[misc] Remove legacy compilation mode since no longer necessary.

duburcqa · Apr 18, 2021 · 23e8b11 · 23e8b11
1 parent cdae2c0
commit 23e8b11
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Showing 3 changed files with 21 additions and 82 deletions.
diff --git a/build_tools/cmake/base.cmake b/build_tools/cmake/base.cmake
@@ -58,35 +58,7 @@ if(Boost_NO_SYSTEM_PATHS AND (NOT DEFINED BOOST_ROOT))
     set(BOOST_ROOT "/opt/install/pc/")
 endif()
 
-# Determine if the old legacy old for Ubuntu 18 must be used.
-# It will not use "find_package" but instead plain old "link_directories"
-# and "include_directories" directives.
-# Thus it requires the dependencies to be installed from robotpkg apt repository.
-# TODO: Remove legacy mode after dropping support of Ubuntu 18 and moving to
-# Eigen >= 3.3.7, Boost >= 1.71, and Pinocchio >=2.4.0.
-find_package(Boost QUIET)
-string(REPLACE "_" "." BOOST_VERSION "${Boost_LIB_VERSION}")
-if(BOOST_VERSION VERSION_LESS "1.71.0")
-    set(LEGACY_MODE ON)
-endif()
-if(LEGACY_MODE)
-    if(WIN32)
-        message(FATAL_ERROR "Boost >= 1.71.0 required.")
-    else()
-        message(WARNING "Boost version < 1.71.0 detected. Falling back to Ubuntu 18 legacy mode. "
-                        "Make sure depedencies have been installed via `apt-get`, and building "
-                        "against Pinocchio >= 2.5.2, and Hpp-Fcl >= 1.5.4.")
-    endif()
-endif()
-
 # Add Fallback search paths for headers and libraries
-if(LEGACY_MODE)
-    link_directories("/opt/openrobots/lib/")
-    link_directories("/opt/install/pc/lib/")
-    include_directories(SYSTEM "/opt/openrobots/include/")
-    include_directories(SYSTEM "/opt/install/pc/include/")
-    include_directories(SYSTEM "/opt/install/pc/include/eigen3/")
-endif()
 list(APPEND CMAKE_PREFIX_PATH "/opt/openrobots/")
 
 # Due to license considerations, we will only use the MPL2 parts of Eigen.

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
@@ -6,30 +6,21 @@ project(${LIBRARY_NAME}_core VERSION ${BUILD_VERSION})
 
 # Find dependencies
 find_package(Boost REQUIRED COMPONENTS system filesystem serialization date_time thread)
-
-if(NOT LEGACY_MODE)
-    find_package(urdfdom REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH) # It is impossible to specify the version because it is not exported in cmake config files...
-    find_package(PkgConfig QUIET)  # Using pkgconfig is the only way to get the library version...
-    if (PkgConfig_FOUND)
-        pkg_check_modules(_URDFDOM QUIET "urdfdom")
-        if ((_URDFDOM_FOUND) AND (NOT _URDFDOM_PREFIX STREQUAL "/usr"))
-            set(urdfdom_VERSION "${_URDFDOM_VERSION}")
-        endif()
-    endif()
-    if(urdfdom_VERSION)
-        message(STATUS "Found urdfdom: version ${urdfdom_VERSION}")
-    else()
-        message(STATUS "Found urdfdom")
-    endif()
-
-    find_package(pinocchio 2.5.2 NO_MODULE NO_CMAKE_SYSTEM_PATH)  # Pinocchio v2.5.2 introduces 'isNormalized' method
-    if(pinocchio_FOUND)
-        message(STATUS "Found pinocchio: version ${pinocchio_VERSION}")
-    else()
-        find_package(hpp-fcl 1.5.4 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # hpp-fcl >= 1.5.4 adds support of collision of primitives with halfspace
+find_package(urdfdom REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH) # It is impossible to specify the version because it is not exported in cmake config files...
+find_package(PkgConfig QUIET)  # Using pkgconfig is the only way to get the library version...
+if (PkgConfig_FOUND)
+    pkg_check_modules(_URDFDOM QUIET "urdfdom")
+    if ((_URDFDOM_FOUND) AND (NOT _URDFDOM_PREFIX STREQUAL "/usr"))
+        set(urdfdom_VERSION "${_URDFDOM_VERSION}")
     endif()
 endif()
-
+if(urdfdom_VERSION)
+    message(STATUS "Found urdfdom: version ${urdfdom_VERSION}")
+else()
+    message(STATUS "Found urdfdom")
+endif()
+find_package(pinocchio 2.5.2 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # Pinocchio v2.5.2 introduces 'isNormalized' method
+find_package(hpp-fcl 1.5.4 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # hpp-fcl >= 1.5.4 adds support of collision of primitives with halfspace
 find_package(Eigen3 3.3.0 REQUIRED NO_MODULE)  # It adds the target Eigen3::Eigen
 
