Refactor CMake with JRL CMake Modules v2 #437

ahoarau · 2025-12-11T11:52:00Z

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
Add pixi support
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.

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

fixes warnings in the proxsuite-test-utils

its meant to be used as arg (-D), not env. --verbose is better

…erred otherwise we need to add set_target_properties(run-proxqp PROPERTIES CXX_SCAN_FOR_MODULES OFF)

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 2 times, most recently from 3c9d458 to 6ed7b91 Compare January 6, 2026 12:44

ahoarau added 24 commits January 6, 2026 13:46

ignore more stuff

1300bc7

update gersemi conf

09e760d

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

c1bf4f5

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

8da69f2

fix documentation compile option

7a03a6c

add pixi support

dc4fd28

remove submodules

1792e4a

remove unused cmake-external

6bc6967

remove external libraries

b434728

and submodule dirs

update doc

8920e83

use cmake provided doxygen functions

38ac8d2

add white bg logo for documentation and readme

1d1007a

factorize.hpp: fix conversion warning

b3f7a50

seen with sarah

remove no longer needed condition in c++17

5823ff5

remove extra Eigen?Core header

de3f9c1

workspace.hpp: fix local variable shadowing a struct member

3676f69

random_qp_problems.hpp: use static variables intead of global variables

659effc

fixes warnings in the proxsuite-test-utils

separate tests in cpp and python folders

6e1cd7d

Refactor CMake with JRL CMake Modules v2

d144b47

intregrate get-jrl-cmakemodules.cmake

4dcd6b4

update jrl url to point to fork

98f2d87

require jrl-cmakemodules version 2.0.0

0b21f02

include stubs pyi files in the installation

229a771

ros-ci: add verbosity

e0b85d0

ahoarau added 2 commits January 6, 2026 13:47

cmake: define PROXSUITE_CXX_STANDARD

2c9e639

cmake: reformat with new gersemi version

dcfd212

ahoarau force-pushed the jrl-next branch from 6ed7b91 to dcfd212 Compare January 6, 2026 12:47

ahoarau added 27 commits January 6, 2026 13:50

pre-commit: use new ruff-check id

b86755f

ci: make sure the env vars are available everywhere

2620891

cmake: fix TO_CMAKE_PATH_LIST

3e8381e

ci: build with --verbose

b51ff47

pixi.toml: remove CMAKE_VERBOSE_MAKEFILE

93c2981

its meant to be used as arg (-D), not env. --verbose is better

ci: build with only 2 jobs

dbda490

cmake: on windows, use fetchcontent to get catch2

1756ad4

ci: remove the conda env

fb84a71

cmake: DOWNLOAD_EXTRACT_TIMESTAMP is not available on cmake 3.22

24eb14e

pixi.toml: relax deps contrains to allow to use cmake 3.22 exact

27ff4cd

pixi.toml: add verbosity to tests

019943d

cmake: use only 3.22 to prevent the clang modules scanner to be trigg…

f896714

…erred otherwise we need to add set_target_properties(run-proxqp PROPERTIES CXX_SCAN_FOR_MODULES OFF)

pixi.toml: add cpp20 and cpp23 envs

3d4340a

pixi.lock: update

4e3f948

rename BENCHMARK to BENCHMARKS

a6ac6e2

package.xml: drop ROS iron and python 2

16afbb1

ci: update ROS CI and enable features

f9031a3

ci: disabling tests on windows+debug (too slow)

1af6919

ci: disable fail-fast strategy

9cb8482

package.xml: add python3-dev build depend

2cf2761

python: import scipy.sparse.linalg explicitly for ubuntu 22

7785931

ci: add build release and debug on ubuntu

a38a763

ci: cosmetics

6e9adbf

ci: only build with 1 core to prevent swapping

53729f5

rosci: add kilted and configure cache

58f7d10

implement uint128 on msvc

08f7992

uint128 only works on msvc

e0f04c5

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Refactor CMake with JRL CMake Modules v2 #437

Refactor CMake with JRL CMake Modules v2 #437

ahoarau commented Dec 11, 2025 •

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ahoarau commented Dec 11, 2025 •

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