Tobias-Fischer
commented
9 months ago /cc @traversaro - I remember a similar issue previously, can you remember what the solution was?
Closed strongly-typed closed 4 months ago
Tobias-Fischer
commented
9 months ago /cc @traversaro - I remember a similar issue previously, can you remember what the solution was?
traversaro
commented
9 months ago /cc @traversaro - I remember a similar issue previously, can you remember what the solution was?
I can't remember any similar issue, sorry!
strongly-typed
commented
9 months ago Oh, any suggestions how to debug? Can you reproduce the error?
strongly-typed
commented
9 months ago I tried on another MacBook
(ros_env) ➜ ~ ros2 launch robot_state_publisher rsp-launch-urdf-inline.py
[INFO] [launch]: All log files can be found below /Users/sascha/.ros/log/2023-09-18-21-09-02-749612-Saschas-MacBook-Pro-Early-2013.local-93358
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [93360]
[robot_state_publisher-1] Warning: link 'base_link' material 'blue' undefined.
[robot_state_publisher-1] at line 84 in /Users/runner/mambaforge/conda-bld/ros-humble-urdfdom-0_1675646167591/work/ros-humble-urdfdom/src/work/urdf_parser/src/model.cpp
[robot_state_publisher-1] Warning: link 'base_link' material 'blue' undefined.
[robot_state_publisher-1] at line 84 in /Users/runner/mambaforge/conda-bld/ros-humble-urdfdom-0_1675646167591/work/ros-humble-urdfdom/src/work/urdf_parser/src/model.cpp
[robot_state_publisher-1] [INFO] [1695064143.029658101] [robot_state_publisher]: got segment base_linkand it seems to work there.
It is running macOS Big Sur 11.7.9 (20G1426).
Tobias-Fischer
commented
9 months ago Is one of them an intel, and the other one apple silicon?
strongly-typed
commented
9 months ago No, both Intel.
strongly-typed
commented
7 months ago I can run it on the new machine. So I close this until it bugs someone else.
strongly-typed
commented
7 months ago Sorry to reopen the issue so quickly again ... It started bugging me again and now I can reproduce it!
The bug appears after installing ros-humble-desktop-full. It works fine if I only install ros-humble-desktop.
To start from scratch, I completely deleted miniconda and deleted build, log and install in the workspace.
I installed ros-humble-desktop and compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools with mamba.
Then, it was possible to compile and run the example.
I then again removed build, log and install in the workspace, installed ros-humble-desktop-full, did a mamba deactivate && mamba activate ros_env. After that, I am back at the error mentioned.
Any idea how the installation of ros-humble-desktop-full can break it?
(ros_env) ➜ ros2_ws mamba install ros-humble-desktop-full
Looking for: ['ros-humble-desktop-full']
