Conan error when CMAKE_BUILD_TYPE is not Release or Debug

gergondet commented 1 year ago

Description

I am trying to install this stack on Ubuntu 20.04 with ROS noetic, using the conan approach. It fails to find matching kortex_api_cpp binaries. I have done the required conan setup.

I get the following message:

-- +++ processing catkin package: 'kortex_driver'                                                                                                                                                                                                                                                        [23/491]
-- ==> add_subdirectory(ros_kortex/kortex_driver)                                                                                                                                                                                                                                                                
CONAN_TARGET_PLATFORM is x86                                                                                                                                                                                                                                                                                     
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy                                                                                
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system 
-- Generating .msg files for action kortex_driver/FollowCartesianTrajectory /home/gergondet/devel/src/catkin_data_ws/src/ros_kortex/kortex_driver/action/non_generated/FollowCartesianTrajectory.action
-- kortex_driver: 432 messages, 259 services                                                                                                                                                                                                                                                                     
-- Conan: checking conan executable in path                                                                                                             
-- Conan: Found program /home/gergondet/.local/bin/conan
-- Conan: Version found Conan version 1.57.0                                                                                                            

-- Conan: Adding kinova_public remote repository (https://artifactory.kinovaapps.com/artifactory/api/conan/conan-public)
-- Conan: Automatic detection of conan settings from cmake                 
-- Conan: Settings= -s;build_type=RelWithDebInfo;-s;compiler=gcc;-s;compiler.version=9;-s;compiler.libcxx=libstdc++11;-s;kortex_api_cpp:compiler=gcc;-s;kortex_api_cpp:compiler.version=5;-s;kortex_api_cpp:compiler.libcxx=libstdc++11
-- Conan executing: conan install /home/gergondet/devel/src/catkin_data_ws/src/ros_kortex/kortex_driver/conanfile.py -s build_type=RelWithDebInfo -s compiler=gcc -s compiler.version=9 -s compiler.libcxx=libstdc++11 -s kortex_api_cpp:compiler=gcc -s kortex_api_cpp:compiler.version=5 -s kortex_api_cpp:comp
iler.libcxx=libstdc++11 -g=cmake --update                                   
Configuration:                                                              
[settings]                                                                  
arch=x86_64                                                                 
arch_build=x86_64                                                           
build_type=RelWithDebInfo                                                   
compiler=gcc
compiler.libcxx=libstdc++11
compiler.version=9                                                                                                                                                                                                                                                                                               
os=Linux
os_build=Linux
kortex_api_cpp:compiler=gcc
kortex_api_cpp:compiler.version=5
kortex_api_cpp:compiler.libcxx=libstdc++11
[options]
[build_requires]
[env]

conanfile.py: Installing package
Requirements
    kortex_api_cpp/2.3.0-r.34@kortex/stable from 'kinova_public' - Cache
Packages
    kortex_api_cpp/2.3.0-r.34@kortex/stable:72b117d1826364306c5396ab6067d2f7e3185825 - Missing

Installing (downloading, building) binaries...

ERROR: Missing binary: kortex_api_cpp/2.3.0-r.34@kortex/stable:72b117d1826364306c5396ab6067d2f7e3185825
kortex_api_cpp/2.3.0-r.34@kortex/stable: WARN: Can't find a 'kortex_api_cpp/2.3.0-r.34@kortex/stable' package for the specified settings, options and dependencies:
- Settings: arch=x86_64, build_type=RelWithDebInfo, compiler=gcc, compiler.libcxx=libstdc++11, compiler.version=5, os=Linux
- Options: shared=False
- Dependencies: 
- Requirements: 
- Package ID: 72b117d1826364306c5396ab6067d2f7e3185825

ERROR: Missing prebuilt package for 'kortex_api_cpp/2.3.0-r.34@kortex/stable'
Use 'conan search kortex_api_cpp/2.3.0-r.34@kortex/stable --table=table.html -r=remote' and open the table.html file to see available packages
Or try to build locally from sources with '--build=kortex_api_cpp'

More Info at 'https://docs.conan.io/en/latest/faq/troubleshooting.html#error-missing-prebuilt-package'

CMake Error at ros_kortex/kortex_driver/cmake/conan.cmake:399 (message):
  Conan install failed='1'
Call Stack (most recent call first):
  ros_kortex/kortex_driver/cmake/conan.cmake:485 (conan_cmake_install)
  ros_kortex/kortex_driver/CMakeLists.txt:72 (conan_cmake_run)

Indeed, if I execute: conan search kortex_api_cpp/2.3.0-r.34@kortex/stable --table=out.html -r kinova_public as suggested by conan, the table is empty.

