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ci: add Ubuntu 26.04 to CI + minor flags #238

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23e7442
update workflows, Dockerfile and README for ubuntu 26.04
r-simonelli Jun 3, 2026
899adb6
Minimum cmake version > 3.5 policy
r-simonelli Jun 3, 2026
416bc1b
cmake compatibility fix for urdf packages
r-simonelli Jun 3, 2026
cdd8e1d
patch urdfdom
r-simonelli Jun 3, 2026
3a62857
Add -DASSIMP_WARNINGS_AS_ERRORS=OFF when building assimp, refsactor u…
r-simonelli Jun 3, 2026
efaf833
Apply suggestion from @AndreasKushner
r-simonelli Jun 17, 2026
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21 changes: 12 additions & 9 deletions .ci/Dockerfile
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Expand Up @@ -26,16 +26,19 @@ RUN groupadd --gid $USER_GID $USERNAME \
&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
&& chmod 0440 /etc/sudoers.d/$USERNAME

# Add LLVM repository for newer clang versions
# Add LLVM repository for newer clang versions.
# apt.llvm.org publishes LLVM 18 for Ubuntu <= 24.04 but only LLVM 21+ for
# Ubuntu 26.04 (resolute); use LLVM 22 (current stable) for that release.
RUN apt-get update && \
apt-get install -y wget gnupg lsb-release software-properties-common && \
wget https://apt.llvm.org/llvm.sh && \
chmod +x llvm.sh && \
./llvm.sh 18 && \
if [ "${UBUNTU_VERSION}" = "26.04" ]; then LLVM_VER=22; else LLVM_VER=18; fi && \
./llvm.sh ${LLVM_VER} && \
apt-get update && \
apt-get install -y clang-format-18 clang-tidy-18 \
&& ln -s $(which clang-tidy-18) /usr/bin/clang-tidy \
&& ln -s $(which clang-format-18) /usr/bin/clang-format
apt-get install -y clang-format-${LLVM_VER} clang-tidy-${LLVM_VER} && \
ln -s $(which clang-tidy-${LLVM_VER}) /usr/bin/clang-tidy && \
ln -s $(which clang-format-${LLVM_VER}) /usr/bin/clang-format

@AndreasKuhner AndreasKuhner Jun 8, 2026

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Is llvm 22 working with our code base without throwing errors?

@r-simonelli r-simonelli Jun 8, 2026

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Hi @AndreasKuhner, thanks for pointing it out. Are you able to visualize the workflows?

fork workflows

The workflows appear to run successfully. Is this enough as a guarantee? Or are you thinking of runtime problems?
Screenshot From 2026-06-08 12-15-18

The pywheels failure is due to token problems related to publishing:

Screenshot From 2026-06-08 12-17-28

@AndreasKuhner AndreasKuhner Jun 8, 2026

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E.g. a newer version for clang-tidy usually comes with additional checks etc. which might make the build broke. But I think the workflows should be verifying that... :)


# Install necessary packages (without Python - we'll install specific version later)
# Note: pybind11-dev kept for devcontainer users (works with Ubuntu's default Python)
Expand Down Expand Up @@ -125,7 +128,7 @@ RUN git clone --depth 1 --branch 10.0.0 https://github.com/leethomason/tinyxml2.
RUN git clone --depth 1 --branch 1.0.2 https://github.com/ros/console_bridge.git \
&& cd console_bridge \
&& mkdir build && cd build \
&& cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
&& cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
&& make -j4 \
&& make install \
&& cd ../.. \
Expand All @@ -134,7 +137,7 @@ RUN git clone --depth 1 --branch 1.0.2 https://github.com/ros/console_bridge.git
RUN git clone --depth 1 --branch 1.0.5 https://github.com/ros/urdfdom_headers.git \
&& cd urdfdom_headers \
&& mkdir build && cd build \
&& cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
&& cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
&& make -j4 && make install \
&& cd ../.. \
&& rm -rf urdfdom_headers
Expand All @@ -144,15 +147,15 @@ RUN git clone --depth 1 --branch 4.0.0 https://github.com/ros/urdfdom.git \
&& cd urdfdom \
&& git apply /tmp/urdfdom.patch \
&& mkdir build && cd build \
&& cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
&& cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
&& make -j4 && make install \
&& cd ../.. \
&& rm -rf urdfdom

