Enable 24.04 CI, require cmake 3.22.1

.github/workflows/ci.yml

@@ -34,3 +34,19 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  noble-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]
+        with:
+          extra_args: --all-files
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble
+        with:
+          # per bug https://github.com/gazebosim/gz-sim/issues/1409
+          cmake-args: '-DBUILD_DOCS=OFF'

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 #============================================================================
 # Initialize the project
@@ -65,9 +65,6 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
 # Search for project-specific dependencies
 #============================================================================
 
-# Setting this policy enables using the protobuf_MODULE_COMPATIBLE
-# set command in CMake versions older than 13.13
-set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
 # It needs to be set before any find_package(...) call

examples/plugin/command_actor/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

examples/plugin/custom_component/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

examples/plugin/custom_sensor_system/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

examples/plugin/gui_system_plugin/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 if(POLICY CMP0100)
   cmake_policy(SET CMP0100 NEW)

examples/plugin/hello_world/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

examples/plugin/rendering_plugins/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 if(POLICY CMP0100)
   cmake_policy(SET CMP0100 NEW)

examples/plugin/reset_plugin/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(ResetPlugins)
 

examples/plugin/system_plugin/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 find_package(gz-cmake4 REQUIRED)
 

examples/standalone/acoustic_comms_demo/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-acoustic-comms-demo)
 

examples/standalone/comms/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-comms)
 

examples/standalone/custom_server/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-custom-server)
 

examples/standalone/each_performance/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-each-performance)
 

examples/standalone/entity_creation/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-entity-creation)
 

examples/standalone/external_ecm/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-external-ecm)
 

examples/standalone/gtest_setup/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(GTestSetup)
 

examples/standalone/joy_to_twist/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-joy-to-twist)
 

examples/standalone/joystick/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 # joystick currently works only on linux
 
 project(gz-sim-joystick)

examples/standalone/keyboard/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-keyboard)
 

examples/standalone/light_control/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-light-control)
 

examples/standalone/lrauv_control/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-lrauv-control)
 

examples/standalone/marker/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-marker)
 

examples/standalone/multi_lrauv_race/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-multi-lrauv-race)
 

examples/standalone/scene_requester/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-scene-requester)
 

python/CMakeLists.txt

@@ -1,22 +1,6 @@
-if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
-  # pybind11 logic for setting up a debug build when both a debug and release
-  # python interpreter are present in the system seems to be pretty much broken.
-  # This works around the issue.
-  set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
-endif()
-
-
 if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
-  if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
-    execute_process(
-      COMMAND "${PYTHON_EXECUTABLE}" -c "if True:
-  from distutils import sysconfig as sc
-  print(sc.get_python_lib(plat_specific=True))"
-      OUTPUT_VARIABLE Python3_SITEARCH
-      OUTPUT_STRIP_TRAILING_WHITESPACE)
-  else()
-    # Get install variable from Python3 module
-    # Python3_SITEARCH is available from 3.12 on, workaround if needed:
+  if(NOT Python3_SITEARCH)
+    # Get variable from Python3 module
     find_package(Python3 COMPONENTS Interpreter)
   endif()
 
@@ -31,7 +15,6 @@ else()
   set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
 endif()
 
-set(GZ_PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
 set(GZ_PYTHON_INSTALL_PATH "${GZ_PYTHON_INSTALL_PATH}/gz")
 
 # Set the build location and install location for a CPython extension
@@ -101,7 +84,7 @@ if (BUILD_TESTING)
     world_TEST
   )
 
-  execute_process(COMMAND "${GZ_PYTHON_EXECUTABLE}" -m pytest --version
+  execute_process(COMMAND "${Python3_EXECUTABLE}" -m pytest --version
     OUTPUT_VARIABLE PYTEST_output
     ERROR_VARIABLE  PYTEST_error
     RESULT_VARIABLE PYTEST_result)
@@ -115,10 +98,10 @@ if (BUILD_TESTING)
   foreach (test ${python_tests})
     if (pytest_FOUND)
       add_test(NAME ${test} COMMAND
-        "${GZ_PYTHON_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/UNIT_${test}.xml")
+        "${Python3_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/UNIT_${test}.xml")
     else()
       add_test(NAME ${test} COMMAND
-        "${GZ_PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
+        "${Python3_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
     endif()
 
     set(_env_vars)

src/CMakeLists.txt

@@ -306,10 +306,8 @@ foreach(CMD_TEST
   # and executables in a common CMAKE_RUNTIME_OUTPUT_DIRECTORY, so that the .dll are found
   # as they are in the same directory where the executable is loaded. For tests that are
   # launched via Ruby, this does not work, so we need to manually add CMAKE_RUNTIME_OUTPUT_DIRECTORY
-  # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that is only available
-  # since CMake 3.22. However, if an older CMake is used another trick to install the libraries
-  # beforehand
-  if (WIN32 AND CMAKE_VERSION STRGREATER "3.22")
+  # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that was added in CMake 3.22.
+  if (WIN32)
     set_tests_properties(${CMD_TEST} PROPERTIES
       ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
   endif()

test/integration/examples_build.cc

@@ -57,28 +57,6 @@ struct ExampleEntry
   }
 };
 
-//////////////////////////////////////////////////
-/// Filter examples that are known to not build or require
-/// specific configurations
-/// \param[in] _entry Example entry to check
-/// \return true if example entry should be built, false otherwise
-bool FilterEntry(const ExampleEntry &_entry)
-{
-  math::SemanticVersion cmakeVersion{std::string(CMAKE_VERSION)};
-  if (cmakeVersion < math::SemanticVersion(3, 11, 0) &&
-      (_entry.base == "custom_sensor_system" ||
-       _entry.base == "gtest_setup"))
-  {
-    gzdbg << "Skipping [" << _entry.base
-           << "] test, which requires CMake version "
-           << ">= 3.11.0. Currently using CMake "
-           << cmakeVersion
-           << std::endl;
-    return false;
-  }
-  return true;
-}
-
 //////////////////////////////////////////////////
 /// Generate a list of examples to be built.
 std::vector<ExampleEntry> GetExamples()
@@ -116,11 +94,6 @@ void ExamplesBuild::Build(const ExampleEntry &_entry)
 {
   common::Console::SetVerbosity(4);
 
-  if (!FilterEntry(_entry))
-  {
-    GTEST_SKIP();
-  }
-
   // Path to examples of the given type
   ASSERT_TRUE(gz::common::exists(_entry.sourceDir));
 

test/test_config.hh.in

@@ -23,7 +23,6 @@
 
 #define PROJECT_SOURCE_PATH "${PROJECT_SOURCE_DIR}"
 #define PROJECT_BINARY_PATH "${CMAKE_BINARY_DIR}"
-#define CMAKE_VERSION "${CMAKE_VERSION}"
 
 #define GZ_CONFIG_PATH "@CMAKE_BINARY_DIR@/test/conf"