Build boost from source to match gtsam version. Exclude libgtsam and libboost from the wheel to avoid conflicts with gtsam. Share gtsam symbols with gtdynamics.

Author: havriutkin

.github/scripts/cibw_before_all_linux.sh

@@ -18,13 +18,29 @@ echo "Installing base system dependencies..."
 dnf install -y \
     wget curl git \
     tinyxml2-devel \
-    ruby \
-    boost-devel
+    ruby
 
 echo "CMake version:"
 cmake --version
 
 
+# Build Boost 1.87.0 from source (must match the version used by gtsam-develop on PyPI)
+echo "Building Boost 1.87.0 from source..."
+cd /tmp
+wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz --quiet
+tar -xzf boost_1_87_0.tar.gz
+cd boost_1_87_0
+
+BOOST_PREFIX="${INSTALL_PREFIX}/boost"
+./bootstrap.sh --prefix=${BOOST_PREFIX}
+./b2 install --prefix=${BOOST_PREFIX} --with=all -d0
+cd /tmp && rm -rf boost_1_87_0*
+
+export BOOST_ROOT="${BOOST_PREFIX}"
+export BOOST_INCLUDEDIR="${BOOST_PREFIX}/include"
+export BOOST_LIBRARYDIR="${BOOST_PREFIX}/lib"
+
+
 # Install Gazebo dependencies for SDFormat
 echo "Installing Gazebo dependencies..."
 cd /tmp
@@ -98,8 +114,11 @@ git clone --depth 1 https://github.com/borglab/gtsam.git ${INSTALL_PREFIX}/gtsam
 # gtsam_current symlink will be created by before-build after GTSAM is built
 cat > ${INSTALL_PREFIX}/env.sh << EOF
 export INSTALL_PREFIX="${INSTALL_PREFIX}"
+export BOOST_ROOT="${BOOST_PREFIX}"
+export BOOST_INCLUDEDIR="${BOOST_PREFIX}/include"
+export BOOST_LIBRARYDIR="${BOOST_PREFIX}/lib"
 export CMAKE_PREFIX_PATH="${INSTALL_PREFIX}/gtsam_current:${INSTALL_PREFIX}/gz-cmake4:${INSTALL_PREFIX}/gz-utils:${INSTALL_PREFIX}/gz-math:${INSTALL_PREFIX}/sdformat:\${CMAKE_PREFIX_PATH}"
-export LD_LIBRARY_PATH="${INSTALL_PREFIX}/gtsam_current/lib:${INSTALL_PREFIX}/sdformat/lib:${INSTALL_PREFIX}/gz-utils/lib:${INSTALL_PREFIX}/gz-math/lib:\${LD_LIBRARY_PATH}"
+export LD_LIBRARY_PATH="${BOOST_PREFIX}/lib:${INSTALL_PREFIX}/gtsam_current/lib:${INSTALL_PREFIX}/sdformat/lib:${INSTALL_PREFIX}/gz-utils/lib:${INSTALL_PREFIX}/gz-math/lib:\${LD_LIBRARY_PATH}"
 EOF
 
 echo "before-all completed successfully!"

.github/scripts/cibw_before_all_macos.sh

@@ -19,7 +19,21 @@ fi
 
 # Install Base System Dependencies via Homebrew
 echo "Installing base system dependencies..."
-brew install boost cmake wget git
+brew install cmake wget git
+
+# Build Boost 1.87.0 from source (must match the version used by gtsam-develop on PyPI)
+echo "Building Boost 1.87.0 from source..."
+cd /tmp
+wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz --quiet
+tar -xzf boost_1_87_0.tar.gz
+cd boost_1_87_0
+
+BOOST_PREFIX="${INSTALL_PREFIX}/boost"
+./bootstrap.sh --prefix=${BOOST_PREFIX}
+./b2 install --prefix=${BOOST_PREFIX} --with=all -d0 \
+    cxxflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}" \
+    linkflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}"
+cd /tmp && rm -rf boost_1_87_0*
 
 # Install SDFormat via Homebrew
 brew tap osrf/simulation
@@ -31,8 +45,6 @@ echo "Cloning GTSAM source (develop branch)..."
 git clone --depth 1 https://github.com/borglab/gtsam.git ${INSTALL_PREFIX}/gtsam_source
 
 # Write environment file for before-build scripts
-BOOST_PREFIX=$(brew --prefix boost)
-
 cat > ${INSTALL_PREFIX}/env.sh << EOF
 export INSTALL_PREFIX="${INSTALL_PREFIX}"
 export BOOST_ROOT="${BOOST_PREFIX}"

.github/scripts/cibw_before_build_linux.sh

@@ -53,6 +53,7 @@ cmake ${GTSAM_SOURCE} \
     -DGTSAM_PYTHON_VERSION=${PYTHON_VERSION} \
     -DPYTHON_EXECUTABLE:FILEPATH=${PYTHON_EXE} \
     -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+    -DBOOST_ROOT=${BOOST_ROOT} \
     -DCMAKE_CXX_FLAGS="-faligned-new -Wno-error=free-nonheap-object"
 
