apt dependencies from Ubuntu 24.04 support

[traversaro]

Ubuntu 24.04 was released: https://canonical.com/blog/canonical-releases-ubuntu-24-04-noble-numbat . We should support it. I imagine that probably we will have SWIG-related problems, as the version of swig contained in Ubuntu is known to be problematic for YARP, see #1567 and swig/swig#2796 .

[traversaro]

Note that this covers installation with apt-provided dependencies. Unless 24.04 specific issue appear with conda packages (for which specific issue will be opened), I will assume that they work.

[traversaro]

First problems by building locally:

• There is no libgazebo-dev package for Gazebo Classic, so we need to not enable by default the ROBOTOLOGY_USES_GAZEBO option

pure python packages are failing with:

[  0%] Performing build step for 'pyngrok'
error: externally-managed-environment

× This environment is externally managed
╰─> To install Python packages system-wide, try apt install
    python3-xyz, where xyz is the package you are trying to
    install.

    If you wish to install a non-Debian-packaged Python package,
    create a virtual environment using python3 -m venv path/to/venv.
    Then use path/to/venv/bin/python and path/to/venv/bin/pip. Make
    sure you have python3-full installed.

    If you wish to install a non-Debian packaged Python application,
    it may be easiest to use pipx install xyz, which will manage a
    virtual environment for you. Make sure you have pipx installed.

    See /usr/share/doc/python3.12/README.venv for more information.

note: If you believe this is a mistake, please contact your Python installation or OS distribution provider. You can override this, at the risk of breaking your Python installation or OS, by passing --break-system-packages.
hint: See PEP 668 for the detailed specification.
make[3]: *** [CMakeFiles/pyngrok.dir/build.make:85: src/pyngrok/CMakeFiles/YCMStamp/pyngrok-build] Error 1
make[2]: *** [CMakeFiles/Makefile2:2940: CMakeFiles/pyngrok.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:2947: CMakeFiles/pyngrok.dir/rule] Error 2
make: *** [Makefile:1421: pyngrok] Error 2

that is strange, as we are not installing them in a global location.

[traversaro]

that is strange, as we are not installing them in a global location.

Ah, the problem is the pip uninstall -y pyngrok step, that indeed is acting on both global and local packages (even if pyngrok will be installed by the superbuild).

[traversaro]

icub-main failure:

