Delete manifest.xml

[giusebar]

Remove manifest.xml.

I've been trying to compile these packages in Ubuntu 20.04, ROS 2 Foxy.

After cloning the package, I'm installing the rosdep with rosdep install -i -y --from-paths . .

However, not all the dependencies defined in package.xml are installed. E.g. eigen3_cmake_module.

Because of this, when compiling with colcon build --executor=sequential --event-handlers console_direct+, I get the following errors complaining it can't find Eigen libraries (fatal error: Eigen/Core: No such file or directory).

After some investigation I've discovered that, for some reason, when trying to install dependencies via rosdep, the dependencies defined in manifest.xml are used first. And dependencies like eigen3_cmake_modules are not installed. This causes compilation via colcon to fail. The failure is due to the fact that the eigen3_cmake_module takes care of setting the correct Eigen3_INCLUDE_DIRS here.
Without that command EIGEN3_INCLUDE_DIRS will be set instead, and ignored in the CMakeLists.txt.

This should also be backported, as the issue happens also in foxy (in which i've tested this).

[giusebar]

@audrow @ivanpauno could you please have a look at this?
Should I propose the change upstream in the Orocos repository as well?

Thanks in advance for the help!

[ivanpauno]

Hi @giusebar,

FYI, this repo is only used for ROS 2 distros up to Galactic, Humble and newer are using https://github.com/ros2/orocos_kdl_vendor (which is a cmake shim to download and build the package if not already installed).

You should be able to install this package from debians as well e.g. for Foxy apt install ros-foxy-orocos-kinematics-dynamics, i.e. don't need to build from source.

After some investigation I've discovered that, for some reason, when trying to install dependencies via rosdep, the dependencies defined in manifest.xml are used first. And dependencies like eigen3_cmake_modules are not installed. This causes compilation via colcon to fail. The failure is due to the fact that the eigen3_cmake_module takes care of setting the correct Eigen3_INCLUDE_DIRS here.

did you have the ROS_DISTRO environment variable set correctly?
If that's the case, this sounds like a bug in rosdep, though I'm not sure.

Should I propose the change upstream in the Orocos repository as well?

Removing the old manifest in this repo is fine, as it's not used at all for ROS 2 builds.
You will need to ask upstream if it's okay to remove it there, I'm not sure.

[ivanpauno]

LGTM!

Please, double check this question:

did you have the ROS_DISTRO environment variable set correctly?

so we know if this change is really needed or not

[giusebar]

Hello @ivanpauno,

Thanks for your review and reply! Yes, I tried a few times to make sure I was setting up the ROS_DISTRO environment variable. Also run the command with explicit rosdistro set: rosdep install -i -y --from-paths . --rosdistro foxy. The dependencies in package.xml get installed only when removing manifest.xml file. It seems like a bug in rosdep indeed.

[ivanpauno]

@Mergifyio backport galactic foxy

[mergify]

backport galactic foxy

✅ Backports have been created

Details

• #27 Delete manifest.xml (backport #26) has been created for branch galactic
• #28 Delete manifest.xml (backport #26) has been created for branch foxy

[ivanpauno]

@giusebar see orocos#222 (comment).
Based on that, I don't think this is going to be accepted upstream.
Maybe there's a way to update the manifest.xml so it works well...

Anyway, the change is okay in this repo.