build: remove deprecated Dockerfiles and scripts and update installation instructions

.github/workflows/build-test.yml

@@ -60,7 +60,7 @@ jobs:
             exit 1
           fi
           DEMO_CMAKE="./demos/CMakeLists.txt"
-          if [ $(echo $(grep "project(clproto VERSION" "${DEMO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
+          if [ $(echo $(grep "find_package(control_libraries" "${DEMO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
             echo "::error file="${DEMO_CMAKE}",title=Check failed::Version in "${DEMO_CMAKE}" does not correspond to VERSION. ${MESSAGE}"
             exit 1
           fi

.github/workflows/generate-docs.yml

@@ -1,6 +1,6 @@
 name: Generate and Deploy Documentation
 on:
-  push:   
+  push:
     branches:
       - main
 

CHANGELOG.md

@@ -13,6 +13,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- build: remove deprecated Dockerfiles and scripts and update installation instructions (#176)
 - refactor: optimize copy and swap constructor for robot model (#174)
 - fix: refactor cmake project to deal with robot model dependencies (#178)
 - feat: integrate minimum distance calculation feature into robot model(#167)

CMakeLists.txt

@@ -1,8 +1,12 @@
 cmake_minimum_required(VERSION 3.15)
 project(all_control_libraries)
 
+option(BUILD_PROTOCOL "Build and install the protocol" ON)
+
 add_subdirectory(source)
-add_subdirectory(protocol/clproto_cpp)
+if(BUILD_PROTOCOL)
+  add_subdirectory(protocol/clproto_cpp)
+endif()
 
 if(BUILD_TESTING)
   # reexport the test target defined in the subdirectories

Dockerfile

@@ -7,7 +7,6 @@ RUN apt-get update && apt-get install -y \
     g++ \
     git \
     libgtest-dev \
-    libeigen3-dev \
     python3-pip \
     ssh \
     sudo \
@@ -83,7 +82,7 @@ ARG TARGETPLATFORM
 ARG CACHEID
 COPY dependencies/base_dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-base-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
+  cmake -B build -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
 
 FROM base as pinocchio-dependencies
 COPY --from=apt-dependencies /tmp/apt /
@@ -126,6 +125,7 @@ FROM base as dependencies
 ARG TARGETPLATFORM
 ARG CACHEID
 # Needed to build `osqp-eigen`
+COPY --from=apt-dependencies /tmp/apt /
 COPY --from=base-dependencies /tmp/deps /usr
 COPY dependencies/dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \