    elseif(APPLE)
+      set(TERA_SUFFIX osx)
+    else()
+      set(TERA_SUFFIX windows)
+    endif()
+
+    file(DOWNLOAD
+      "https://github.com/acados/tera_renderer/releases/download/v${TERA_VERSION}/t_renderer-v${TERA_VERSION}-${TERA_SUFFIX}"
+      ${TERA_RENDERER})
+    file(CHMOD
+      ${TERA_RENDERER}
+      PERMISSIONS
+        OWNER_READ OWNER_WRITE GROUP_READ GROUP_WRITE OWNER_EXECUTE GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
   endif()
 endif()
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
@@ -96,7 +137,4 @@ install(
     share/${PROJECT_NAME}/cmake/Modules
 )
 
-# Add empty bin directory (used to download the tera renderer)
-install(DIRECTORY DESTINATION "opt/${PROJECT_NAME}/bin")
-
 ament_package(CONFIG_EXTRAS acados_vendor_ros2-extras.cmake)

README.md

@@ -17,14 +17,8 @@ git clone https://github.com/ICube-Robotics/acados_vendor_ros2.git
 # Download the source and install the c interface (lib "acados")
 cd ..
 rosdep install --ignore-src --from-paths . -y -r
-colcon build && colcon build
+colcon build
 ```
-Note that `colcon build` is called twice.
-
-> N.B., this is necessary because `ament_vendor(...)` takes effect after the `ament_python_install_package(...)` command.
-However, the later tests for the existence of an `__init__.py` file in the path, hence resulting in an error since the Python package is not yet present.
-
->**TODO:** Allow unique build to avoid potential downstream build tests failures.
 
 >**NOTE:** If the `ament_cmake_vendor_package` is missing, you can install it manually:
 ```bash

package.xml

@@ -18,6 +18,8 @@
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
+  <exec_depend>casadi-pip</exec_depend>
+
   <buildtool_export_depend>pkg-config</buildtool_export_depend>
 
   <test_depend>ament_cmake_copyright</test_depend>