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Refactor CMake with JRL CMake Modules v2 #794

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@ahoarau ahoarau commented Dec 11, 2025 •
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⚠️DO NOT MERGE UNTIL jrl-umi3218/jrl-cmakemodules#798 is merged ⚠️

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

  • Full rewrite of the CMake Files in modern CMake
  • Remove submodules
  • c++17 minimum required
  • 🚧 NIX CI is temporarily disabled
  • CI pixi on Ubuntu-22.04
  • BREAKING: hpp-fcl-compatiblity is now a COMPONENT
find_package(coal CONFIG REQUIRED COMPONENTS coal coal-hpp-fcl-compatibility)

TODO:

  • Python standalone

@ahoarau ahoarau marked this pull request as draft December 11, 2025 16:39
@ahoarau ahoarau force-pushed the jrl-next branch 2 times, most recently from 075411a to e6124d7 Compare January 12, 2026 16:39
ahoarau added 27 commits January 17, 2026 12:11
@ahoarau
remove submodules
2214eca
@ahoarau
add new options COAL_BUILD_WITH_LOGGING, QHULL and OCTOMAP
0f65ed6
@ahoarau
ignore more stuff
531778c
@ahoarau
simplify gersemi config, do not use custom function parsing
b139933
@ahoarau
upgrade pre-commit config versions
55950eb
@ahoarau
update pixi.toml with new options
3bd958d
@ahoarau
remove hpp-fcl compat config
2b4fb9e 
new method with COMPONENTS
@ahoarau
set the name coal_pywrap_nb for the nanobind python module
25deb98
@ahoarau
remove __init__.py and windows_dll_manager.py
722f23a 
they are now generated by jrl v2
@ahoarau
reorder tests in cpp and python folders
dbdf450
@ahoarau
rewrite CMake files with JRL CMake Modules v2
6dcd252
@ahoarau
intregrate get-jrl-cmakemodules.cmake
0f4c1b3
@ahoarau
update jrl link to use jrl-cmakemodules fork
85970e3
@ahoarau
macos-linux-pip.yml: remove submodule
4ea7445
@ahoarau
add test-import-python and separate test-packaging in separate privat…
fb3a53d 
…e commands
@ahoarau
require jrl-cmakemodules version 2.0.0
dbf8eef
@ahoarau
include stubs pyi files in the installation
e4528fe
@ahoarau
ros-ci: add verbosity
3107d9e
@ahoarau
changelog: add jrl v2 entry
45ea130
@ahoarau
fix option name being COAL_BUILD_WITH_OCTOMAP not COAL_HAS_OCTOMAP
3340e8b 
if we enable OCTOMAP, the library is REQUIRED. We are supposed to have it.
testing is a library is available creates opacity in what we are actually building, better to enable+require, fatal_error otherwise
@ahoarau
remove useless _USE_MATH_DEFINES
40bce8f
@ahoarau
use correct boost unit test headers to fix double-free issue
8b5c68f 
Boost.Test was included as a standalone library (included/unit_test.hpp), but linked against a shared_library Boost::unit_test_framework
@ahoarau
replace M_PI by boost::math::constants::pi<Scalar>()
0bbbf3b
@ahoarau
gersemi: add back definitions
0dddd16
@ahoarau
ci: put back cache in ros ci
a05bf1f
@ahoarau
ci: temporarly disable nix ci
9ca5c22
@ahoarau
cmake: GENERATE_PYTHON_STUBS is ON by default
194ee94
ahoarau added 29 commits January 17, 2026 12:14
@ahoarau
cmake: add back license on top of cmake file
8094d45
@ahoarau
cmake: check modules with BUILD_PYTHON_INTERFACE
1135ca6
@ahoarau
cmake: enforce MSVC conformance for coal_pywrap module
912c7ff
@ahoarau
cmake: separate find python and (nano)eigenpy
457dbb9
@ahoarau
cmake: update jrl_boostpy_add_stubs api
eee383a
@ahoarau
cmake: add ros2 support
3be52f5
@ahoarau
ci: use BUILD_PYTHON_INTERFACE
1f1b4db
@ahoarau
cmake: generate ros2 python package files with condiition
c1f5cb7
@ahoarau
ci: enable cmake args
55103f8
@ahoarau
cmake: use COAL_BUILD_WITH_OCTOMAP condition
f3ab30a
@ahoarau
pixi: remove unused PYTHON_EXECUTABLE
7164f5c
@ahoarau
cmake: use COAL_BUILD_WITH_OCTOMAP condition
5748f6b
@ahoarau
cmake: use COAL_ENABLE_LOGGING
f9164a8
@ahoarau
cmake: workaround a linking issue with Boost::serialization on clang-cl
5c95c98
@ahoarau
pixi: put tracy in a feature
9f26696
@ahoarau
pixi: activate the COAL_BUILD_WITH_TRACY and COAL_BUILD_WITH_LOGGING …
4d818b0 
…options via env vars
@ahoarau
pixi: enable the clang feature on all platforms
6ec772a
@ahoarau
cpp: rename COAL_HAVE_OCTOMAP to COAL_HAS_OCTOMAP
c670b74
@ahoarau
xi: enable the all-clang job
418f9c3
@ahoarau
ci: cosmetic changes
8a95247
@ahoarau
ci: do not specify bash
b0b9570
@ahoarau
ci: activate the all-tracy job
256b14b
@ahoarau
cmake: remove filesystem dep on tests
02e161e
@ahoarau
cmake: remove qhull_r dep
ec105b7
@ahoarau
ci: test the default env, install and test tasks
a6f2551
@ahoarau
cmake: Qhull::qhull_r seems required
3fe7cc6
@ahoarau
ci: show more info on ccache z
1326617
@ahoarau
ci: improve test matrix and test on ubuntu-22.04
5cc95f5
@ahoarau
pixi: update lock file
66896e5
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@ahoarau