Build Boost from source and update environment variables for GTSAM integration

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
@@ -94,19 +110,15 @@ cd /tmp && rm -rf sdformat*
 echo "Cloning GTSAM source (develop branch)..."
 git clone --depth 1 https://github.com/borglab/gtsam.git ${INSTALL_PREFIX}/gtsam_source
 
-
-# Copy boost .so files so auditwheel can find them.
-echo "Creating a vendor-ready copy of Boost for auditwheel..."
-mkdir -p ${INSTALL_PREFIX}/boost/lib
-# -d preserves symlinks so that libboost_serialization.so -> libboost_serialization.so.1.75.0
-cp -d /usr/lib64/libboost_*.so* ${INSTALL_PREFIX}/boost/lib/
-
 # Write environment file for before-build scripts
 # gtsam_current symlink will be created by before-build after GTSAM is built
 cat > ${INSTALL_PREFIX}/env.sh << EOF
 export INSTALL_PREFIX="${INSTALL_PREFIX}"
-# Integrated the boost path here
+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="${INSTALL_PREFIX}/boost/lib:${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!"
+
+echo "before-all completed successfully!"

.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}
@@ -128,6 +129,7 @@ cmake ${PROJECT_DIR} \
     -DPython_EXECUTABLE:FILEPATH=${PYTHON_EXE} \
     -DPYTHON_EXECUTABLE:FILEPATH=${PYTHON_EXE} \
     -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
+    -DBOOST_ROOT=${BOOST_ROOT} \
     -DCMAKE_CXX_FLAGS="-faligned-new"
 
 cmake --build . --config Release --target gtdynamics_py -j${NUM_CORES}

pyproject.toml

@@ -73,20 +73,17 @@ skip = "*-musllinux_* *-win32 pp*"
 build-frontend = "pip; args: --no-build-isolation"
 
 [tool.cibuildwheel.linux]
-manylinux-x86_64-image = "quay.io/pypa/manylinux_2_34_x86_64"
-manylinux-aarch64-image = "quay.io/pypa/manylinux_2_34_aarch64"
+manylinux-x86_64-image = "quay.io/pypa/manylinux_2_28_x86_64"
+manylinux-aarch64-image = "quay.io/pypa/manylinux_2_28_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/boost/lib:/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}"
 
 [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)"