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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
54 stars 28 forks source link

Bugfix for noetic release #44

Closed sktometometo closed 3 years ago

sktometometo commented 3 years ago

The khi_robot packages can be built after the noetic release of moveit https://github.com/ros/rosdistro/commit/d8828c943a8c7c9725ace53be6b1eb066cdce40f.

Some tests still seem to fail though.

ubuntu@37f1d085f80f:~/ws_khi_robot$ catkin_make test Base path: /home/ubuntu/ws_khi_robot Source space: /home/ubuntu/ws_khi_robot/src Build space: /home/ubuntu/ws_khi_robot/build Devel space: /home/ubuntu/ws_khi_robot/devel Install space: /home/ubuntu/ws_khi_robot/install

Running command: "make cmake_check_build_system" in "/home/ubuntu/ws_khi_robot/build"

Running command: "make test -j8 -l8" in "/home/ubuntu/ws_khi_robot/build"

Running tests... Test project /home/ubuntu/ws_khi_robot/build Start 1: _ctest_khi_duaro_description_roslaunch-check_tests_roslaunch_test_duaro.xml 1/13 Test #1: _ctest_khi_duaro_description_roslaunch-check_tests_roslaunch_test_duaro.xml ............... Passed 1.18 sec Start 2: _ctest_khi_duaro_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_duaro.xml 2/13 Test #2: _ctest_khi_duaro_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_duaro.xml ...... Passed 1.59 sec Start 3: _ctest_khi_rs_description_roslaunch-check_tests_roslaunch_test_rs007l.xml 3/13 Test #3: _ctest_khi_rs_description_roslaunch-check_tests_roslaunch_test_rs007l.xml ................. Passed 1.15 sec Start 4: _ctest_khi_rs_description_roslaunch-check_tests_roslaunch_test_rs007n.xml 4/13 Test #4: _ctest_khi_rs_description_roslaunch-check_tests_roslaunch_test_rs007n.xml ................. Passed 1.18 sec Start 5: _ctest_khi_rs_description_roslaunch-check_tests_roslaunch_test_rs080n.xml 5/13 Test #5: _ctest_khi_rs_description_roslaunch-check_tests_roslaunch_test_rs080n.xml ................. Passed 1.16 sec Start 6: _ctest_khi_rs007l_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_rs007l.xml 6/13 Test #6: _ctest_khi_rs007l_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_rs007l.xml .... Passed 1.55 sec Start 7: _ctest_khi_rs007n_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_rs007n.xml 7/13 Test #7: _ctest_khi_rs007n_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_rs007n.xml .... Passed 1.52 sec Start 8: _ctest_khi_rs080n_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_rs080n.xml 8/13 Test #8: _ctest_khi_rs080n_moveit_config_roslaunch-check_tests_roslaunch_test_moveit_rs080n.xml .... Passed 1.52 sec Start 9: _ctest_khi_robot_control_rostest_tests_test_main.xml 9/13 Test #9: _ctest_khi_robot_control_rostest_tests_test_main.xml ...................................... Passed 8.80 sec Start 10: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_duaro.xml 10/13 Test #10: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_duaro.xml ....Failed 0.77 sec Start 11: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs007n.xml 11/13 Test #11: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs007n.xml ...Failed 0.76 sec Start 12: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs007l.xml 12/13 Test #12: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs007l.xml ...Failed 0.76 sec Start 13: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs080n.xml 13/13 Test #13: _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs080n.xml ...Failed 0.76 sec

69% tests passed, 4 tests failed out of 13

Total Test time (real) = 22.70 sec

The following tests FAILED: 10 - _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_duaro.xml (Failed) 11 - _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs007n.xml (Failed) 12 - _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs007l.xml (Failed) 13 - _ctest_khi_robot_test_rostest_tests_khi_robot_control_test_khi_robot_control_rs080n.xml (Failed) Errors while running CTest make: *** [Makefile:130: test] Error 8 Invoking "make test -j8 -l8" failed

sktometometo commented 3 years ago

Fails of tests on noetic seem to be due to changes of the return value of MoveGroupCommander.plan(). melodic (https://github.com/ros-planning/moveit/blob/783f6b4e990facd8bf2eabc16828db9661b4d1c6/moveit_commander/src/moveit_commander/move_group.py#L505-L520) and noetic (https://github.com/ros-planning/moveit/blob/3cc363372a6e52d378e6907096979ccff49cdccf/moveit_commander/src/moveit_commander/move_group.py#L508-L532)

sktometometo commented 3 years ago

In noetic with armhf, gazebo_ros package seems not to be released. ( build failed http://build.ros.org/job/Nbin_ufhf_uFhf__gazebo_ros__ubuntu_focal_armhf__binary/ ) Fails of noetic test on armhf is due to this package.

sktometometo commented 3 years ago

gazebo_ros depends on gazebo_dev package, and gazebo_dev package depends on gazebo. In focal (20.04), rosdep 'gazebo' entry refer to gazebo11. But gazebo11 is not released in osrf repository. http://repositories.ros.org/ubuntu/building/dists/focal/main/binary-armhf/Packages

I cannot find CI information about the osrf repository. But build of gazebo9 in the ubuntu official repo for armhf fails because libqtpropertybrowser-dev is not released for armhf in focal.

sktometometo commented 3 years ago

Asking https://github.com/osrf/gazebo/issues/2857

sktometometo commented 3 years ago

rebased on origin/master and remove armhf support.

sktometometo commented 3 years ago

Seems that this works in simulation mode and gazebo.

k-okada commented 3 years ago

@sktometometo thanks!