Remove support for Ubuntu 18.04 Bionic (RobotLocomotion#16931)

* Remove support for Ubuntu 18.04 Bionic

CMakeLists.txt

@@ -79,12 +79,12 @@ else()
     )
   endif()
 
-  # The supported releases should match those listed in both doc/developers.rst
-  # and tools/workspace/os.bzl.
-  if(NOT UNIX_DISTRIBUTION_CODENAME MATCHES "^(bionic|focal)$")
+  # The supported releases should match those listed in both
+  # doc/_pages/from_source.md and tools/workspace/os.bzl.
+  if(NOT UNIX_DISTRIBUTION_CODENAME MATCHES "^(focal)$")
     message(FATAL_ERROR
       "Release ${UNIX_DISTRIBUTION_CODENAME} is NOT supported. Please use "
-      "Ubuntu 18.04 (Bionic) or 20.04 (Focal)."
+      "Ubuntu 20.04 (Focal)."
     )
   endif()
 endif()
@@ -206,11 +206,9 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_STANDARD 17)
 
 # The supported Python major/minor versions should match those listed in both
-# doc/developers.rst and tools/workspace/python/repository.bzl.
+# doc/_pages/from_source.md and tools/workspace/python/repository.bzl.
 if(APPLE)
   set(SUPPORTED_PYTHON_VERSION 3.9)
-elseif(UNIX_DISTRIBUTION_CODENAME STREQUAL bionic)
-  set(SUPPORTED_PYTHON_VERSION 3.6)
 else()
   set(SUPPORTED_PYTHON_VERSION 3.8)
 endif()

bindings/pydrake/pydrake_doxygen.h

@@ -304,7 +304,7 @@ To view the documentation rendered in Sphinx:
 
     bazel run //doc/pydrake:serve_sphinx [-- --browser=false]
 
-@note Drake's online Python documentation is generated on Ubuntu Bionic, and it
+@note Drake's online Python documentation is generated on Ubuntu Focal, and it
 is suggested to preview documentation using this platform. Other platforms may
 have slightly different generated documentation.
 

doc/_pages/apt.md

@@ -5,7 +5,7 @@ title: Installation via APT (Ubuntu)
 # APT Packages
 
 Drake publishes pre-compiled binaries as APT packages (``*.deb``) for the
-Ubuntu 18.04 (Bionic) and Ubuntu 20.04 (Focal) operating systems. Refer to
+Ubuntu 20.04 (Focal) operating system. Refer to
 [Supported Configurations](/installation.html#supported-configurations)
 for additional compatibility details.
 

doc/_pages/bazel.md

@@ -29,7 +29,7 @@ typical examples below; for more reading about target patterns, see:
 [https://docs.bazel.build/versions/main/user-manual.html#target-patterns](https://docs.bazel.build/versions/main/user-manual.html#target-patterns).
 
 On Ubuntu, the default compiler is the first ``gcc`` compiler in the
-``PATH``, usually GCC 7.5 on Bionic and GCC 9.3 on Focal. On macOS, the default
+``PATH``, usually GCC 9.3 on Focal. On macOS, the default
 compiler is the Apple LLVM compiler. To use Clang 9 on Ubuntu, set the ``CC``
 and ``CXX`` environment variables before running **bazel build**, **bazel test**
 or any other **bazel** commands.

doc/_pages/from_source.md

@@ -10,7 +10,6 @@ integration. Any other configurations are provided on a best-effort basis.
 
 | Operating System ⁽⁴⁾             | Architecture | Python  | Bazel | CMake | C/C++ Compiler ⁽⁵⁾                 | Java                          |
 |----------------------------------|--------------|---------|-------|-------|------------------------------------|-------------------------------|
-| Ubuntu 18.04 LTS (Bionic Beaver) | x86_64 ⁽¹⁾   | 3.6 ⁽³⁾ | 5.1   | 3.10  | GCC 7.5 (default) or Clang 9   | OpenJDK 11                    |
 | Ubuntu 20.04 LTS (Focal Fossa)   | x86_64 ⁽¹⁾   | 3.8 ⁽³⁾ | 5.1   | 3.16  | GCC 9.3 (default) or Clang 9   | OpenJDK 11                    |
 | macOS Big Sur (11)               | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ | 5.1   | 3.19  | Apple LLVM 12.0.0 (Xcode 12.4) | AdoptOpenJDK 15 (HotSpot JVM) |
 | macOS Monterey (12)              | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ | 5.1   | 3.19  | Apple LLVM 12.0.0 (Xcode 12.4) | AdoptOpenJDK 15 (HotSpot JVM) |
@@ -118,13 +117,6 @@ cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake
 