 # Pinocchio-specific stuffs
@@ -118,9 +109,7 @@ target_include_directories(${PROJECT_NAME}-object SYSTEM PUBLIC
 
 # Include headers from other libraries (in such a way to avoid any warnings compiling them)
 target_include_directories(${PROJECT_NAME}-object SYSTEM PUBLIC "${Boost_INCLUDE_DIRS}")
-if(NOT LEGACY_MODE)
-    target_include_directories(${PROJECT_NAME}-object SYSTEM PUBLIC "${urdfdom_INCLUDE_DIRS}")
-endif()
+target_include_directories(${PROJECT_NAME}-object SYSTEM PUBLIC "${urdfdom_INCLUDE_DIRS}")
 get_target_property(Eigen3_INCLUDE_DIRS Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
 target_include_directories(${PROJECT_NAME}-object SYSTEM PUBLIC ${Eigen3_INCLUDE_DIRS})
 
@@ -147,23 +136,12 @@ foreach(target "${PROJECT_NAME}" "${LIBRARY_NAME}")
     target_compile_features(${target} PUBLIC cxx_std_17)
 
     # Linking with other libraries (in such a way to avoid any warnings compiling them)
-    if(pinocchio_FOUND)
-        target_link_libraries_system(${target} pinocchio::pinocchio)
-    elseif(hpp-fcl_FOUND)
-        target_link_libraries_system(${target} hpp-fcl::hpp-fcl)
-    elseif(LEGACY_MODE)
-        # It is necessary to link to Pinocchio shared lib since 2.4.0
-        target_link_libraries(${target} pinocchio hpp-fcl)
-    endif()
-    if(NOT LEGACY_MODE)
-        if (NOT "${urdfdom_LIBRARIES}" MATCHES ".*tinyxml.*")
-            list(APPEND urdfdom_LIBRARIES "tinyxml")
-        endif()
-        target_link_libraries(${target} "${urdfdom_LIBRARIES}")
-    else()
-        # Fallback to raw library name
-        target_link_libraries(${target} urdfdom_model)
+    target_link_libraries_system(${target} pinocchio::pinocchio)
+    target_link_libraries_system(${target} hpp-fcl::hpp-fcl)
+    if (NOT "${urdfdom_LIBRARIES}" MATCHES ".*tinyxml.*")
+        list(APPEND urdfdom_LIBRARIES "tinyxml")
     endif()
+    target_link_libraries(${target} "${urdfdom_LIBRARIES}")
     target_link_libraries(${target} Eigen3::Eigen)
     target_link_libraries(${target} jsoncpp::jsoncpp hdf5::hdf5_cpp hdf5::hdf5 hdf5::zlib)  # Beware the order is critical !
     target_link_libraries(${target} ${Boost_LIBRARIES})

diff --git a/python/jiminy_pywrap/CMakeLists.txt b/python/jiminy_pywrap/CMakeLists.txt
@@ -5,14 +5,7 @@ cmake_minimum_required(VERSION 3.10)
 project(${LIBRARY_NAME}_pywrap VERSION ${BUILD_VERSION})
 
 # Find libraries and headers
-if(NOT LEGACY_MODE)
-    find_package(eigenpy 2.0.2 NO_MODULE NO_CMAKE_SYSTEM_PATH) # It adds target include lib eigenpy::eigenpy
-    if((NOT eigenpy_FOUND) AND (WIN32))
-        message(FATAL_ERROR "Eigenpy not found, CMake will exit.")
-    elseif(eigenpy_FOUND)
-        message(STATUS "Found eigenpy: version ${eigenpy_VERSION}")
-    endif()
-endif()
+find_package(eigenpy 2.0.2 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)
 
 # Add cpp sources (in binary dir, since the sources are pre-processed to substitute docstring)
 set(SRC
@@ -56,11 +49,7 @@ target_include_directories(${PROJECT_NAME}
         SYSTEM PRIVATE ${NumPy_INCLUDE_DIRS} ${Python_INCLUDE_DIRS}
 )
 target_link_libraries(${PROJECT_NAME} ${LIBRARY_NAME}_core "${BOOST_PYTHON_LIB}")
-if(NOT LEGACY_MODE)
-    target_link_libraries_system(${PROJECT_NAME} eigenpy::eigenpy)
-else()
-    target_link_libraries(${PROJECT_NAME} eigenpy) # Fallback to raw library name
-endif()
+target_link_libraries_system(${PROJECT_NAME} eigenpy::eigenpy)
 
 # Install C++ headers
 install(DIRECTORY "include/${LIBRARY_NAME}"