Refactor CMake with JRL CMake Modules v2 by ahoarau · Pull Request #437 · Simple-Robotics/proxsuite

ahoarau · 2025-12-11T11:52:00Z

⚠️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: archives can now be used
Remove external libraries
c++17 minimum required
pixi support
🚧 NIX CI is temporarily disabled
Fix Documentation links
Support for find_package components

find_package(proxsuite 0.7.1 CONFIG REQUIRED COMPONENTS proxsuite vectorized)

jorisv

Nice work

jorisv · 2025-12-30T15:18:29Z

.github/workflows/conda/environment.yml

This can be removed. Pixi CI replace the conda-ci.

jorisv · 2025-12-30T15:19:56Z

.github/workflows/ci-linux-osx-win-conda.yml

This should be removed. The Pixi CI will replace this workflow.

jorisv · 2025-12-30T15:43:02Z

bindings/python/proxsuite/__init__.py

+import os
+
+os.environ["KMP_DUPLICATE_LIB_OK"] = (
+    "True"  # to avoid issues with OpenMP in some environments
+)
+


Can you show me how to reproduce this issue ?

It is simply ported from upstream https://github.com/Simple-Robotics/proxsuite/blob/devel/bindings/python/CMakeLists.txt#L254-L258

I have no way to verify if this is still useful/relevant.
Much better to put it here than the complicated code inside cmake with conditions. It should not hurt of not used.

jorisv · 2025-12-30T16:01:32Z

examples/python/CMakeLists.txt

-    "${PROJECT_NAME}-example-py-${EXAMPLE_NAME}"
-    "${EXAMPLE_FILE}"
-    "bindings/python"
+function(proxsuite_add_python_example name)


This should be added as a test

jorisv · 2025-12-30T16:02:02Z

examples/cpp/CMakeLists.txt

+function(proxsuite_add_example name)
+  add_executable(proxsuite-example-${name} ${name}.cpp)
+  target_link_libraries(proxsuite-example-${name} PRIVATE proxsuite)
+  add_dependencies(proxsuite-examples-cpp proxsuite-example-${name})
+endfunction()


This should be added as a test

jorisv · 2025-12-30T16:19:26Z

CMakeLists.txt

We must generate ament file before merging this PR

jorisv · 2025-12-30T16:19:58Z

CMakeLists.txt

We must prefix all option with PROXSUITE_ when jrl_option support back compatibility option.

Let's keep that for another PR. the cmake dependent options is not ported yet.

jorisv · 2025-12-30T16:21:43Z

CMakeLists.txt

    include(FetchContent)
    FetchContent_Declare(
-      "jrl-cmakemodules"
-      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
+      catch2
+      URL https://github.com/catchorg/Catch2/archive/refs/tags/v3.11.0.zip
+      URL_HASH MD5=ce96600812f04d19694f488ed2de75c5
+      EXCLUDE_FROM_ALL
    )
-    FetchContent_MakeAvailable("jrl-cmakemodules")
-    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+    FetchContent_MakeAvailable(catch2)
+    include(${catch2_SOURCE_DIR}/extras/Catch.cmake)


Add a comment to know when we can remove this part (on the next Ubuntu LTS ?)

jorisv · 2025-12-30T16:22:19Z

CMakeLists.txt

+  if(NOT cereal_FOUND)
+    message(
+      WARNING
+      "[proxsuite] cereal library not found. Falling back to FetchContent to get cereal v1.3.2"
+    )
+    include(FetchContent)
+    FetchContent_Declare(
+      cereal
+      URL https://github.com/USCiLab/cereal/archive/refs/tags/v1.3.2.zip
+      URL_HASH MD5=953a872cd3d78abf2e29212987a0ba71
+      SOURCE_SUBDIR
+      download_only
+      EXCLUDE_FROM_ALL
+    )
+    FetchContent_MakeAvailable(cereal)
+    add_library(cereal::cereal INTERFACE IMPORTED)
+    target_include_directories(cereal::cereal SYSTEM INTERFACE ${cereal_SOURCE_DIR}/include)
+  endif()


Add a comment to know when we can remove this part (on the next Ubuntu LTS ?)

