build: copy python packages into /usr instead of ~ros2 to avoid permi…

…ssion issues (#155)

CHANGELOG.md

@@ -1,6 +1,7 @@
 # CHANGELOG
 
 Release Versions:
+
 - [7.3.0](#730)
 - [7.2.0](#720)
 - [7.1.1](#711)
@@ -12,6 +13,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- build: copy python packages into /usr instead of ~ros2 to avoid permission issues (#155)
 - feat: Add ParameterType conversion functions to go from enum to type label and the inverse (#154)
 
 ## 7.3.0
@@ -68,7 +70,7 @@ minor improvements and fixes to state_representation.
 
 - Update push hooks in build-release.yaml (#127)
 - feat(ci): add prebuilt control-libraries image akin to network-interfaces (#125)
-- Add overloaded `make_shared_parameter` with no parameter  (#123)
+- Add overloaded `make_shared_parameter` with no parameter (#123)
 - Catch out of range exception in `ParameterMap::assert_parameter_valid` (#122)
 - Construct zero matrices in compliant twist controller (#120)
 
@@ -82,6 +84,7 @@ and safe to use.
 **state_representation**
 
 The `State` class has been reworked, with the following breaking changes to the API:
+
 - `State::initialize` has been reworked as `State::reset`.
 - `State::is_compatible` has been removed in favor of the new `State::is_incompatible`.
 - `State::set_empty` and `State::set_filled` have been removed from the public API.
@@ -108,7 +111,7 @@ All header files now use the `.hpp` extension.
 
 **state_representation**
 
-The timestamp of a `State` object is now consistently reset by every non-const method, so that it always indicates the 
+The timestamp of a `State` object is now consistently reset by every non-const method, so that it always indicates the
 time of last modification. The method `State::get_age()` can be used to get the time since last modification in seconds.
 
 The emptiness of a state is handled more consistently, and accessing data on an empty state will now throw an exception.
@@ -127,6 +130,7 @@ of a feedback state is passed through to the command as a feed-forward force or
 **Python**
 
 The Python bindings now include the exceptions for each module. For example:
+
 - `from state_representation.exceptions import EmptyStateError`
 
 The bindings have also been updated to include the breaking changes in `state_representation`.
@@ -160,7 +164,7 @@ A contributor license agreement and signature workflow have been added to protec
 - Update python bindings after Jacobian refactor (#105)
 - Set reference frame of Jacobian with string instead of pose (#103)
 - Refactor Jacobian methods and operators (#101)
-- Remove rows_ and cols_ and improve constructors (#100)
+- Remove rows* and cols* and improve constructors (#100)
 - Revise clproto to remove StateType and timestamp from State message (#104)
 - Raise exception in getters if state is empty (#97)
 - Bind error objects of all library modules with Pybind (#98)
@@ -188,7 +192,7 @@ A contributor license agreement and signature workflow have been added to protec
 - Bind operators of Cartesian states (#60)
 - Fix quaternion differentiation (#58)
 - Refactor operators in CartesianState for addition (#23), subtraction (#33, #40), transformation (#28, #45),
-division (#41) and multiplication (#43)
+  division (#41) and multiplication (#43)
 - Add a Contributor License Agreement (#61)
 - Uniformly sample orientation with UnitRandom (#56)
 - Refactor get/set variable helpers in Cartesian and joint state (#39, #57)
@@ -239,4 +243,4 @@ and granted to AICA under a non-exclusive license agreement. All subsequent cont
 AICA employees and are the property of AICA SA. For a full history of changes prior to version 6.2, refer to
 the original project here:
 
-- https://github.com/epfl-lasa/control-libraries/tree/v6.2.0
+- https://github.com/epfl-lasa/control-libraries/tree/v6.2.0

Dockerfile.ci

@@ -132,16 +132,15 @@ COPY --from=install /tmp/cl /usr
 COPY --chown=${USER}:${USER} ./python /python
 RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   python3 -m pip install --prefix=/tmp/python /python
-RUN mkdir -p /tmp/python-home/${USER}/.local/lib/python3.10/ \
-  && mv /tmp/python/local/lib/python3.10/dist-packages/ /tmp/python-home/${USER}/.local/lib/python3.10/site-packages/
+RUN mv /tmp/python/local /tmp/python-usr
 
 FROM base as python-stubs
 ARG TARGETPLATFORM
 ARG CACHEID
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
-COPY --from=python /tmp/python-home /home
+COPY --from=python /tmp/python-usr /usr
 RUN sudo pip install pybind11-stubgen
 RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
 <<HEREDOC
@@ -170,12 +169,11 @@ EoF
   fi
 done
 HEREDOC
-RUN mkdir -p /tmp/python-home/${USER}/.local/lib/python3.10/ \
-  && mv /tmp/python/local/lib/python3.10/dist-packages/ /tmp/python-home/${USER}/.local/lib/python3.10/site-packages/
+RUN mv /tmp/python/local /tmp/python-usr
 
 FROM scratch as production
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
-COPY --from=python /tmp/python-home /home
-COPY --from=python-stubs /tmp/python-home /home
+COPY --from=python /tmp/python-usr /usr
+COPY --from=python-stubs /tmp/python-usr /usr

VERSION

@@ -1 +1 @@
-7.3.1
+7.3.2

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.3.1 CONFIG REQUIRED)
+find_package(control_libraries 7.3.2 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.3.1
+PROJECT_NUMBER = 7.3.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.3.1)
+project(clproto VERSION 7.3.2)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

python/setup.py

@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "7.3.1"
+__version__ = "7.3.2"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 7.3.1)
+project(control_libraries VERSION 7.3.2)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)