RUN git clone --depth 1 --recurse-submodules --shallow-submodules --branch v5.4.3 https://github.com/assimp/assimp.git \
&& cd assimp \
&& mkdir build && cd build \
&& cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DASSIMP_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib \
&& cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DBUILD_SHARED_LIBS=OFF -DASSIMP_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=/usr/lib -DASSIMP_WARNINGS_AS_ERRORS=OFF \
&& make -j4 && make install \
&& cd ../.. \
&& rm -rf assimp
Expand Down
12 changes: 11 additions & 1 deletion .ci/urdfdom.patch
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Expand Up @@ -5,9 +5,19 @@ index 20a6a05..5577e99 100644
@@ -3,7 +3,7 @@ macro(add_urdfdom_library)
set(multiValueArgs SOURCES LINK)
cmake_parse_arguments(add_urdfdom_library "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})

- add_library(${add_urdfdom_library_LIBNAME} SHARED
+ add_library(${add_urdfdom_library_LIBNAME} STATIC

@r-simonelli r-simonelli Jun 17, 2026

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this was a "patch on the patch" from my side because I saw the BUILD_SHARED_LIBS_OFF would be overriden by the SHARED keyword. I am not sure whether there may be consequences I am not aware of @AndreasKuhner @francando

@AndreasKuhner AndreasKuhner Jun 17, 2026

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Probably fine? Can be verified by checking the generated .so and check if some urdfdom shows up

${add_urdfdom_library_SOURCES})
target_include_directories(${add_urdfdom_library_LIBNAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
diff --git a/urdf_parser/include/urdf_parser/urdf_parser.h b/urdf_parser/include/urdf_parser/urdf_parser.h
--- a/urdf_parser/include/urdf_parser/urdf_parser.h
+++ b/urdf_parser/include/urdf_parser/urdf_parser.h
@@ -49,5 +49,6 @@
#include <urdf_world/types.h>

#include "exportdecl.h"
+#include <cstdint>

namespace tinyxml2{
8 changes: 8 additions & 0 deletions .github/workflows/docker-image.yml
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Expand Up @@ -48,6 +48,10 @@ jobs:
ubuntu-version: '22.04'
name: 'Python 3.12'
tag-prefix: 'py'
- python-version: '3.14'
ubuntu-version: '26.04' # Ubuntu 26.04 for glibc 2.43 compatibility
name: 'Python 3.14'
tag-prefix: 'py'
# Debian package build images (Ubuntu version specific)
- python-version: '3.8'
ubuntu-version: '20.04'
Expand All @@ -61,6 +65,10 @@ jobs:
ubuntu-version: '24.04'
name: 'Ubuntu 24.04'
tag-prefix: 'ubuntu'
- python-version: '3.14'
ubuntu-version: '26.04'
name: 'Ubuntu 26.04'
tag-prefix: 'ubuntu'

steps:
- name: Checkout repository
Expand Down
2 changes: 2 additions & 0 deletions .github/workflows/libfranka-build.yml
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Expand Up @@ -31,6 +31,8 @@ jobs:
python_version: "3.10"
- ubuntu_version: "24.04"
python_version: "3.12"
- ubuntu_version: "26.04"
python_version: "3.14"

steps:
- name: Checkout repository
Expand Down
4 changes: 4 additions & 0 deletions .github/workflows/pylibfranka-wheels.yml
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Expand Up @@ -39,6 +39,10 @@ jobs:
python-tag: 'cp312'
ubuntu-version: '22.04'
manylinux-tag: 'manylinux_2_34_x86_64'
- python-version: '3.14'
python-tag: 'cp314'
ubuntu-version: '26.04'
manylinux-tag: 'manylinux_2_43_x86_64'

steps:
- name: Checkout code
Expand Down
20 changes: 18 additions & 2 deletions README.rst
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Expand Up @@ -34,7 +34,7 @@ Key Features