 cmake --build . --config Release -j${NUM_CORES}

pyproject.toml

@@ -76,24 +76,24 @@ manylinux-x86_64-image = "quay.io/pypa/manylinux_2_34_x86_64"
 manylinux-aarch64-image = "quay.io/pypa/manylinux_2_34_aarch64"
 before-all = "bash {project}/.github/scripts/cibw_before_all_linux.sh"
 before-build = "bash {project}/.github/scripts/cibw_before_build_linux.sh {project}"
-repair-wheel-command = "LD_LIBRARY_PATH=/opt/gtdynamics-deps/gtd_current/lib:/opt/gtdynamics-deps/gtsam_current/lib:/opt/gtdynamics-deps/sdformat/lib:/opt/gtdynamics-deps/gz-utils/lib:/opt/gtdynamics-deps/gz-math/lib:$LD_LIBRARY_PATH auditwheel repair -w {dest_dir} {wheel}"
+repair-wheel-command = "LD_LIBRARY_PATH=/opt/gtdynamics-deps/gtd_current/lib:/opt/gtdynamics-deps/gtsam_current/lib:/opt/gtdynamics-deps/boost/lib:/opt/gtdynamics-deps/sdformat/lib:/opt/gtdynamics-deps/gz-utils/lib:/opt/gtdynamics-deps/gz-math/lib:$LD_LIBRARY_PATH auditwheel repair -w {dest_dir} {wheel} --exclude 'libgtsam*' --exclude 'libmetis-gtsam*' --exclude 'libcephes-gtsam*' --exclude 'libboost_*'"
 
 [tool.cibuildwheel.linux.environment]
 INSTALL_PREFIX = "/opt/gtdynamics-deps"
 GTSAM_DIR = "/opt/gtdynamics-deps/gtsam_current/lib/cmake/GTSAM"
 CMAKE_PREFIX_PATH = "/opt/gtdynamics-deps/gtsam_current:/opt/gtdynamics-deps/gz-cmake4:/opt/gtdynamics-deps/gz-utils:/opt/gtdynamics-deps/gz-math:/opt/gtdynamics-deps/sdformat"
-LD_LIBRARY_PATH = "/opt/gtdynamics-deps/gtd_current/lib:/opt/gtdynamics-deps/gtsam_current/lib:/opt/gtdynamics-deps/sdformat/lib:/opt/gtdynamics-deps/gz-utils/lib:/opt/gtdynamics-deps/gz-math/lib"
+LD_LIBRARY_PATH = "/opt/gtdynamics-deps/gtd_current/lib:/opt/gtdynamics-deps/gtsam_current/lib:/opt/gtdynamics-deps/boost/lib:/opt/gtdynamics-deps/sdformat/lib:/opt/gtdynamics-deps/gz-utils/lib:/opt/gtdynamics-deps/gz-math/lib"
 Python_EXECUTABLE = "$(which python)"
 PYTHON_EXECUTABLE = "$(which python)"
 
 [tool.cibuildwheel.macos]
 before-all = "bash {project}/.github/scripts/cibw_before_all_macos.sh"
 before-build = "bash {project}/.github/scripts/cibw_before_build_macos.sh {project}"
-repair-wheel-command = "DYLD_LIBRARY_PATH=$HOME/opt/gtdynamics-deps/gtd_current/lib:$HOME/opt/gtdynamics-deps/gtsam_current/lib:$DYLD_LIBRARY_PATH delocate-wheel --require-archs {delocate_archs} -w {dest_dir} -v {wheel}"
+repair-wheel-command = "DYLD_LIBRARY_PATH=$HOME/opt/gtdynamics-deps/gtd_current/lib:$HOME/opt/gtdynamics-deps/gtsam_current/lib:$HOME/opt/gtdynamics-deps/boost/lib:$DYLD_LIBRARY_PATH delocate-wheel --require-archs {delocate_archs} -w {dest_dir} -v {wheel} --exclude libgtsam --exclude libmetis-gtsam --exclude libcephes-gtsam --exclude libboost_serialization --exclude libboost_filesystem --exclude libboost_thread --exclude libboost_atomic --exclude libboost_chrono --exclude libboost_date_time --exclude libboost_regex --exclude libboost_timer --exclude libboost_system --exclude libboost_container"
 
 [tool.cibuildwheel.macos.environment]
 MACOSX_DEPLOYMENT_TARGET = "$MACOSX_DEPLOYMENT_TARGET"
 INSTALL_PREFIX = "$HOME/opt/gtdynamics-deps"
 GTSAM_DIR = "$HOME/opt/gtdynamics-deps/gtsam_current/lib/cmake/GTSAM"
 CMAKE_PREFIX_PATH = "$HOME/opt/gtdynamics-deps/gtsam_current"
-DYLD_LIBRARY_PATH = "$HOME/opt/gtdynamics-deps/gtd_current/lib:$HOME/opt/gtdynamics-deps/gtsam_current/lib"
+DYLD_LIBRARY_PATH = "$HOME/opt/gtdynamics-deps/gtd_current/lib:$HOME/opt/gtdynamics-deps/gtsam_current/lib:$HOME/opt/gtdynamics-deps/boost/lib"

python/gtdynamics/__init__.py

@@ -1,6 +1,15 @@
 # Python needs to know about gtsam base classes before it can import module classes
 # Else will throw cryptic "referenced unknown base type" error.
+# Load gtsam with RTLD_GLOBAL so that libgtsam's symbols (and pybind11 type
+# registrations) from the gtsam-develop wheel are visible to the gtdynamics
+# native extension, which links against the same library but doesn't bundle it.
+import sys
+import os
+
+_old_dlopen_flags = sys.getdlopenflags()
+sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_NOW)
 import gtsam
+sys.setdlopenflags(_old_dlopen_flags)
 
 from gtdynamics.gtdynamics import *