Version

ROS distribution : noetic

Any other information

There is binaries for the 2.5.0-r.6 version. However, this still fails on my setup because I set the build_type to RelWithDebInfo.

In total I have applied the following patch to build on my system:

diff --git a/kortex_driver/CMakeLists.txt b/kortex_driver/CMakeLists.txt
index 1b3cb4b..73c352c 100644
--- a/kortex_driver/CMakeLists.txt
+++ b/kortex_driver/CMakeLists.txt
@@ -62,38 +62,52 @@ generate_messages(DEPENDENCIES std_msgs actionlib_msgs)
 ## declare a catkin package
 catkin_package(CATKIN_DEPENDS actionlib_msgs)

+function(get_closest_build_type VAR_OUT)
+  if(NOT DEFINED CMAKE_BUILD_TYPE)
+    set(${VAR_OUT} "Debug" PARENT_SCOPE)
+    return()
+  endif()
+  string(TOUPPER ${CMAKE_BUILD_TYPE} BTYPE)
+  if("${BTYPE}" STREQUAL "DEBUG")
+    set(${VAR_OUT} "Debug" PARENT_SCOPE)
+  else()
+    set(${VAR_OUT} "Release" PARENT_SCOPE)
+  endif()
+endfunction()
+
 if(USE_CONAN)
   # Include conan.cmake module and download Kortex API from artifactory
   include(${PROJECT_SOURCE_DIR}/cmake/conan.cmake)
   conan_check(REQUIRED)
   conan_add_remote(NAME kinova_public
                   URL https://artifactory.kinovaapps.com/artifactory/api/conan/conan-public)
+  get_closest_build_type(CONAN_BUILD_TYPE)
   if("${CONAN_TARGET_PLATFORM}" STREQUAL "x86")
     conan_cmake_run(CONANFILE conanfile.py
                     UPDATE
                     BASIC_SETUP CMAKE_TARGETS
                     NO_OUTPUT_DIRS
-                    SETTINGS kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=5 kortex_api_cpp:compiler.libcxx=libstdc++11)
+                    SETTINGS kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=5 kortex_api_cpp:compiler.libcxx=libstdc++11 kortex_api_cpp:build_type=${CONAN_BUILD_TYPE})
   elseif("${CONAN_TARGET_PLATFORM}" STREQUAL "artik710")
     conan_cmake_run(CONANFILE conanfile.py
                     UPDATE
                     BASIC_SETUP CMAKE_TARGETS
                     NO_OUTPUT_DIRS
-                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=5 kortex_api_cpp:compiler.libcxx=libstdc++11
+                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=5 kortex_api_cpp:compiler.libcxx=libstdc++11 kortex_api_cpp:build_type=${CONAN_BUILD_TYPE}
                     ENV TARGET=artik710)
   elseif("${CONAN_TARGET_PLATFORM}" STREQUAL "imx6")
     conan_cmake_run(CONANFILE conanfile.py
                     UPDATE
                     BASIC_SETUP CMAKE_TARGETS
                     NO_OUTPUT_DIRS
-                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=6.4 kortex_api_cpp:compiler.libcxx=libstdc++11
+                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=6.4 kortex_api_cpp:compiler.libcxx=libstdc++11 kortex_api_cpp:build_type=${CONAN_BUILD_TYPE}
                     ENV TARGET=imx6)
   elseif("${CONAN_TARGET_PLATFORM}" STREQUAL "jetson")
     conan_cmake_run(CONANFILE conanfile.py
                     UPDATE
                     BASIC_SETUP CMAKE_TARGETS
                     NO_OUTPUT_DIRS
-                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=7 kortex_api_cpp:compiler.libcxx=libstdc++11
+                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=7 kortex_api_cpp:compiler.libcxx=libstdc++11 kortex_api_cpp:build_type=${CONAN_BUILD_TYPE}
                     ENV TARGET=jetson)
   endif()
 endif()
diff --git a/kortex_driver/conanfile.py b/kortex_driver/conanfile.py
index e30328f..f5eeb31 100644
--- a/kortex_driver/conanfile.py
+++ b/kortex_driver/conanfile.py
@@ -6,4 +6,4 @@ import time
 class ROSKortexConan(ConanFile):  

