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FS-Driverless / Formula-Student-Driverless-Simulator

A virtual world where Autonomous Systems from different Formula Student teams can compete in time-trial challenges
https://fs-driverless.github.io/Formula-Student-Driverless-Simulator
GNU General Public License v2.0
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Fail to build fsds_ros2_bridge on ROS2 Humble #296

Closed chentairan closed 2 years ago

chentairan commented 2 years ago

Here is the error logs:

In file included from /opt/ros/humble/include/rclcpp/rclcpp/wait_set.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:168, from /home/chentairan/Formula-Student-Driverless-Simulator/ros2/src/fsds_ros2_bridge/include/airsim_ros_wrapper.h:1, from /home/chentairan/Formula-Student-Driverless-Simulator/ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/dynamic_storage.hpp:226:7: note: candidate: ‘rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::ServiceBase, std::vector<std::weak_ptr > >(const rclcpp::ServiceBase&, const std::vector<std::weak_ptr >&)::<lambda(const int&)>’ 226 | [&entity](const auto & inner) {return &entity == inner.lock().get();}); | ^ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/dynamic_storage.hpp:226:7: note: no known conversion for argument 1 from ‘const std::weak_ptr’ to ‘const int&’ In file included from /usr/include/c++/11/bits/stl_algobase.h:71, from /usr/include/c++/11/memory:63, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153, from /home/chentairan/Formula-Student-Driverless-Simulator/ros2/src/fsds_ros2_bridge/include/airsim_ros_wrapper.h:1, from /home/chentairan/Formula-Student-Driverless-Simulator/ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp:1: /usr/include/c++/11/bits/predefined_ops.h: In instantiation of ‘bool gnu_cxx::__ops::_Iter_pred<_Predicate>::operator()(_Iterator) [with _Iterator = gnu_cxx::normal_iterator<const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry*, std::vector >; _Predicate = rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)>]’: /usr/include/c++/11/bits/stl_algobase.h:2069:14: required from ‘_RandomAccessIterator std::find_if(_RandomAccessIterator, _RandomAccessIterator, _Predicate, std::random_access_iterator_tag) [with _RandomAccessIterator = gnu_cxx::normal_iterator<const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry*, std::vector >; _Predicate = gnu_cxx::ops::_Iter_pred<rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)> >]’ /usr/include/c++/11/bits/stl_algobase.h:2114:23: required from ‘_Iterator std::find_if(_Iterator, _Iterator, _Predicate) [with _Iterator = __gnu_cxx::normal_iterator<const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry, std::vector >; _Predicate = gnu_cxx::__ops::_Iter_pred<rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)> >]’ /usr/include/c++/11/bits/stl_algo.h:3910:28: required from ‘_IIter std::find_if(_IIter, _IIter, _Predicate) [with _IIter = gnu_cxx::__normal_iterator<const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry, std::vector >; _Predicate = rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)>]’ /usr/include/c++/11/bits/stl_algo.h:471:47: required from ‘bool std::none_of(_IIter, _IIter, _Predicate) [with _IIter = gnu_cxx::normal_iterator<const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry*, std::vector >; _Predicate = rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)>]’ /usr/include/c++/11/bits/stl_algo.h:490:27: required from ‘bool std::any_of(_IIter, _IIter, _Predicate) [with _IIter = gnu_cxx::normal_iterator<const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry, std::vector >; _Predicate = rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)>]’ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/dynamic_storage.hpp:223:23: required from ‘static bool rclcpp::wait_set_policies::DynamicStorage::storage_has_entity(const EntityT&, const SequenceOfEntitiesT&) [with EntityT = rclcpp::Waitable; SequenceOfEntitiesT = std::vector]’ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/dynamic_storage.hpp:351:33: required from here /usr/include/c++/11/bits/predefined_ops.h:318:30: error: no match for call to ‘(rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)>) (const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry&)’ 318 | { return bool(_M_pred(__it)); } | ~^~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/wait_set.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:168, from /home/chentairan/Formula-Student-Driverless-Simulator/ros2/src/fsds_ros2_bridge/include/airsim_ros_wrapper.h:1, from /home/chentairan/Formula-Student-Driverless-Simulator/ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/dynamic_storage.hpp:226:7: note: candidate: ‘rclcpp::wait_set_policies::DynamicStorage::storage_has_entity<rclcpp::Waitable, std::vector >(const rclcpp::Waitable&, const std::vector&)::<lambda(const int&)>’ 226 | [&entity](const auto & inner) {return &entity == inner.lock().get();}); | ^ /opt/ros/humble/include/rclcpp/rclcpp/wait_set_policies/dynamic_storage.hpp:226:7: note: no known conversion for argument 1 from ‘const rclcpp::wait_set_policies::DynamicStorage::WeakWaitableEntry’ to ‘const int&’ gmake[2]: [CMakeFiles/airsim_ros.dir/build.make:76: CMakeFiles/airsim_ros.dir/src/airsim_ros_wrapper.cpp.o] Error 1 gmake[1]: [CMakeFiles/Makefile2:192: CMakeFiles/airsim_ros.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2