- **Low-level control**: Access precise motion control for research robots.
- **Real-time communication**: Interact with the robot in real-time.
- **Multi-platform support**: Ubuntu 20.04, 22.04, and 24.04 LTS
- **Multi-platform support**: Ubuntu 20.04, 22.04, 24.04, and 26.04 LTS


1. System Requirements
Expand All @@ -46,6 +46,7 @@ Before using **libfranka**, ensure your system meets the following requirements:
- Ubuntu 20.04 LTS (Focal Fossa)
- Ubuntu 22.04 LTS (Jammy Jellyfish)
- Ubuntu 24.04 LTS (Noble Numbat)
- Ubuntu 26.04 LTS (Resolute Raccoon)
- `Linux with PREEMPT_RT patched kernel <https://frankarobotics.github.io/docs/doc/libfranka/docs/real_time_kernel.html>`_ recommended for real-time control

**Build Tools** (for building from source):
Expand All @@ -59,7 +60,7 @@ Before using **libfranka**, ensure your system meets the following requirements:

.. _installation-debian-package:

2. Installation from Debian Package (Recommended)
1. Installation from Debian Package (Recommended)

@AndreasKuhner AndreasKuhner Jun 17, 2026

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Should that be 2?

Comment thread
r-simonelli marked this conversation as resolved.
Outdated
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The easiest way to install **libfranka** is by using the pre-built Debian packages
Expand Down Expand Up @@ -94,6 +95,12 @@ Supported Platforms
- .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/libfranka-build.yml?label=Ubuntu+24.04&logo=ubuntu&logoColor=white
:target: https://github.com/frankarobotics/libfranka/actions/workflows/libfranka-build.yml
:alt: Ubuntu 24.04 build status
* - 26.04 LTS
- resolute
- amd64
- .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/libfranka-build.yml?label=Ubuntu+26.04&logo=ubuntu&logoColor=white
:target: https://github.com/frankarobotics/libfranka/actions/workflows/libfranka-build.yml
:alt: Ubuntu 26.04 build status

Quick Install
^^^^^^^^^^^^^
Expand Down Expand Up @@ -231,6 +238,9 @@ Method B: Using Docker Command Line
# For Ubuntu 24.04
docker build --build-arg UBUNTU_VERSION=24.04 -t libfranka-build:24.04 .ci/

# For Ubuntu 26.04
docker build --build-arg UBUNTU_VERSION=26.04 -t libfranka-build:26.04 .ci/

2. **Run the container and build**

.. code-block:: bash
Expand Down Expand Up @@ -540,6 +550,10 @@ For more examples, see the `Usage Examples documentation <https://frankarobotics
- .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/pylibfranka-wheels.yml?label=python3.12&logo=python&logoColor=white
:target: https://github.com/frankarobotics/libfranka/actions/workflows/pylibfranka-wheels.yml
:alt: Python 3.12 wheel build status
* - Ubuntu 26.04
- .. image:: https://img.shields.io/github/actions/workflow/status/frankarobotics/libfranka/pylibfranka-wheels.yml?label=python3.14&logo=python&logoColor=white
:target: https://github.com/frankarobotics/libfranka/actions/workflows/pylibfranka-wheels.yml
:alt: Python 3.14 wheel build status

**Pylibfranka** provides Python bindings for libfranka, allowing robot control with Python.

Expand Down Expand Up @@ -678,6 +692,8 @@ Platform Compatibility
- Python 3.9, 3.10, 3.11, 3.12
* - 24.04 (Noble)
- Python 3.9, 3.10, 3.11, 3.12
* - 26.04 (Resolute Raccoon)
- Python 3.14

**Note:** Ubuntu 20.04 users must use Python 3.9 due to glibc compatibility requirements.

Expand Down