Galactic update #187

jacobperron · 2021-06-22T23:16:46Z

Changes so that we can build and test against Galactic (the latest ROS 2 distro).

This includes ports of the following changes from the OSRF fork:

* Switch to 'galactic' branches of upstream repositories where applicable * Move all ROS 2 Java repos into subdirectory 'ros2-java' (this matches the org name) * Use new 'main' branches for ros2-java repositories Signed-off-by: Jacob Perron <[email protected]>

These are no longer being used. Signed-off-by: Jacob Perron <[email protected]>

* Depend on new package rosidl_runtime_c for rosidl C structures * Ensure Java support library links against C generator target Signed-off-by: Jacob Perron <[email protected]>

Signed-off-by: Jacob Perron <[email protected]>

Opensplice is not distributed with ROS 2 since Foxy. Signed-off-by: Jacob Perron <[email protected]>

It is not necessary and causes a circular dependency. Signed-off-by: Jacob Perron <[email protected]>

Signed-off-by: Jacob Perron <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Jacob Perron <[email protected]>

.github/workflows/build_and_test.yml

rcljava/include/org_ros2_rcljava_client_ClientImpl.h

Signed-off-by: Jacob Perron <[email protected]>

ivanpauno · 2021-06-25T13:37:33Z

rosidl_generator_java/package.xml

-  <test_depend>rosidl_generator_c</test_depend>
+  <!-- It's not clear why we need to depend on rosidl_generator_cpp, but without it
+       the tests will not compile.
+       See https://github.com/ros2/rosidl_python/pull/100#issuecomment-608558735 -->


this is interesting ...

ivanpauno · 2021-06-25T13:47:18Z

.github/workflows/build_and_test.yml

+    - uses: ros-tooling/setup-ros@v0.2
      with:
-        required-ros-distributions: dashing
+        required-ros-distributions: galactic


this will introduce conflicts with changes in https://github.com/osrf/ros2_java/

this conflicts don't matter much, I'm ok with them

ros2_java_desktop.repos

ivanpauno · 2021-06-25T13:54:52Z

rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake

    foreach(_typesupport_impl ${_typesupport_impls})
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Request.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Response.ep.${_typesupport_impl}.cpp")
+      list(APPEND _generated_extension_${_typesupport_impl}_files


this changes will introduce confilcts with osrf#73 if not imported from that commit

I prefer to import osrf#73 if possible, which doesn't seem to be the case.

I tried cherry-picking osrf#73 but it doesn't apply cleanly. It seemed easier to directly address the cmake lint warnings here..

jacobperron · 2021-06-25T17:09:35Z

I'm looking into the Android CI failure.

mclayton7 · 2021-06-28T01:44:01Z

@jacobperron I started looking into the Android CI issue and it seems to be related to foonathan/memory#60. I'm not a ROS2/Ament expert, but it looks like a cross compilation issue that may be resolved by pointing cmake to qemu via CMAKE_CROSSCOMPILING_EMULATOR

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ivanpauno · 2021-07-02T16:52:03Z

@jacobperron I started looking into the Android CI issue and it seems to be related to foonathan/memory#60. I'm not a ROS2/Ament expert, but it looks like a cross compilation issue that may be resolved by pointing cmake to qemu via CMAKE_CROSSCOMPILING_EMULATOR

Thanks, let's see if 9a78180 fixes the issue.

ivanpauno · 2021-07-02T17:01:17Z

Thanks, let's see if 9a78180 fixes the issue.

That seem to have solved the foonathan_memory_vendor compile error, now there's a different issue with rosidl_runtime_cpp.

ivanpauno · 2021-07-02T21:37:38Z

Cloning into 'mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039'...
HEAD is now at f171450 Add armv7l as a 32-bit ARM architecture. (#16)
CMake Error at CMakeLists.txt:88 (message):
Architecture 'armv7-a' is not supported.

That one is unfortunate ....
IMO, we should make mimick tests optional, and disable them when mimick is not present.

mclayton7 · 2021-07-02T21:59:46Z

Cloning into 'mimick-f171450b5ebaa3d2538c762a059dfc6ab7a01039'...
HEAD is now at f171450 Add armv7l as a 32-bit ARM architecture. (#16)
CMake Error at CMakeLists.txt:88 (message):
Architecture 'armv7-a' is not supported.

That one is unfortunate ....
IMO, we should make mimick tests optional, and disable them when mimick is not present.

It looks like https://github.com/ros2/Mimick supports ARM/ARM64, so maybe it's just a matter of tweaking the cmake scripts in https://github.com/ros2/mimick_vendor? I'll try to look at it this weekend.

ivanpauno · 2021-07-02T22:03:24Z

It looks like https://github.com/ros2/Mimick supports ARM/ARM64, so maybe it's just a matter of tweaking the cmake scripts in https://github.com/ros2/mimick_vendor? I'll try to look at it this weekend.