[ 29%] Building CXX object src/libraries/icubmod/embObjLib/CMakeFiles/ethResources.dir/ethParser.cpp.o
In file included from /home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:27:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:40:14: error: ‘uint16_t’ in namespace ‘std’ does not name a type; did you mean ‘wint_t’?
   40 |         std::uint16_t       maxSizeRXpacket;
      |              ^~~~~~~~
      |              wint_t
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:41:14: error: ‘uint16_t’ in namespace ‘std’ does not name a type; did you mean ‘wint_t’?
   41 |         std::uint16_t       maxSizeROP;
      |              ^~~~~~~~
      |              wint_t
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h: In member function ‘void eth::parser::boardProperties::reset()’:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:51:13: error: ‘maxSizeRXpacket’ was not declared in this scope
   51 |             maxSizeRXpacket = 768; maxSizeROP = 384; ipv4string = ""; ipv4addressingstring = "";
      |             ^~~~~~~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:51:36: error: ‘maxSizeROP’ was not declared in this scope
   51 |             maxSizeRXpacket = 768; maxSizeROP = 384; ipv4string = ""; ipv4addressingstring = "";
      |                                    ^~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h: At global scope:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:101:14: error: ‘uint16_t’ in namespace ‘std’ does not name a type; did you mean ‘wint_t’?
  101 |         std::uint16_t  txrate;
      |              ^~~~~~~~
      |              wint_t
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:102:14: error: ‘uint16_t’ in namespace ‘std’ does not name a type; did you mean ‘wint_t’?
  102 |         std::uint16_t rxrate;
      |              ^~~~~~~~
      |              wint_t
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h: In member function ‘void eth::parser::pc104Data::reset()’:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:107:13: error: ‘txrate’ was not declared in this scope
  107 |             txrate = 1; rxrate = 5;
      |             ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:107:25: error: ‘rxrate’ was not declared in this scope
  107 |             txrate = 1; rxrate = 5;
      |                         ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h: In member function ‘void eth::parser::pc104Data::setdefault()’:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:113:13: error: ‘txrate’ was not declared in this scope
  113 |             txrate = 1; rxrate = 5;
      |             ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.h:113:25: error: ‘rxrate’ was not declared in this scope
  113 |             txrate = 1; rxrate = 5;
      |                         ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp: In function ‘bool eth::parser::print(const pc104Data&)’:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:63:53: error: ‘const struct eth::parser::pc104Data’ has no member named ‘txrate’
   63 |     yDebug() << "PC104/PC104TXrate = " << pc104data.txrate;
      |                                                     ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:64:53: error: ‘const struct eth::parser::pc104Data’ has no member named ‘rxrate’
   64 |     yDebug() << "PC104/PC104RXrate = " << pc104data.rxrate;
      |                                                     ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp: In function ‘bool eth::parser::print(const boardData&)’:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:78:93: error: ‘const struct eth::parser::boardProperties’ has no member named ‘maxSizeRXpacket’
   78 |     yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = " << boarddata.properties.maxSizeRXpacket;
      |                                                                                             ^~~~~~~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:79:88: error: ‘const struct eth::parser::boardProperties’ has no member named ‘maxSizeROP’
   79 |     yDebug() << "ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = " << boarddata.properties.maxSizeROP;
      |                                                                                        ^~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp: In function ‘bool eth::parser::read(yarp::os::Searchable&, pc104Data&)’:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:154:23: error: ‘struct eth::parser::pc104Data’ has no member named ‘txrate’
  154 |             pc104data.txrate = value;
      |                       ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:159:113: error: ‘struct eth::parser::pc104Data’ has no member named ‘txrate’
  159 |         yWarning () << "eth::parser::read() cannot find ETH/PC104TXrate. thus using default value" << pc104data.txrate;
      |                                                                                                                 ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:168:23: error: ‘struct eth::parser::pc104Data’ has no member named ‘rxrate’
  168 |             pc104data.rxrate = value;
      |                       ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:173:113: error: ‘struct eth::parser::pc104Data’ has no member named ‘rxrate’
  173 |         yWarning () << "eth::parser::read() cannot find ETH/PC104RXrate. thus using default value" << pc104data.rxrate;
      |                                                                                                                 ^~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp: In function ‘bool eth::parser::read(yarp::os::Searchable&, boardData&)’:
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:282:30: error: ‘struct eth::parser::boardProperties’ has no member named ‘maxSizeRXpacket’
  282 |         boarddata.properties.maxSizeRXpacket = groupEthBoardProps.find("maxSizeRXpacket").asInt32();
      |                              ^~~~~~~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:287:30: error: ‘struct eth::parser::boardProperties’ has no member named ‘maxSizeRXpacket’
  287 |         boarddata.properties.maxSizeRXpacket = 768;
      |                              ^~~~~~~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:288:164: error: ‘struct eth::parser::boardProperties’ has no member named ‘maxSizeRXpacket’
  288 | :parser::read() in BOARD w/ IP" << boarddata.properties.ipv4string << "cannot find: capacityofTXpacket. using:" << boarddata.properties.maxSizeRXpacket;
      |                                                                                                                                         ^~~~~~~~~~~~~~~

/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:294:30: error: ‘struct eth::parser::boardProperties’ has no member named ‘maxSizeROP’
  294 |         boarddata.properties.maxSizeROP = groupEthBoardProps.find("maxSizeROP").asInt32();
      |                              ^~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:299:30: error: ‘struct eth::parser::boardProperties’ has no member named ‘maxSizeROP’
  299 |         boarddata.properties.maxSizeROP = 384;
      |                              ^~~~~~~~~~
/home/traversaro/robotology-superbuild/src/ICUB/src/libraries/icubmod/embObjLib/ethParser.cpp:300:156: error: ‘struct eth::parser::boardProperties’ has no member named ‘maxSizeROP’
  300 | << "eth::parser::read() in BOARD w/ IP" << boarddata.properties.ipv4string << "cannot find: maxSizeROP. using:" << boarddata.properties.maxSizeROP;
      |                                                                                                                                         ^~~~~~~~~~

