Merge pull request #21 from nim65s/ros

ROS: fix nanobind

Author: ManifoldFR

.github/workflows/ros_ci.yml

@@ -0,0 +1,56 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI - Linux via ROS
+
+# This determines when this workflow is run
+on:
+  push:
+    paths-ignore:
+      - '*.md'
+      - 'LICENSE'
+      - '.pre-commit-config.yaml'
+  pull_request:
+    paths-ignore:
+      - '*.md'
+      - 'LICENSE'
+      - '.pre-commit-config.yaml'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: humble}
+          - {ROS_DISTRO: jazzy}
+          - {ROS_DISTRO: kilted}
+          - {ROS_DISTRO: rolling}
+    env:
+      # PRERELEASE: true  # Fails due to issues in the underlying Docker image
+      BUILDER: colcon
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@e3d16c224caf4832cf68e74093eb70f3a979b4cc'
+        env: ${{ matrix.env }}
+
+  check:
+    if: always()
+    name: check-ros-ci
+
+    needs:
+    - CI
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "cmake"]
 	path = cmake
 	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
+[submodule "ext/nanobind"]
+	path = ext/nanobind
+	url = https://github.com/wjakob/nanobind

CMakeLists.txt

@@ -112,7 +112,10 @@ execute_process(
   OUTPUT_STRIP_TRAILING_WHITESPACE
   OUTPUT_VARIABLE nanobind_ROOT
 )
-find_package(nanobind CONFIG REQUIRED)
+find_package(nanobind 2.5.0 CONFIG)
+if(NOT nanobind_FOUND)
+  add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/ext/nanobind)
+endif()
 
 # Setup main targets
 file(
@@ -242,7 +245,4 @@ install(
 ADD_HEADER_GROUP(${PROJECT_NAME}_HEADERS)
 ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
 
-# Install ROS package.xml
-install(FILES package.xml DESTINATION share/${PROJECT_NAME})
-
 SETUP_PROJECT_FINALIZE()

cmake

@@ -14,8 +14,6 @@
   <build_depend>doxygen</build_depend>
 
   <!-- The following tag is recommended by REP-136 -->
-  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
-
   <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</depend>