Permit building python bindings separately from gz-math library by scpeters · Pull Request #636 · gazebosim/gz-math

scpeters · 2024-10-11T22:14:44Z

🎉 New feature

Summary

This allows the src/python_pybind11/CMakeLists.txt file to be built as a top-level cmake project against an external gz-math library. The first commit (646de60) is a patch from @traversaro used in conda, and the second commit (d2bae80) replaces the GZ_LIB_INSTALL_DIR cmake variable with CMAKE_INSTALL_LIBDIR (see GzPackaging.cmake:111) since GZ_LIB_INSTALL_DIR is not defined with the minimal cmake project added in 646de60.

Test it

Invoke cmake on the root CMakeLists.txt with using -DSKIP_PYBIND11=ON to build and install the gz-math library without python bindings.
Invoke cmake on src/python_pybind11/CMakeLists.txt with -DPython_EXECUTABLE=/path/to/python to build and install python bindings for a given python version
Repeat 2 with for each desired version of python

I have a draft of an updated homebrew formula using this branch in osrf/homebrew-simulation#2836

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>

Use CMAKE_INSTALL_LIBDIR from GNUInstallDirs instead of GZ_LIB_INSTALL_DIR, which won't be available if only building python bindings. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

ahcorde

Do you mind to add some instructions in the source compilation ?

Refer to https://brew.sh instead of duplicating the brew installation command. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

* Describe Pybind11 as a dependency * Document how to build bindings separately from the main gz-math library Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2024-10-14T14:18:49Z

Do you mind to add some instructions in the source compilation ?

I added some in 54978b9; let me know if there is more that I should add

j-rivero

No problems found, just some comments to avoid duplicating code. Great work!

j-rivero · 2024-10-15T13:38:58Z

src/python_pybind11/CMakeLists.txt

+# Detect if we are doing a standalone build of the bindings, using an external gz-math
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  cmake_minimum_required(VERSION 3.16)
+  set(GZ_MATH_VER 8)


I'm afraid about keeping this number in sync with bumps. As a workaround we can put a comment in the main CMakeLists.txt pointing to here. In the mid-term, it would be nice to integrate our CMake code to grab the version/name from git directly, probably using something like https://github.com/LecrisUT/CMakeExtraUtils/blob/main/cmake/DynamicVersion.md

I am not a big fan of using git for version information as fails for tarballs. Something a bit ugly but effective could be to grep the major version from the parent folder CMakeLists.txt .

or we could extract the version numbers from package.xml, since we also have a workflow to keep those versions in sync

prototype for extracting version numbers from package.xml: #639

I've also opened gazebosim/gz-cmake#456 adding the python script from #639 and a cmake helper function. If you don't mind approving this PR for now so we can start to fix CI, I will follow-up by using the gz-cmake helper once it has been merged and released

j-rivero · 2024-10-15T13:41:18Z

src/python_pybind11/CMakeLists.txt

+  cmake_minimum_required(VERSION 3.16)
+  set(GZ_MATH_VER 8)
+  project(gz-math${GZ_MATH_VER}-python VERSION ${GZ_MATH_VER})
+  find_package(Python3 COMPONENTS Interpreter Development REQUIRED)


It would be nice if we can move the find_package logic from the main CMakeLists.txt to here so we don't have a duplicate logic.

I've moved the find_package(pybind11) call here in 06b8ab8 using the CMAKE_REQUIRE_FIND_PACKAGE_pybind11 variable to support finding it as an optional or required package depending on the context.

It's tricky to move the find_package(Python3) call to this folder because the Development component can be optional or required, depending on the context, but the FindPython3 module doesn't support CMAKE_REQUIRE_FIND_PACKAGE_* for its components. So I just left the find_package(Python3) code as is

src/python_pybind11/CMakeLists.txt

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Moves find_package(pybind11) call to src/python_pybind11 folder. When invoked through the root CMakeLists.txt, it treats pybind11 as an optional dependency, but when invoked from that folder, it treats it as required by setting CMAKE_REQUIRE_FIND_PACKAGE_pybind11 to TRUE. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

azeey

LGTM!

comments have been addressed

scpeters · 2024-10-29T07:13:49Z

https://github.com/Mergifyio backport gz-math7

mergify · 2024-10-29T07:14:03Z

backport gz-math7

✅ Backports have been created

Details

#640 Permit building python bindings separately from gz-math library (backport #636) has been created for branch gz-math7 but encountered conflicts