 You will also need to have your ``PYTHONPATH`` configured correctly.
 
-*Ubuntu 18.04 (Bionic):*
-
-```bash
-cd drake-build
-export PYTHONPATH=${PWD}/install/lib/python3.6/site-packages:${PYTHONPATH}
-```
-
 *Ubuntu 20.04 (Focal):*
 
 ```bash

doc/_pages/getting_help.md

@@ -39,14 +39,14 @@ If you wish to contribute a patch, please see how to [submit a pull request](/de
 When reporting an issue, please consider providing the following information
 (``helper command in monospace``):
 
-* Operating system (e.g., Ubuntu 18.04 or macOS Monterey)
+* Operating system (e.g., Ubuntu Focal 20.04 or macOS Monterey)
 * Installation method (e.g., pip, apt, binary tar.gz, docker image, or
   rebuilding from source)
 * Language you are using (C++ or [Python](/python_bindings.html))
     * If using C++:
-      * C++ compiler (e.g., GCC 7.5.0, GCC 9.3.0, Clang 6.0.0)
+      * C++ compiler (e.g., GCC 9.3.0, Clang 6.0.0)
     * If using Python:
-      * Python version (e.g., Python 3.6.7)
+      * Python version (e.g., Python 3.8)
       * Python distribution (e.g., Ubuntu apt, macOS homebrew)
 * If building from source:
     * Build system (Bazel or CMake)

doc/_pages/installation.md

@@ -16,7 +16,6 @@ officially supports:
 
 | Operating System ⁽⁴⁾             | Architecture | Python  |
 |----------------------------------|--------------|---------|
-| Ubuntu 18.04 LTS (Bionic Beaver) | x86_64 ⁽¹⁾   | 3.6 ⁽³⁾ |
 | Ubuntu 20.04 LTS (Focal Fossa)   | x86_64 ⁽¹⁾   | 3.8 ⁽³⁾ |
 | macOS Big Sur (11)               | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ |
 | macOS Monterey (12)              | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ |
@@ -51,7 +50,6 @@ compiler as our releases:
 
 | Operating System                 | C/C++ Compiler                 |
 |----------------------------------|--------------------------------|
-| Ubuntu 18.04 LTS (Bionic Beaver) | GCC 7.5                        |
 | Ubuntu 20.04 LTS (Focal Fossa)   | GCC 9.3                        |
 | macOS Big Sur (11)               | Apple LLVM 12.0.0 (Xcode 12.4) |
 | macOS Monterey (12)              | Apple LLVM 12.0.0 (Xcode 12.4) |

doc/_release-notes/template.txt

@@ -107,7 +107,7 @@ Newly bound
 
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/{version}) named
-``drake-YYYYMMDD-{{bionic|focal|mac}}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
+``drake-YYYYMMDD-{{focal|mac}}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to

setup/BUILD.bazel

@@ -16,13 +16,7 @@ exports_files([
     "mac/source_distribution/requirements.txt",
     "mac/source_distribution/requirements-maintainer-only.txt",
     "mac/source_distribution/requirements-test-only.txt",
-    "ubuntu/binary_distribution/packages-bionic.txt",
     "ubuntu/binary_distribution/packages-focal.txt",
-    "ubuntu/source_distribution/packages-bionic.txt",
-    "ubuntu/source_distribution/packages-bionic-clang.txt",
-    "ubuntu/source_distribution/packages-bionic-doc-only.txt",
-    "ubuntu/source_distribution/packages-bionic-maintainer-only.txt",
-    "ubuntu/source_distribution/packages-bionic-test-only.txt",
     "ubuntu/source_distribution/packages-focal.txt",
     "ubuntu/source_distribution/packages-focal-clang.txt",
     "ubuntu/source_distribution/packages-focal-doc-only.txt",
@@ -52,7 +46,6 @@ install_files(
             "deepnote/install_nginx",