Failed <<< fsds_ros2_bridge [4.94s, exited with code 2]

mateusz-lichota commented 2 years ago

You're trying to build the ros2 bridge for ROS Humble, but the version it was written for is galactic, so you might be a pioneer of the new version here :+1: . If you figure out what the issue is, please do submit a pull request fixing it or at least share the steps to fix it here

chentairan commented 2 years ago

Yeah, I'm trying a very difficult environment 🌚 because Ubuntu 22.04 doesn't seem to have clang8 support anymore, so I don't know if it's a problem with airsim lib or humble.

If I find a fix I'll submit a pull request~~

Best, Tairan Chen

b1n-ch1kn commented 2 years ago

We're starting to look at migrating given Galactic is EOL in November, and Humble has 5 years left. Was able to build for Humble (WSL2 Ubuntu 20.04), need to do some more testing (mostly on our driverless stack) but these changes shouldn't break Galactic. https://github.com/QUT-Motorsport/Formula-Student-Driverless-Simulator/commit/3f3b44782d1fcb2267ed4ab85842406e68775f62

Note, we use RoboStack for ROS+Python+CPP package management. Might need more adjustments for a deb install of Humble.

mateusz-lichota commented 2 years ago

Closed in #317

b1n-ch1kn commented 2 years ago

Probably moreso fixed here https://github.com/FS-Driverless/Formula-Student-Driverless-Simulator/compare/master...AdMorgado:Formula-Student-Driverless-Simulator:master. Can just change the airsim requirements to newer clang

mateusz-lichota commented 2 years ago

Wait, I don't have access to Humble so I just trusted you @b1n-ch1kn that your PR fixed this. Does it successfully build on Humble, on 22.04 now, or not?

b1n-ch1kn commented 2 years ago

Sorry for the confusion, my PR was for 20.04 Humble & Galactic compatibility. However, I did start some testing on a 22.04 environment last night after discussing with AdMorgado. Seems like the only difference between Humble 22.04 and Galactic 20.04 is clang 14 vs 8 specified in AirSim/setup.sh and AirSim/build.sh. Unfortunately, 20.04 doesn't have clang 14 support so the same file wouldn't have backward compatibility, but maybe a setup_2204.sh or something similar would be the way to go for multi-distro support. Happy to hear your thoughts on this so we can support more of the community.

mateusz-lichota commented 2 years ago

How about instead of clang-14 we try using clang-11 or clang-12, both of which support both 20.04 and 22.04? Could you see if either one of those versions works with ubuntu 22.04? I'll test 20.04

b1n-ch1kn commented 2 years ago

Sounds good, I'll try both on the 22.04 end.

mateusz-lichota commented 2 years ago

Let's go with clang 12 then

b1n-ch1kn commented 2 years ago

I'll make a PR once I do some more testing tonight. Cheers