Android uses a different ABI, so I'm not sure if it will work, probably it won't.
Mimick is a C mocking library that works by poisoning the GOT of a dynamic library at runtime, so it's pretty platform dependent.
IMO, it should be possible to disable all tests using mimick in the ros2 core by passing a cmake flag, I will see what I can do.

We can also just not build tests at all.... but that doesn't sound like a good idea.

ivanpauno · 2021-07-06T20:01:19Z

I have opened a PR in rcl to skip mimick tests ros2/rcl#923.
We will need to do similar work in rcutils, rclcpp and in the other packages in the rcl repo, and that will likely fix the android builds.

ivanpauno · 2021-07-06T22:05:53Z

The last five commits skipped building tests on the packages using mimick, so we are not blocked on PRs in the ros2 core to merge this.

Now this is failing in the rcutils shared library helpers ....
This is getting fun 😄

ivanpauno · 2021-11-02T20:46:58Z

@jacobperron CI is passing now.
The only job that failed is duplicated (push and pr triggers), and had a random issue.

jacobperron · 2021-11-03T00:44:01Z

@ivanpauno Thanks for looking into it! I think we can merge this now. Maybe we can remove the duplicate jobs in a follow-up.

performance_test_fixture ros2_tracing libstatistics_collector python_cmake_module rpyutils libyaml_vendor rmw_dds_common Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

https://github.blog/2021-09-01-improving-git-protocol-security-github/ Signed-off-by: Ivan Santiago Paunovic <[email protected]>

It's not clear why this dependency is required. Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

jacobperron · 2021-11-03T01:48:55Z

I've tried to cleanup the commits a little bit; I'll avoid squashing to preserve history.

jacobperron added 5 commits June 22, 2021 15:47

Remove legacy CI files

a1b4409

These are no longer being used. Signed-off-by: Jacob Perron <[email protected]>

Updates for Foxy

fe96b5e

* Depend on new package rosidl_runtime_c for rosidl C structures * Ensure Java support library links against C generator target Signed-off-by: Jacob Perron <[email protected]>

Update workflow

a66d14e

Signed-off-by: Jacob Perron <[email protected]>

Update README

39dd513

Signed-off-by: Jacob Perron <[email protected]>

jacobperron requested review from esteve and ivanpauno June 22, 2021 23:16

jacobperron and others added 5 commits June 22, 2021 16:27

Remove dependency on opensplice (#47)

6bf1e54

Opensplice is not distributed with ROS 2 since Foxy. Signed-off-by: Jacob Perron <[email protected]>

Remove dependency on rmw_implementation

ff67bad

It is not necessary and causes a circular dependency. Signed-off-by: Jacob Perron <[email protected]>

Fix cmake lint

f39bbf5

Signed-off-by: Jacob Perron <[email protected]>

Use the sequence number correctly when sending a request (#63)

90a0de5

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Update android workflow

7f5279b

Signed-off-by: Jacob Perron <[email protected]>

ivanpauno reviewed Jun 23, 2021

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rcljava/include/org_ros2_rcljava_client_ClientImpl.h Show resolved Hide resolved

Update symlink name

23d21c0

Signed-off-by: Jacob Perron <[email protected]>

ivanpauno reviewed Jun 25, 2021

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ivanpauno approved these changes Jun 25, 2021

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mclayton7 mentioned this pull request Jun 29, 2021

Help cross compiling for ros2_java/Android foonathan/memory#117

Closed

Install qemu and set CMAKE_CROSSCOMPILING_EMULATOR

9a78180

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ivanpauno closed this Nov 1, 2021

ivanpauno reopened this Nov 1, 2021

ivanpauno added 10 commits November 2, 2021 18:05

Add missing dependencies to repos file

dc92c23

performance_test_fixture ros2_tracing libstatistics_collector python_cmake_module rpyutils libyaml_vendor rmw_dds_common Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Skip tests on packages using mimick

838e252

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Ignore rcl_logging_spdlog

8887194

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add cmake option needed by fastdds

9e70f85

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Force using android-ifaddrs

0867e37

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix ament_add_junit_tests()

1b07cbb

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Fix typesupports not being found issue

7de9a1d

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Replace deprecated unencrypted git protocol

65dbbc8

https://github.blog/2021-09-01-improving-git-protocol-security-github/ Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Depend on rosidl_generator_cpp

6cf32f4

It's not clear why this dependency is required. Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Use noop logging implementation

610299c

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

jacobperron force-pushed the galactic_update branch from b0cb748 to 610299c Compare November 3, 2021 01:47

ivanpauno merged commit 960f896 into main Nov 3, 2021

ivanpauno deleted the galactic_update branch November 3, 2021 13:41

Galactic update #187

Galactic update #187

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