Finish migrating oink

Author: sea-bass

.docker/ros/Dockerfile

@@ -5,8 +5,6 @@ FROM ros:${ROS_DISTRO} AS roboplan_ros
 ARG ROS_DISTRO
 
 ENV PIP_BREAK_SYSTEM_PACKAGES=1
-# See https://github.com/tier4/osqp_vendor/issues/26
-ENV CMAKE_POLICY_VERSION_MINIMUM=3.5
 SHELL ["/bin/bash", "-c"]
 
 # Install core dependencies.

.docker/ubuntu/Dockerfile

@@ -4,8 +4,6 @@ FROM ubuntu:${UBUNTU_VERSION} AS roboplan_ubuntu
 
 ARG PINOCCHIO_VERSION=4.1.0
 ENV PIP_BREAK_SYSTEM_PACKAGES=1
-# See https://github.com/tier4/osqp_vendor/issues/26
-ENV CMAKE_POLICY_VERSION_MINIMUM=3.5
 SHELL ["/bin/bash", "-c"]
 
 # Install core dependencies.

docs/source/design/architecture.rst

@@ -35,7 +35,7 @@ Colors indicate the implementation language of each component: C++ only, Python
        subgraph EXT["External libraries"]
            PIN["Pinocchio"]
            COAL["Coal"]
-           OSQP["OSQP"]
+           PROXSUITE["ProxSuite"]
            TOPPRALIB["toppra"]
            DYNO["dynotree"]
            VISER["Viser"]
@@ -55,7 +55,7 @@ Colors indicate the implementation language of each component: C++ only, Python
        CART --> CORE
        SHORT --> SCENE
 
-       OINK --> OSQP
+       OINK --> PROXSUITE
        RRT --> DYNO
        TOPPRA --> TOPPRALIB
        SCENE --> PIN
@@ -76,7 +76,7 @@ Colors indicate the implementation language of each component: C++ only, Python
        classDef both fill:#6fce89,stroke:#1b5e20,color:#111111
        classDef neutral fill:#ffffff,stroke:#666666,color:#111111
 
-       class LCPP,OSQP,TOPPRALIB,DYNO cpp
+       class LCPP,PROXSUITE,TOPPRALIB,DYNO cpp
        class LPY,VIZ,INTERP,VISER,MPL python
        class LBOTH,CART,SINK,OINK,RRT,TOPPRA,SCENE,TYPES,SHORT,PIN,COAL both
        class USER neutral
@@ -142,7 +142,7 @@ Algorithm packages
 Each algorithm package builds on the core package, bringing in its own external solver where needed:
 
 - **SimpleIK** iterates a damped least-squares update using Jacobians from the ``Scene``.
-- **OInK** formulates IK as a quadratic program over tasks, constraints, and control barrier functions, and solves it with `OSQP <https://osqp.org/>`_ (through `osqp-eigen <https://github.com/gbionics/osqp-eigen>`_).
+- **OInK** formulates IK as a quadratic program over tasks, constraints, and control barrier functions, and solves it with `ProxSuite <https://github.com/Simple-Robotics/proxsuite>`_.
 - **RRT** grows search trees in configuration space, using the ``Scene`` for sampling and collision checks and the vendored `dynotree <https://github.com/quimortiz/dynotree>`_ k-d tree for nearest-neighbor lookups.
 - **TOPP-RA** wraps the `toppra <https://github.com/hungpham2511/toppra>`_ library to time-parameterize joint paths subject to the velocity and acceleration limits stored in the ``Scene``.
 - **CartesianPathPlanner** is the main integration point: it tracks a task-space path with an internal OInK solver and times the result either with a trapezoidal velocity profile or with TOPP-RA.

packaging/python/cmake/roboplan_python_packaging.cmake

@@ -126,7 +126,6 @@ function(roboplan_configure_unified_python_wheel)
   endforeach()
 
   foreach(library IN ITEMS
-      OsqpEigen
       boost_atomic
       boost_filesystem
       boost_serialization
@@ -137,11 +136,11 @@ function(roboplan_configure_unified_python_wheel)
       gz-utils
       octomap
       octomath
-      osqp
       pinocchio_collision
       pinocchio_default
       pinocchio_extra
       pinocchio_parsers
+      proxsuite
       qdldl
       qhull_r
       sdformat

pixi.lock

@@ -225,11 +225,10 @@ sccache     = ">=0.10.0,<0.11"
 yaml-cpp    = ">=0.8.0,<0.9"
 
