Switch CI to use ros-industrial master by mpowelson · Pull Request #21 · tesseract-robotics/tesseract_ros2

mpowelson · 2020-06-08T12:25:36Z

The fix needed in ipa-mdl's branch has since been merged.

mpowelson · 2020-06-08T13:01:45Z

@Levi-Armstrong Well using master does not work the same way ipl-mds's branch used to. Trying to decipher the comments it looks like I need to do something to the docker. In the meantime, I switched it to the target workspace instead of upstream. Hopefully that will fix it.

mpowelson · 2020-06-08T14:28:29Z

Well tesseract_python is broken. I don't think I am going to spend time fixing this right now.

mathias-luedtke · 2020-06-08T17:33:01Z

@mpowelson: Your Docker image contains outdated versions of colcon/ament/rosdep (not sure, which one was fixed).

If you cannot fix the image, you might try an upgrade: AFTER_INIT: apt-get upgrade -y.

mathias-luedtke · 2020-06-08T17:34:23Z

             ROS_DISTRO: eloquent,
             ROS_REPO: main,
-             UPSTREAM_WORKSPACE: 'dependencies.rosinstall',
+             TARGET_WORKSPACE: 'dependencies.rosinstall',


This omits your target repository, UPSTREAM_WORKSPACE should work fine with a newer build system.

The fix needed in ipa-mdl's branch has since been merged.

mathias-luedtke · 2020-06-08T21:03:41Z

Something is wrong with the upstream_ws or how it is built. ros2 pkg list does not list any of these packages.

mathias-luedtke · 2020-06-08T21:07:00Z

Are all tesseract packages built with cmake only? I think they are not added to the ROS2 index.

mpowelson · 2020-06-08T21:17:31Z

Yes. They are all ROS agnostic and do not use Ament, so I think that is correct. I don't think they are added to the index unless the ament_index file is manually created like is being done in tesseract_collision

mathias-luedtke · 2020-06-08T21:19:04Z

I guess you build is failing now because of ros-infrastructure/rosdep#724

Levi-Armstrong · 2020-06-08T21:21:02Z

@schornakj Didn't we add the creation of these for ROS2 support to Tesseract?

mathias-luedtke · 2020-06-08T21:25:26Z

@@ -28,14 +29,15 @@ jobs:
             UPSTREAM_WORKSPACE: 'dependencies.rosinstall',


Suggested change

UPSTREAM_WORKSPACE: 'dependencies.rosinstall',

TARGET_WORKSPACE: '. dependencies.rosinstall',

The dot means target repository.

this puts all packages into the targer workspace, but it will build and run all tests as well.

Levi-Armstrong · 2020-06-08T21:27:31Z

It looks like we only do this for tesseract_collision. We should add this to the tesseract_configure_package so all get added.

Levi-Armstrong · 2020-06-08T21:28:22Z

This is what we are doing for pure cmake packages.

# Create an ament_index resource file to allow ROS2 ament_index_cpp to locate the installed path to this package.
# This is a workaround to let the ROS2 version of pluginlib find tesseract_collision's plugins, since tesseract_collision is a non-ROS CMake package.
# ADDITIONAL REQUIREMENT: The installed path must be added to the AMENT_PREFIX_PATH environment variable at runtime, which is outside the scope of CMakeLists.txt.
file(WRITE ${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")

mathias-luedtke · 2020-06-08T21:35:57Z

ADDITIONAL REQUIREMENT: The installed path must be added to the AMENT_PREFIX_PATH environment variable at runtime, which is outside the scope of CMakeLists.txt

That needs to be done somehow
I could come up with a solution like ros-industrial/industrial_ci#496, but it would still be broken for others..

mathias-luedtke · 2020-06-08T22:51:20Z

I am currently working on a generic fix (ros-industrial/industrial_ci#496).

mpowelson · 2020-06-08T23:05:27Z

Thanks. It seems like ultimately this needs to be fixed in rosdep.

schornakj · 2020-06-08T23:09:51Z

@schornakj Didn't we add the creation of these for ROS2 support to Tesseract?