             "deepnote/nginx-meshcat-proxy.conf",
             "ubuntu/binary_distribution/install_prereqs.sh",
-            "ubuntu/binary_distribution/packages-bionic.txt",
             "ubuntu/binary_distribution/packages-focal.txt",
         ],
         "//conditions:default": [],

setup/ubuntu/binary_distribution/install_prereqs.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 #
 # Install development and runtime prerequisites for binary distributions of
-# Drake on Ubuntu 18.04 (Bionic) or 20.04 (Focal).
+# Drake on Ubuntu 20.04 (Focal).
 
 set -euo pipefail
 
@@ -66,8 +66,8 @@ apt-get install ${maybe_yes} --no-install-recommends lsb-release
 
 codename=$(lsb_release -sc)
 
-if [[ "${codename}" != 'bionic' && "${codename}" != 'focal' ]]; then
-  echo 'ERROR: This script requires Ubuntu 18.04 (Bionic) or 20.04 (Focal)' >&2
+if [[ "${codename}" != 'focal' ]]; then
+  echo 'ERROR: This script requires Ubuntu 20.04 (Focal)' >&2
   exit 2
 fi
 

setup/ubuntu/install_prereqs.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 #
 # Install development and runtime prerequisites for both binary and source
-# distributions of Drake on Ubuntu 18.04 (Bionic) or 20.04 (Focal).
+# distributions of Drake on Ubuntu 20.04 (Focal).
 
 set -euo pipefail
 

setup/ubuntu/source_distribution/install_prereqs.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 #
 # Install development prerequisites for source distributions of Drake on
-# Ubuntu 18.04 (Bionic) or 20.04 (Focal).
+# Ubuntu 20.04 (Focal).
 #
 # The development and runtime prerequisites for binary distributions should be
 # installed before running this script.
@@ -92,20 +92,20 @@ codename=$(lsb_release -sc)
 packages=$(cat "${BASH_SOURCE%/*}/packages-${codename}.txt")
 apt-get install ${maybe_yes} --no-install-recommends ${packages}
 
-# TODO(svenevs): when bionic is dropped, satisfy can be used unconditionally.
-if  [[ "${codename}" != 'bionic' ]]; then
-  apt-get satisfy  ${maybe_yes} --no-install-recommends \
-    'libcurl4-gnutls-dev | libcurl4-dev'
-fi
+
+# TODO(svenevs): Ideally we would have `packages-${codename}-satisfy.txt`,
+# an example workflow is in #16233 but xargs needs work (see #16280).
+apt-get satisfy  ${maybe_yes} --no-install-recommends \
+  'libcurl4-gnutls-dev | libcurl4-dev'
 
 # Ensure that we have available a locale that supports UTF-8 for generating a
 # C++ header containing Python API documentation during the build.
 apt-get install ${maybe_yes} --no-install-recommends locales
 locale-gen en_US.UTF-8
 
 if [[ "${codename}" == 'focal' ]]; then
-  # We need a working /usr/bin/python (of any version).  On Bionic it's there
-  # by default, but on Focal we have to ask for it.
+  # We need a working /usr/bin/python (of any version).
+  # On Focal we have to ask for it.
   if [[ ! -e /usr/bin/python ]]; then
     apt-get install ${maybe_yes} --no-install-recommends python-is-python3
   else

tools/install/bazel/generate_installed_files_manifest.bzl

@@ -12,7 +12,6 @@ def _impl(ctx):
         "manipulation/models/iiwa_description/iiwa_stack.LICENSE.txt",
         "setup/Brewfile",
         "setup/install_prereqs",
-        "setup/packages-bionic.txt",
         "setup/packages-focal.txt",
         "setup/requirements.txt",
         # These are installed in share/drake and are runfiles for certain