make[5]: *** [src/libraries/icubmod/embObjLib/CMakeFiles/ethResources.dir/build.make:174: src/libraries/icubmod/embObjLib/CMakeFiles/ethResources.dir/ethParser.cpp.o] Error 1
make[4]: *** [CMakeFiles/Makefile2:3194: src/libraries/icubmod/embObjLib/CMakeFiles/ethResources.dir/all] Error 2
make[3]: *** [Makefile:146: all] Error 2
make[2]: *** [CMakeFiles/ICUB.dir/build.make:85: src/ICUB/CMakeFiles/YCMStamp/ICUB-build] Error 2
make[1]: *** [CMakeFiles/Makefile2:1326: CMakeFiles/ICUB.dir/all] Error 2
make: *** [Makefile:101: all] Error 2

a bit surprise this was never catched by conda-forge CI, but anyhow it is a simple fix (add the missing include).

[traversaro]

New failure:

[100%] Building CXX object bindings/CMakeFiles/_icub_python.dir/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx.o
/home/traversaro/robotology-superbuild/build/src/ICUB/bindings/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx: In function ‘PyObject* _wrap_waveletIntegrand(PyObject*, PyObject*)’:
/home/traversaro/robotology-superbuild/build/src/ICUB/bindings/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx:26621:22: error: ‘waveletIntegrand’ was not declared in this scope; did you mean ‘_wrap_waveletIntegrand’?
26621 |     result = (double)waveletIntegrand(arg1,arg2);
      |                      ^~~~~~~~~~~~~~~~
      |                      _wrap_waveletIntegrand
make[2]: *** [bindings/CMakeFiles/_icub_python.dir/build.make:76: bindings/CMakeFiles/_icub_python.dir/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:4786: bindings/CMakeFiles/_icub_python.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

This is a bit complicated. Basically, waveletIntegrand is a friend function of icub::ctrl::WaveletEncoder , see https://github.com/robotology/icub-main/blob/v2.5.0/src/libraries/ctrlLib/include/iCub/ctrl/functionEncoder.h#L126 . The reason why it is a friend function and not a method is that it needs to be passed to gsl in https://github.com/robotology/icub-main/blob/v2.5.0/src/libraries/ctrlLib/src/functionEncoder.cpp#L119 (I guess). For some reason, SWIG wants to wrap that function, even if it is not declared in the headers (it is directly defined in C++). I guess it is safe to simply ignore the function, that anyhow is not meant to be called by users outside of icub-main.

[traversaro]

New failure:

[100%] Building CXX object bindings/CMakeFiles/_icub_python.dir/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx.o
/home/traversaro/robotology-superbuild/build/src/ICUB/bindings/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx: In function ‘PyObject* _wrap_waveletIntegrand(PyObject*, PyObject*)’:
/home/traversaro/robotology-superbuild/build/src/ICUB/bindings/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx:26621:22: error: ‘waveletIntegrand’ was not declared in this scope; did you mean ‘_wrap_waveletIntegrand’?
26621 |     result = (double)waveletIntegrand(arg1,arg2);
      |                      ^~~~~~~~~~~~~~~~
      |                      _wrap_waveletIntegrand
make[2]: *** [bindings/CMakeFiles/_icub_python.dir/build.make:76: bindings/CMakeFiles/_icub_python.dir/CMakeFiles/_icub_python.dir/icubPYTHON_wrap.cxx.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:4786: bindings/CMakeFiles/_icub_python.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

This is a bit complicated. Basically, waveletIntegrand is a friend function of icub::ctrl::WaveletEncoder , see https://github.com/robotology/icub-main/blob/v2.5.0/src/libraries/ctrlLib/include/iCub/ctrl/functionEncoder.h#L126 . The reason why it is a friend function and not a method is that it needs to be passed to gsl in https://github.com/robotology/icub-main/blob/v2.5.0/src/libraries/ctrlLib/src/functionEncoder.cpp#L119 (I guess). For some reason, SWIG wants to wrap that function, even if it is not declared in the headers (it is directly defined in C++). I guess it is safe to simply ignore the function, that anyhow is not meant to be called by users outside of icub-main.

See swig/swig#2828 for a related SWIG issue.