jorisv · 2025-12-30T16:22:51Z

CMakeLists.txt

+  if(NOT nanobind_FOUND)
+    message(
+      WARNING
+      "[proxsuite] nanobind library not found. Falling back to FetchContent to get nanobind v2.9.2"
+    )
+    include(FetchContent)
+    FetchContent_Declare(
+      nanobind
+      GIT_REPOSITORY https://github.com/wjakob/nanobind.git
+      GIT_TAG v2.9.2
+      EXCLUDE_FROM_ALL
+    )
+    FetchContent_MakeAvailable(nanobind)
+  endif()


Add a comment to know when we can remove this part (on the next Ubuntu LTS ?)

remove custom functions as they format in a strange way when favour-inlining (the default) is used.

and submodule dirs

seen with sarah

ahoarau marked this pull request as draft December 11, 2025 16:39

ahoarau force-pushed the jrl-next branch 2 times, most recently from bd8de6d to c36d61e Compare December 22, 2025 14:54

jorisv requested changes Dec 30, 2025

View reviewed changes

ahoarau force-pushed the jrl-next branch 6 times, most recently from 930496b to e4a6dd2 Compare January 9, 2026 07:33

ahoarau force-pushed the jrl-next branch 3 times, most recently from 9920160 to 7ce7cbf Compare January 23, 2026 16:09

ahoarau force-pushed the jrl-next branch 2 times, most recently from f85e65e to e238efe Compare February 11, 2026 18:32

ahoarau force-pushed the jrl-next branch from 7def2f0 to 3b68790 Compare February 13, 2026 10:25

ahoarau added 14 commits February 13, 2026 11:26

ignore more stuff

41daed4

update gersemi conf

6890607

remove custom functions as they format in a strange way when favour-inlining (the default) is used.

add KMP_DUPLICATE_LIB_OK directly in the __init__.py

7db420d

use raw string format in QPFunction to prevent warning during stub gen

8424762

fix documentation compile option

5ba2037

add pixi support

0447173

remove submodules

999629c

remove unused cmake-external

ad1cc54

remove external libraries

5f9aed0

and submodule dirs

update doc

c0d6f2a

use cmake provided doxygen functions

c0fc03d

add white bg logo for documentation and readme

a37b6a8

factorize.hpp: fix conversion warning

f9d09c4

seen with sarah

remove no longer needed condition in c++17

9184bb5

ahoarau added 20 commits February 13, 2026 11:27

cmake: check Eigen3::Eigen target before calling find_package

588526f

cmake: use proxsuite::proxsuite target

3485b70

cmake: use new option api

4ae6221

gersemi: put back definitions

a7cdac5

cmake: reformat tests

0a09996

cmake: add PROXSUITE_EXPORT_PACKAGE option

8f3723e

cmake: add eigen fetchcontent support for testing

867e7c0

cmake: fix new option API

5b7e75d

pixi: isolate packaging tests

900c79b

pixi: update lock file

4871ca8

pixi: update lock file

8b04820

cmake: only install the html folder, and putit in doc component

af4a842

cpp: make sure maros sparse test finds the helper header

613af1f

cmake: add maros_meszaros label

5d2ea7c

cmake: remove the eigen3 find_package fallback

689b803

pixi: refactor into features

7e9ac61

ci: update with new pixi file

91f3a6a

pixi: update lock file

38e5d7c

rosci: do not use prerelease

14488c2

cmake: update the get-jrl messages

51ed20e

ahoarau force-pushed the jrl-next branch from 3b68790 to a21ff36 Compare February 13, 2026 10:29

ahoarau added 4 commits February 13, 2026 11:31

pyproject.toml: add version constraints, use ninja, and format

ac5064a

pixi: build wheels

c093417

pixi: update lock file

29cf0f2

ci: update wheel ci to use pixi

3b2c152

ahoarau force-pushed the jrl-next branch from a21ff36 to 3b2c152 Compare February 13, 2026 10:31

ahoarau added 4 commits February 13, 2026 11:39

ci: pypi only on release

7ca8112

cmake: require jrl >=1.2 to get the jrl-v2

19606d7

cmake: update python and nanobind min required

0fbad58

pixi: update min python and nanobind version

934909a

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ahoarau commented Dec 11, 2025 •

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