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It looks like ros2_control needs some changes to be able to be built on |
henningkayser
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Thanks for setting this up! IMO we should just get it merged and allow Rolling to fail until it's fixed. What do you think?
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| repositories: | |||
| moveit_msgs: | |||
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Just curious.. once rolling is working on all dependencies, we won't really need this file anymore, right? Or is it still required for checking the lastest versions before the corresponding rolling release is out? I'm wondering how changes that affect multiple repos would be synced then.
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This file is needed because there are dependencies that are not released for rolling yet that are not in the normal repos file.
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Yes, I already understood so far. The question is just if there is a recommended strategy for syncing changes in multiple repos without breaking Rolling (the release) all the time.
Steps To Compile moveit2 and moveit2_tutorials on RollingTo compile moveit2 on rolling I've used the latest official rolling-desktop docker image, namely Create the workspace and Pull moveit2 and moveit2_tutorials
sudo apt install -y \
build-essential \
cmake \
git \
libbullet-dev \
python3-colcon-common-extensions \
python3-flake8 \
python3-pip \
python3-pytest-cov \
python3-rosdep \
python3-setuptools \
python3-vcstool \
wget \
clang-format-10 && \
python3 -m pip install -U \
argcomplete \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest
export COLCON_WS=~/ws_moveit2/
mkdir -p $COLCON_WS/src
cd $COLCON_WS/src
# Moveit2
wget https://raw.githubusercontent.com/ros-planning/moveit2/main/moveit2.repos
vcs import < moveit2.repos
git clone https://github.com/ros-planning/moveit2.git
# Moveit2 Tutorials
wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/main/moveit2_tutorials.repos
vcs import < moveit2_tutorials.reposPull DependenciesUsually in this step we solve dependencies with rosdep but there are some packages not released for rolling, thus needed to be source build as follows: # object_recognition_msgs
git clone -b ros2 https://github.com/wg-perception/object_recognition_msgs.git
# control_toolbox
git clone -b ros2-master https://github.com/ros-controls/control_toolbox.git
# realtime_tools
git clone -b foxy-devel https://github.com/ros-controls/realtime_tools.git
# random_numbers
git clone -b ros2 https://github.com/ros-planning/random_numbers.git
# OMPL
git clone https://github.com/ompl/ompl/
# octomap
git clone https://github.com/OctoMap/octomap
# octomap_msgs
git clone -b ros2 https://github.com/OctoMap/octomap_msgs/tree/ros2
# Now we can solve other dependcies via rosdep
rosdep install -r --from-paths . --ignore-src --rosdistro foxy -yBuild the workspaceThere needs to be some changes in the source code to sucesfully build for rolling as listed below:
Now the workspace is ready to be built: source /opt/ros/rolling/setup.bash
cd $COLCON_WS
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=ReleaseAfter being built and sourced, the demos and ported tutorials should work without any problems. |
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I succesfully compiled moveit2 and moveit2_tutorials and run all the demos and tutorials on rolling and above was my steps to compile, let me know if you need anything on this regard @tylerjw . |
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@vatanaksoytezer woa, thank you for such a nice writeup. We should make PRs to work through fixing those various issues. I can get started making the PRs for ros2_control. |
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@tylerjw which rolling image isindustrial_ci using? I had had sucess with osrf/ros:rolling-desktop though the one industrial_ci uses seems to be failing. |
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I don't know what image they are using but the current issue seems to be with a dependency not being specified correctly in And a second one to add a rolling test for warehouse_ros: moveit/warehouse_ros#69 |
...mple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
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Vatan's change to ros2_control was merged so this should now work. I'm going to update it to re-trigger CI. |
Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
henningkayser
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I'd say we should merge this as is and then start releasing our own upstream dependencies for rolling. I'm fine with enabling galactic in a later PR if it would be holding us up too much.
| - ROS_DISTRO: rolling | ||
| ROS_REPO: testing | ||
| # galactic is not yet supported by industrial_ci | ||
| # - ROS_DISTRO: galactic |
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I just tried galactic and it seems to work just as well with the provided workspace dependencies. There are only some deprecation and formatting warnings that we still need to fix (same for rolling and galactic). Any reason not to enable galactic as well?
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Only |
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This setup currently does not compile on rolling. See ros-controls/ros2_controllers#200. |
Description
This adds tests to CI for Galactic and Rolling.