That was originally a solution to the way ROS2 pluginlib finds plugins, which relies on ament_index_cpp to find packages using the ament package index. It was only needed for the tesseract_collision package, since that was the only Tesseract package that contained plugins.

I agree that it's a shortcoming of rosdep, as well as pluginlib.

mathias-luedtke · 2020-06-09T00:03:01Z

I am currently working on a generic fix (ros-industrial/industrial_ci#496).

I have merged the fix into the master branch.
It is not ideal, but better than a lot of unexpected CI failures.

80affcc should work now without the AFTER_INIT script

Levi-Armstrong · 2020-06-09T05:38:38Z

@schornakj It looks like there may be solution in Eloquent explained here. It looks like we just need to install two new files along with the index file for each package. Would you have time to test this and see if it eliminates the need to modify the AMENT_PREFIX_PATH? @ipa-mdl This may also solve the rosdep issue for pure cmake packages. We will give it a try.

schornakj · 2020-07-10T17:04:06Z

@Levi-Armstrong @mpowelson @gavanderhoorn @ipa-mdl Does anything else need to happen with this PR before we can merge it?

Levi-Armstrong · 2020-07-10T17:19:31Z

             ROS_DISTRO: eloquent,
             ROS_REPO: main,
-             ROSDEP_SKIP_KEYS: "bullet3 fcl ompl",
+             ROSDEP_SKIP_KEYS: "bullet3 fcl ompl tesseract tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_motion_planners tesseract_process_planners tesseract_scene_graph tesseract_support tesseract_urdf tesseract_visualization",


Is this required now with the fixes to tesseract updating the prefix path?

No. It worked without it on mine. I just removed it and added cmake_common_scripts

mpowelson · 2020-07-10T21:07:45Z

@Levi-Armstrong Could we get the foxy build added to the dockerhub, so I could modify this to use that instead?

This is a new dependency of opw_kinematics

Minipada · 2020-07-11T09:20:03Z

I have the changes ready, will push as soon as it's on dockerhub

Levi-Armstrong · 2020-07-13T14:46:17Z

I have fixed the docker hub hooks in the docker repository for tesseract. Foxy is currently building but the other three have successfully built.

Levi-Armstrong · 2020-07-14T00:06:16Z

Foxy Docker is now available.

mpowelson · 2020-07-27T13:45:13Z

I will not be able to mess with this more any time soon to add foxy, but could we merge this so we stop getting nightly emails that ci is broken?

mpowelson · 2020-07-27T14:08:19Z

Thanks

mpowelson force-pushed the fix_ci branch from 8aa315a to e485ad2 Compare June 8, 2020 12:59

mathias-luedtke reviewed Jun 8, 2020

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mpowelson force-pushed the fix_ci branch 2 times, most recently from 32f1afb to fd537a7 Compare June 8, 2020 19:10

Switch CI to use ros-industrial master

80affcc

The fix needed in ipa-mdl's branch has since been merged.

mpowelson force-pushed the fix_ci branch from fd537a7 to 80affcc Compare June 8, 2020 19:12

mathias-luedtke reviewed Jun 8, 2020

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mpowelson mentioned this pull request Jun 15, 2020

Add colcon.pkg files to all packages tesseract-robotics/tesseract#303

Merged

Levi-Armstrong reviewed Jul 10, 2020

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Add cmake_common_scripts to the rosinstall

78c740f

This is a new dependency of opw_kinematics

mpowelson force-pushed the fix_ci branch from cba50b2 to 78c740f Compare July 10, 2020 21:46

Levi-Armstrong approved these changes Jul 27, 2020

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Levi-Armstrong merged commit de87ff6 into tesseract-robotics:master Jul 27, 2020

		@@ -28,14 +29,15 @@ jobs:
		UPSTREAM_WORKSPACE: 'dependencies.rosinstall',

	UPSTREAM_WORKSPACE: 'dependencies.rosinstall',
	TARGET_WORKSPACE: '. dependencies.rosinstall',

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