     def requirements(self):
-        self.requires("kortex_api_cpp/2.3.0-r.34@kortex/stable")
+        self.requires("kortex_api_cpp/2.5.0-r.6@kortex/stable")

I would be happy to contribute a PR if that's ok with you?

felixmaisonneuve commented 1 year ago

Hi @gergondet

If I understand correctly, it won't find the good conan package because your build_type is not Release or Debug. If you want to keep RelWithDebInfo in your conan profile, can't you simply add kortex_api_cpp:build_type=Release to your settings?

I understand your modifications, but I don't think this is necessary

gergondet commented 1 year ago

Hi @felixmaisonneuve

Thanks for your reply. The problem is two fold:

there's no binary available for kortex_api_cpp/2.3.0-r.34@kortex/stable only kortex_api_cpp/2.5.0-r.6@kortex/stable
I think conan's build_type is decided based upon the CMAKE_BUILD_TYPE that is passed to catkin (at least that seems to be the case in the default configuration) but binaries are only available for Debug and Release types

can't you simply add kortex_api_cpp:build_type=Release to your settings?

I could but:

I would like it to work without extra steps if possible
I don't want to remember to set that setting correctly if I decide to switch to a Debug build

Since CMake already knows which build type I want it seems reasonable to override the configuration there

felixmaisonneuve commented 1 year ago

But binaries for for kortex_api_cpp/2.3.0-r.34@kortex/stable are available. Here is the Debug conan package Here is the Release conan package

Looking at the error message you have, it says

WARN: Can't find a 'kortex_api_cpp/2.3.0-r.34@kortex/stable' package for the specified settings, options and dependencies:

and looking at th settings, you have build_type=RelWithDebInfo.

- Settings: arch=x86_64, build_type=RelWithDebInfo, compiler=gcc, compiler.libcxx=libstdc++11, compiler.version=5, os=Linux

That's why I said your build_type is incorrect. We only have conan packages for Release and Debug.

You are right when you say it uses CMAKE_BUILD_TYPE, but unless you specify it with -DCMAKE_BUILD_TYPE=Release/Debug, I assume it will use what is set in your conan profile.

gergondet commented 1 year ago

But binaries for for kortex_api_cpp/2.3.0-r.34@kortex/stable are available.

My bad. Using the correct build type for the conan package lets conan correctly fetch the package (despite conan search reporting an empty page?)

You are right when you say it uses CMAKE_BUILD_TYPE, but unless you specify it with -DCMAKE_BUILD_TYPE=Release/Debug, I assume it will use what is set in your conan profile.

It doesn't. My conan profile defaults to Release:

❯ conan profile show default
Configuration for profile default:

[settings]
os=Linux
os_build=Linux
arch=x86_64
arch_build=x86_64
compiler=gcc
compiler.version=9
compiler.libcxx=libstdc++
build_type=Release
[options]
[conf]
[build_requires]
[env]

When run via conan.cmake the build_type settings is automatically set to match the CMAKE_BUILD_TYPE I'm passing to catkin, hence, imho, it would make to either:

pass kortex_api_cpp:build_type based on the current CMAKE_BUILD_TYPE so that the closest match is used
document that only Release and Debug are supported

felixmaisonneuve commented 1 year ago

I suppose we can close this issue now that the pull request is merged

Kinovarobotics / ros_kortex