This allows the src/python_pybind11/CMakeLists.txt file to be built as a top-level cmake project against an external gz-math library, with documentation added to the installation tutorial. The logic for finding pybind11 is also moved from the root CMakeLists.txt to src/python_pybind11/CMakeLists.txt to reduce code duplication. When invoked through the root CMakeLists.txt, pybind11 is treated as an optional dependency, but when invoked from the src/python_pybind11 folder, pybind11 is treated it as required by setting CMAKE_REQUIRE_FIND_PACKAGE_pybind11 to TRUE. Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it> (cherry picked from commit 17deea2) # Conflicts: # CMakeLists.txt # src/python_pybind11/CMakeLists.txt

Backport of #636 with adapted package finding logic and a note about requiring cmake 3.22.1. This allows the src/python_pybind11/CMakeLists.txt file to be built as a top-level cmake project against an external gz-math library, with documentation added to the installation tutorial. The logic for finding pybind11 is also moved from the root CMakeLists.txt to src/python_pybind11/CMakeLists.txt to reduce code duplication. When invoked through the root CMakeLists.txt, pybind11 is treated as an optional dependency, but when invoked from the src/python_pybind11 folder, pybind11 is treated it as required by setting CMAKE_REQUIRE_FIND_PACKAGE_pybind11 to TRUE. Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it> (cherry picked from commit 17deea2)

The ability to build python bindings separately from the core library was added in #636 and is currently used when building the homebrew formulae but is not directly tested in CI. This adds a quick test to the Ubuntu GitHub actions workflow to compile the python bindings after compiling example code. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

traversaro and others added 2 commits October 11, 2024 11:23

Permit to build bindings against an external gz-math

646de60

Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>

Fix python install path

d2bae80

Use CMAKE_INSTALL_LIBDIR from GNUInstallDirs instead of GZ_LIB_INSTALL_DIR, which won't be available if only building python bindings. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters requested a review from adityapande-1995 as a code owner October 11, 2024 22:14

github-actions bot added the 🏛️ ionic Gazebo Ionic label Oct 11, 2024

scpeters mentioned this pull request Oct 11, 2024

Formulae with python bindings only build against 1 version of python osrf/homebrew-simulation#2834

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32 tasks

ahcorde previously requested changes Oct 14, 2024

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scpeters added 2 commits October 14, 2024 16:15

Reference brew install instructions in tutorial

a670b65

Refer to https://brew.sh instead of duplicating the brew installation command. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Add details about building python bindings

54978b9

* Describe Pybind11 as a dependency * Document how to build bindings separately from the main gz-math library Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters requested a review from j-rivero October 14, 2024 18:34

scpeters mentioned this pull request Oct 15, 2024

Permit building python bindings separately from libsdformat library gazebosim/sdformat#1491

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j-rivero reviewed Oct 15, 2024

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scpeters added 4 commits October 18, 2024 14:06

Use same required cmake version

cb32516

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Remove unneeded call to enable_testing()

63d16a8

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Merge branch 'gz-math8' into scpeters/build_python_bindings_separately

b475bdc

scpeters mentioned this pull request Oct 20, 2024

Prototype: parse version number from package.xml #639

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azeey approved these changes Oct 28, 2024

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bperseghetti approved these changes Oct 28, 2024

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ahcorde approved these changes Oct 28, 2024

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scpeters merged commit 17deea2 into gz-math8 Oct 28, 2024

scpeters deleted the scpeters/build_python_bindings_separately branch October 28, 2024 20:50

scpeters mentioned this pull request Oct 28, 2024

gz-math8: patch to build multiple python bindings osrf/homebrew-simulation#2839

Merged

mergify bot mentioned this pull request Oct 29, 2024

Permit building python bindings separately from gz-math library (backport #636) #640

Merged

9 tasks

mergify bot mentioned this pull request Nov 6, 2024

Permit building python bindings separately from libsdformat library (backport #1491) gazebosim/sdformat#1497

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9 tasks

This was referenced Nov 8, 2024

Permit building python bindings separately from main library gazebosim/gz-transport#554

Merged

python bindings: get version from package.xml #642

Merged

mergify bot mentioned this pull request Nov 10, 2024

Permit building python bindings separately from main library (backport #554) gazebosim/gz-transport#555

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9 tasks

scpeters mentioned this pull request Apr 9, 2025

Test building python bindings in Ubuntu CI #672

Merged

8 tasks

traversaro mentioned this pull request Nov 4, 2025

Move gz-rendering-ogre to a package not installable by default? conda-forge/gz-rendering-feedstock#47

Open

scpeters mentioned this pull request Mar 12, 2026

Rotary: new formulae osrf/homebrew-simulation#3363

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scpeters commented Oct 11, 2024

🎉 New feature

Summary

Test it

Checklist

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scpeters commented Oct 29, 2024

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