conda-forge/osx-64 Using cache
conda-forge/noarch Using cache
robostack-staging/osx-64 No change
robostack-staging/noarch No change
Pinned packages:
- python 3.10.*
Transaction
Prefix: /usr/local/Caskroom/miniconda/base/envs/ros_env
Updating specs:
- ros-humble-desktop-full
- ca-certificates
- certifi
- openssl
Package Version Build Channel Size
─────────────────────────────────────────────────────────────────────────────────────────────────────────────
Install:
─────────────────────────────────────────────────────────────────────────────────────────────────────────────
+ octomap 1.9.8 hb8565cd_0 conda-forge 205kB
+ libode 0.16.2 h7a76584_11 conda-forge 491kB
+ libabseil 20230125.3 cxx17_h000cb23_0 conda-forge 1MB
+ urdfdom_headers 1.1.0 h1b54a9f_0 conda-forge 19kB
+ cli11 2.3.2 hf0c8a7f_0 conda-forge 75kB
+ gdbm 1.18 h8a0c380_2 conda-forge 134kB
+ swig 4.1.1 h62f31c0_1 conda-forge 1MB
+ libccd-double 2.1 he965462_3 conda-forge 33kB
+ gflags 2.2.2 hb1e8313_1004 conda-forge 95kB
+ libsodium 1.0.18 hbcb3906_1 conda-forge 529kB
+ ogre-next 2.2.6 h20040b6_0 conda-forge 3MB
+ lzo 2.10 haf1e3a3_1000 conda-forge Cached
+ urdfdom 3.1.1 hd1da41a_0 conda-forge 93kB
+ libignition-utils1 1.4.0 hb486fe8_0 conda-forge 26kB
+ ruby 3.2.2 hb3742b3_0 conda-forge 8MB
+ ogre 1.10.12 hd9b3965_10 conda-forge 121MB
+ fcl 0.7.0 h699cf62_3 conda-forge 1MB
+ zeromq 4.3.5 h93d8f39_0 conda-forge 294kB
+ libarchive 3.6.2 h6d8d9f1_0 conda-forge 723kB
+ libignition-common4 4.6.1 h9877c73_1 conda-forge 521kB
+ libignition-tools1 1.5.0 h4425e3a_3 conda-forge 34kB
+ dartsim 6.12.2 hf8c8161_3 conda-forge 16MB
+ cppzmq 4.10.0 h478c2f3_0 conda-forge 29kB
+ libsdformat12 12.6.0 h1fb05c2_2 conda-forge 734kB
+ libignition-plugin1 1.3.0 h75ea093_0 conda-forge 85kB
+ libignition-msgs8 8.7.0 hc16761c_2 conda-forge 870kB
+ libignition-rendering6 6.5.1 h58813d6_1 conda-forge 4MB
+ libignition-physics5 5.2.0 h59cd2a9_3 conda-forge 537kB
+ libignition-fuel-tools7 7.1.0 h70e77c0_1 conda-forge 251kB
+ libignition-transport11 11.4.0 h361b394_2 conda-forge 512kB
+ libignition-sensors6 6.6.0 h96d8318_5 conda-forge 369kB
+ libignition-gui6 6.6.1 hbf0cc6e_3 conda-forge 679kB
+ libignition-gazebo6 6.12.0 hbf0cc6e_3 conda-forge 10MB
+ ros-humble-vision-opencv 3.2.1 py310h5aa156f_3 robostack-staging 12kB
+ ros-humble-xacro 2.0.8 py310h5aa156f_3 robostack-staging 78kB
+ ros-humble-ros-gz-interfaces 0.244.9 py310h5aa156f_3 robostack-staging 303kB
+ ros-humble-compressed-image-transport 2.5.0 py310h5aa156f_3 robostack-staging 169kB
+ ros-humble-theora-image-transport 2.5.0 py310h15bb56e_3 robostack-staging 321kB
+ ros-humble-compressed-depth-image-transport 2.5.0 py310h5aa156f_3 robostack-staging 156kB
+ ros-humble-depth-image-proc 3.0.0 py310h15bb56e_3 robostack-staging 326kB