 # Core dependencies
-# Note: the OInK QP solver (proxsuite/ProxQP, header-only) is fetched at a pinned version
-# via CMake FetchContent in roboplan_oink, so it is intentionally not listed here.
 eigen      = ">=3.4.0"
 libtoppra  = ">=0.6.4,<0.7"
 pinocchio  = ">=4.1.0,<5"
+proxsuite = ">=0.7.3,<0.8"
 
 # Python bindings dependencies
 python            = ">=3.11,<3.12"

pixi.toml

@@ -22,29 +22,31 @@ find_package(roboplan REQUIRED)
 # issues with symlink installs.
 find_package(ament_cmake QUIET)
 
-# OInK uses ProxQP from proxsuite (header-only) as its QP solver. It is always fetched at
-# a pinned version so every platform builds against the same solver version, instead of
-# whatever a system/distro package would provide. proxsuite is kept out of the public
-# headers and the exported link interface, so downstream consumers do not need it.
-# Offline builds can pre-seed the sources via -DFETCHCONTENT_SOURCE_DIR_PROXSUITE=<path>.
-message(STATUS "Fetching proxsuite from GitHub...")
-
-# Disable proxsuite vectorization support (would require Simde) and tests.
-set(BUILD_WITH_VECTORIZATION_SUPPORT OFF CACHE INTERNAL "Disable proxsuite vectorization")
-set(BUILD_TESTING OFF)
-
-FetchContent_Declare(
-  proxsuite
-  URL https://github.com/Simple-Robotics/proxsuite/archive/refs/tags/v0.7.3.tar.gz
-  URL_HASH SHA256=e634babff534c8812c6dbc6b022b1d01f9a2a4a9a73cf87a6dc299a4de996904
-  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
-)
-FetchContent_MakeAvailable(proxsuite)
-
-# proxsuite creates a non-namespaced target when built via FetchContent.
-# Create a namespaced alias to match the installed package.
-if(TARGET proxsuite AND NOT TARGET proxsuite::proxsuite)
-  add_library(proxsuite::proxsuite ALIAS proxsuite)
+# OInK uses ProxQP from proxsuite (header-only) as its QP solver.
+find_package(proxsuite QUIET)
+
+if(proxsuite_FOUND)
+  message(STATUS "Found installed proxsuite ${proxsuite_VERSION}.")
+else()
+  message(STATUS "proxsuite not found. Fetching from GitHub...")
+
+  # Disable proxsuite vectorization support (would require Simde) and tests.
+  set(BUILD_WITH_VECTORIZATION_SUPPORT OFF CACHE INTERNAL "Disable proxsuite vectorization")
+  set(BUILD_TESTING OFF)
+
+  FetchContent_Declare(
+    proxsuite
+    URL https://github.com/Simple-Robotics/proxsuite/archive/refs/tags/v0.7.3.tar.gz
+    URL_HASH SHA256=e634babff534c8812c6dbc6b022b1d01f9a2a4a9a73cf87a6dc299a4de996904
+    DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+  )
+  FetchContent_MakeAvailable(proxsuite)
+
+  # proxsuite creates a non-namespaced target when built via FetchContent.
+  # Create a namespaced alias to match the installed package.
+  if(TARGET proxsuite AND NOT TARGET proxsuite::proxsuite)
+    add_library(proxsuite::proxsuite ALIAS proxsuite)
+  endif()
 endif()
 
 # Add libraries

roboplan_oink/CMakeLists.txt

@@ -15,8 +15,7 @@
   <build_depend>python3-dev</build_depend>
 
   <depend>roboplan</depend>
-  <!-- See https://github.com/tier4/osqp_vendor/issues/26 -->
-  <depend condition="$ROS_DISTRO != lyrical">osqp_vendor</depend>
+  <depend>proxsuite</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>libgmock-dev</test_depend>