Add lyrical build environment

[glpuga]

Proposed changes

• Adds lyrical to the container
• Adds lyrical to CI

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

💥 Breaking change! Explain why a non-backwards compatible change is necessary or remove this line entirely if not applicable.

Checklist

Put an x in the boxes that apply. This is simply a reminder of what we will require before merging your code.

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• All commits have been signed for DCO

Additional comments

Anything worth mentioning to the reviewers.

[glpuga]

Issues so far:

• nav2 for lyrical has not yet been released
• Uninitialized variable errors (either real or false positives) triggered during the build of two tests.
• perf missing

[glpuga]

Current CI failures seem to be totally unrelated to this change. Locally the current draft of the container builds just fine.

[glpuga]

@hidmic @nahueespinosa When building in Lyrical, three four tests (see commented tests in changeset) fail due to a maybe-unitialized warning-turned-error. Looks like a fail positive to me, or maybe a change in Eigen. Thoughts on how to go about it?

--- stderr: beluga                                                                      
In file included from /ws/src/beluga/beluga/test/beluga/algorithm/raycasting/test_bresenham.cpp:23:
In member function ‘bool beluga::Bresenham2i::Line<Vector2, Integer>::iterator::operator==(const beluga::Bresenham2i::Line<Vector2, Integer>::iterator&) const [with Vector2 = Eigen::Matrix<int, 2, 1>; Integer = int]’,
    inlined from ‘bool ranges::operator==(const common_iterator<I1, S1>&, const common_iterator<I2, S2>&) [with I1 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator; I2 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator; S1 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel; S2 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel; bool CPP_true = true; typename std::enable_if<(sentinel_for<S1, I2> && CPP_true), int>::type <anonymous> = 0; typename std::enable_if<(sentinel_for<S2, I1> && CPP_true), int>::type <anonymous> = 0; typename std::enable_if<(equality_comparable_with<I1, I2> && CPP_true), int>::type <anonymous> = 0]’ at /usr/include/range/v3/iterator/common_iterator.hpp:276:63,
    inlined from ‘bool ranges::operator!=(const common_iterator<I1, S1>&, const common_iterator<I2, S2>&) [with I1 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator; I2 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator; S1 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel; S2 = beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel; bool CPP_true = true; typename std::enable_if<(sentinel_for<S1, I2> && CPP_true), int>::type <anonymous> = 0; typename std::enable_if<(sentinel_for<S2, I1> && CPP_true), int>::type <anonymous> = 0]’ at /usr/include/range/v3/iterator/common_iterator.hpp:284:20,
    inlined from ‘constexpr typename std::iterator_traits<_Iterator>::difference_type std::__distance(_InputIterator, _InputIterator, input_iterator_tag) [with _InputIterator = ranges::common_iterator<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator, beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel>]’ at /usr/include/c++/15/bits/stl_iterator_base_funcs.h:90:22,
    inlined from ‘constexpr typename std::iterator_traits<_Iterator>::difference_type std::distance(_InputIterator, _InputIterator) [with _InputIterator = ranges::common_iterator<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator, beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel>]’ at /usr/include/c++/15/bits/stl_iterator_base_funcs.h:153:29,
    inlined from ‘void std::vector<_Tp, _Alloc>::_M_range_initialize(_ForwardIterator, _ForwardIterator, std::forward_iterator_tag) [with _ForwardIterator = ranges::common_iterator<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator, beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel>; _Tp = Eigen::Matrix<int, 2, 1>; _Alloc = std::allocator<Eigen::Matrix<int, 2, 1> >]’ at /usr/include/c++/15/bits/stl_vector.h:1975:18:
/ws/src/beluga/beluga/include/beluga/algorithm/raycasting/bresenham.hpp:170:16: error: ‘((long int*)&*(const beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator*)((char*)&<unnamed> + offsetof(ranges::common_iterator<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator, beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator::sentinel>,ranges::common_iterator<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator, beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator::sentinel>::data_.ranges::variant<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator, beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator::sentinel>::<unnamed>.ranges::detail::variant_data_<meta::list<ranges::detail::indexed_datum<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator, std::integral_constant<long unsigned int, 0> >, ranges::detail::indexed_datum<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1, 0, 2, 1>, int>::iterator::sentinel, std::integral_constant<long unsigned int, 1> > >, true>::type::<unnamed>)))[1]’ may be used uninitialized [-Werror=maybe-uninitialized]
  170 |         return x_ == other.x_ && y_ == other.y_ && xstep_ == other.xstep_ && ystep_ == other.ystep_ &&
      |                ^~
In file included from /usr/include/c++/15/bits/stl_construct.h:62,
                 from /usr/include/c++/15/bits/stl_tempbuf.h:61,
                 from /usr/include/c++/15/memory:68,
                 from /usr/include/gtest/gtest.h:55,
                 from /ws/src/beluga/beluga/test/beluga/algorithm/raycasting/test_bresenham.cpp:15:
/usr/include/c++/15/bits/stl_iterator_base_funcs.h: In function ‘void std::vector<_Tp, _Alloc>::_M_range_initialize(_ForwardIterator, _ForwardIterator, std::forward_iterator_tag) [with _ForwardIterator = ranges::common_iterator<beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator, beluga::Bresenham2i::Line<Eigen::Matrix<int, 2, 1>, int>::iterator::sentinel>; _Tp = Eigen::Matrix<int, 2, 1>; _Alloc = std::allocator<Eigen::Matrix<int, 2, 1> >]’:
/usr/include/c++/15/bits/stl_iterator_base_funcs.h:153:29: note: ‘<anonymous>’ declared here
  153 |       return std::__distance(__first, __last,
      |              ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
  154 |                              std::__iterator_category(__first));
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
cc1plus: all warnings being treated as errors
gmake[2]: *** [test/beluga/CMakeFiles/test_beluga.dir/build.make:149: test/beluga/CMakeFiles/test_beluga.dir/algorithm/raycasting/test_bresenham.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1139: test/beluga/CMakeFiles/test_beluga.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

[hidmic]

Hmm, it does look like the compiler didn't like one of the many tricks ranges-v3 uses. Nothing in the code suggests a member of the iterator or the iterator itself could be uninitialized. #pragmas to disable the warning for those tests?

[glpuga]

Hmm, it does look like the compiler didn't like one of the many tricks ranges-v3 uses. Nothing in the code suggests a member of the iterator or the iterator itself could be uninitialized. #pragmas to disable the warning for those tests?

I thought about that, it makes CI work again, but it's pure chance this hit four unit tests and not the main prod code. Anyone using beluga-the-library might be bitten like this.

[glpuga]

As discussed elsewhere, since this is a ranges_v3 issue, most likely a false positive, and since users of the library are not forced to use -Werror, we can just disable these warnings from our tests using pragmas.

[glpuga]

Related to #564