+ ros-humble-image-rotate 3.0.0 py310h15bb56e_3 robostack-staging 84kB
+ ros-humble-camera-calibration 3.0.0 py310h5aa156f_3 robostack-staging 97kB
+ ros-humble-camera-calibration-parsers 3.1.5 py310h5aa156f_3 robostack-staging 68kB
+ ros-humble-pcl-ros 2.4.0 py310hab2fab7_3 robostack-staging 82kB
+ ros-humble-filters 2.1.0 py310hc887327_3 robostack-staging 72kB
+ ros-humble-tracetools-image-pipeline 3.0.0 py310h5aa156f_3 robostack-staging 18kB
+ ros-humble-sdformat-urdf 1.0.1 py310h5aa156f_3 robostack-staging 88kB
+ ros-humble-ros-gz-sim 0.244.9 py310he7a2e77_3 robostack-staging 183kB
+ ros-humble-ros-gz-bridge 0.244.9 py310h5aa156f_3 robostack-staging 2MB
+ ros-humble-ros-ign-interfaces 0.244.9 py310h5aa156f_3 robostack-staging 266kB
+ ros-humble-image-transport-plugins 2.5.0 py310h5aa156f_3 robostack-staging 12kB
+ ros-humble-camera-info-manager 3.1.5 py310h5aa156f_3 robostack-staging 46kB
+ ros-humble-image-view 3.0.0 py310hc887327_3 robostack-staging 311kB
+ ros-humble-perception-pcl 2.4.0 py310h5aa156f_3 robostack-staging 13kB
+ ros-humble-laser-filters 2.0.5 py310h5aa156f_3 robostack-staging 813kB
+ ros-humble-image-proc 3.0.0 py310h15bb56e_3 robostack-staging 93kB
+ ros-humble-ros-ign-gazebo 0.244.9 py310h5aa156f_3 robostack-staging 23kB
+ ros-humble-ros-gz-image 0.244.9 py310h5aa156f_3 robostack-staging 52kB
+ ros-humble-ros-ign-bridge 0.244.9 py310h5aa156f_3 robostack-staging 22kB
+ ros-humble-image-publisher 3.0.0 py310h5aa156f_3 robostack-staging 109kB
+ ros-humble-image-common 3.1.5 py310h5aa156f_3 robostack-staging 12kB
+ ros-humble-stereo-image-proc 3.0.0 py310h15bb56e_3 robostack-staging 332kB
+ ros-humble-ros-ign-image 0.244.9 py310h5aa156f_3 robostack-staging 20kB
+ ros-humble-ros-gz-sim-demos 0.244.9 py310h5aa156f_3 robostack-staging 38kB
+ ros-humble-image-pipeline 3.0.0 py310h5aa156f_3 robostack-staging 13kB
+ ros-humble-simulation 0.10.0 py310h5aa156f_3 robostack-staging 14kB
+ ros-humble-ros-ign-gazebo-demos 0.244.9 py310h5aa156f_3 robostack-staging 19kB
+ ros-humble-perception 0.10.0 py310h5aa156f_3 robostack-staging 14kB
+ ros-humble-desktop-full 0.10.0 py310h5aa156f_3 robostack-staging 15kB
Downgrade:
─────────────────────────────────────────────────────────────────────────────────────────────────────────────
- bullet-cpp 3.24 hcd8b382_0 conda-forge Cached
+ bullet-cpp 3.21 hcd8b382_4 conda-forge 43MB
- pybullet 3.24 py310hcd8b382_0 conda-forge Cached
+ pybullet 3.21 py310hcd8b382_4 conda-forge 67MB
- bullet 3.24 ha188af9_0 conda-forge Cached
+ bullet 3.21 ha188af9_4 conda-forge 9kB
Summary:
Install: 69 packages
Downgrade: 3 packages
Total download: 288MBI can break it down to the installation of ros-humble-sdformat-urdf. Adding this package breaks!
mamba install --yes ros-humble-sdformat-urdf
Looking for: ['ros-humble-sdformat-urdf']
conda-forge/osx-64 Using cache
conda-forge/noarch Using cache
robostack-staging/osx-64 No change
robostack-staging/noarch No change
Pinned packages:
- python 3.10.*
Transaction
Prefix: /usr/local/Caskroom/miniconda/base/envs/ros_env
Updating specs:
- ros-humble-sdformat-urdf
- ca-certificates
- certifi
- openssl
Package Version Build Channel Size
─────────────────────────────────────────────────────────────────────────────────────
Install:
─────────────────────────────────────────────────────────────────────────────────────
+ urdfdom_headers 1.1.0 h1b54a9f_0 conda-forge 19kB
+ gts 0.7.6 h53e17e3_4 conda-forge 281kB
+ cli11 2.3.2 hf0c8a7f_0 conda-forge 75kB
+ gdbm 1.18 h8a0c380_2 conda-forge 134kB
+ urdfdom 3.1.1 hd1da41a_0 conda-forge 93kB
+ libignition-utils1 1.4.0 hb486fe8_0 conda-forge 26kB
+ ruby 3.2.2 hb3742b3_0 conda-forge 8MB
+ libignition-common4 4.6.1 h9877c73_1 conda-forge 521kB
+ libignition-tools1 1.5.0 h4425e3a_3 conda-forge 34kB
+ libsdformat12 12.6.0 h1fb05c2_2 conda-forge 734kB
+ ros-humble-sdformat-urdf 1.0.1 py310h5aa156f_3 robostack-staging 88kB
Summary:
Install: 11 packages
Total download: 10MB
─────────────────────────────────────────────────────────────────────────────────────
urdfdom_headers 18.5kB @ 83.7kB/s 0.2s
urdfdom 93.4kB @ 391.9kB/s 0.2s
cli11 74.6kB @ 277.6kB/s 0.3s
libignition-utils1 26.4kB @ 62.1kB/s 0.2s
gdbm 134.2kB @ 291.4kB/s 0.5s
gts 281.0kB @ 549.2kB/s 0.5s
libignition-common4 521.1kB @ 866.8kB/s 0.4s
libignition-tools1 33.6kB @ 53.7kB/s 0.1s
ros-humble-sdformat-urdf 88.4kB @ 139.2kB/s 0.4s
libsdformat12 734.4kB @ 803.0kB/s 0.5s
ruby 8.1MB @ 2.4MB/s 2.9s
Downloading and Extracting Packages:
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
ament_append_unique_value:14: command not found: ament_zsh_to_array
/usr/local/Caskroom/miniconda/base/envs/ros_env/setup.sh:120: command not found: ament_zsh_to_arrayI cannot reproduce it with Linux (using lima on macOS):
(ros_env) sascha@lima-default:/tmp/ros2_ws$ mamba deactivate && mamba activate ros_env
(ros_env) sascha@lima-default:/tmp/ros2_ws$ colcon build --symlink-install --packages-select urdf_tutorial_r2d2
Starting >>> urdf_tutorial_r2d2
--- stderr: urdf_tutorial_r2d2
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
---
Finished <<< urdf_tutorial_r2d2 [3.11s]
Summary: 1 package finished [3.68s]
1 package had stderr output: urdf_tutorial_r2d2
(ros_env) sascha@lima-default:/tmp/ros2_ws$ source install/setup.bash
(ros_env) sascha@lima-default:/tmp/ros2_ws$ ros2 launch urdf_tutorial_r2d2 demo_launch.py
[INFO] [launch]: All log files can be found below /home/sascha.linux/.ros/log/2023-10-22-20-53-55-219162-lima-default-24149
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [24150]
[INFO] [state_publisher-2]: process started with pid [24152]
[robot_state_publisher-1] [INFO] [1698008035.363621336] [robot_state_publisher]: got segment axis
[robot_state_publisher-1] [INFO] [1698008035.364168310] [robot_state_publisher]: got segment body
[robot_state_publisher-1] [INFO] [1698008035.364574001] [robot_state_publisher]: got segment box
[robot_state_publisher-1] [INFO] [1698008035.364911223] [robot_state_publisher]: got segment head
[robot_state_publisher-1] [INFO] [1698008035.365335660] [robot_state_publisher]: got segment leg1
[robot_state_publisher-1] [INFO] [1698008035.365869315] [robot_state_publisher]: got segment leg2
[robot_state_publisher-1] [INFO] [1698008035.366214504] [robot_state_publisher]: got segment rod
[state_publisher-2] OpenBLAS WARNING - could not determine the L2 cache size on this system, assuming 256k
[state_publisher-2] [INFO] [1698008035.602978474] [state_publisher]: state_publisher started
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1698008043.180156511] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 24150]
[INFO] [state_publisher-2]: process has finished cleanly [pid 24152]
(ros_env) sascha@lima-default:/tmp/ros2_ws$ mamba install --yes ros-humble-sdformat-urdf
Looking for: ['ros-humble-sdformat-urdf']
conda-forge/linux-64 Using cache
conda-forge/noarch Using cache
robostack-staging/linux-64 No change
robostack-staging/noarch No change
Pinned packages:
- python 3.10.*
Transaction
Prefix: /home/sascha.linux/miniconda3/envs/ros_env
Updating specs:
- ros-humble-sdformat-urdf
- ca-certificates
- certifi
- openssl
Package Version Build Channel Size
─────────────────────────────────────────────────────────────────────────────────────
Install:
─────────────────────────────────────────────────────────────────────────────────────
+ urdfdom_headers 1.1.0 h924138e_0 conda-forge 18kB
+ cli11 2.3.2 hcb278e6_0 conda-forge 75kB
+ gdbm 1.18 h0a1914f_2 conda-forge 195kB
+ urdfdom 3.1.1 h8a9b4ce_0 conda-forge 114kB
+ libignition-utils1 1.4.0 h27087fc_0 conda-forge 28kB
+ ruby 3.2.2 hff50039_0 conda-forge 8MB
+ libignition-common4 4.6.1 hedc608d_1 conda-forge 673kB
+ libignition-tools1 1.5.0 h1caa08d_3 conda-forge 37kB
+ libsdformat12 12.6.0 h51aba99_2 conda-forge 897kB
+ ros-humble-sdformat-urdf 1.0.1 py310h7c61026_3 robostack-staging 137kB
Summary:
Install: 10 packages
Total download: 10MB
─────────────────────────────────────────────────────────────────────────────────────
urdfdom_headers 18.4kB @ 16.4kB/s 1.1s
urdfdom 113.7kB @ 99.7kB/s 1.1s
libignition-utils1 27.9kB @ 24.2kB/s 1.2s
gdbm 194.8kB @ 165.4kB/s 1.2s
cli11 75.0kB @ 62.0kB/s 1.2s
libsdformat12 897.4kB @ 670.0kB/s 0.2s
libignition-common4 672.7kB @ 491.9kB/s 0.2s
libignition-tools1 37.1kB @ 26.1kB/s 0.3s
ruby 8.2MB @ 4.8MB/s 0.6s
ros-humble-sdformat-urdf 136.8kB @ 67.7kB/s 0.8s
Downloading and Extracting Packages:
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
(ros_env) sascha@lima-default:/tmp/ros2_ws$ mamba deactivate && mamba activate ros_env
(ros_env) sascha@lima-default:/tmp/ros2_ws$ rm -rf build install log
(ros_env) sascha@lima-default:/tmp/ros2_ws$ colcon build --symlink-install --packages-select urdf_tutorial_r2d2
Starting >>> urdf_tutorial_r2d2
--- stderr: urdf_tutorial_r2d2
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/easy_install.py:144: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
/home/sascha.linux/miniconda3/envs/ros_env/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(
---
Finished <<< urdf_tutorial_r2d2 [3.39s]
Summary: 1 package finished [3.98s]
1 package had stderr output: urdf_tutorial_r2d2
(ros_env) sascha@lima-default:/tmp/ros2_ws$ source install/setup.bash
(ros_env) sascha@lima-default:/tmp/ros2_ws$ ros2 launch urdf_tutorial_r2d2 demo_launch.py
[INFO] [launch]: All log files can be found below /home/sascha.linux/.ros/log/2023-10-22-20-54-50-800224-lima-default-26219
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [26220]
[INFO] [state_publisher-2]: process started with pid [26222]
[robot_state_publisher-1] [INFO] [1698008090.921886105] [robot_state_publisher]: got segment axis
[robot_state_publisher-1] [INFO] [1698008090.921985781] [robot_state_publisher]: got segment body
[robot_state_publisher-1] [INFO] [1698008090.921993005] [robot_state_publisher]: got segment box
[robot_state_publisher-1] [INFO] [1698008090.921997224] [robot_state_publisher]: got segment head
[robot_state_publisher-1] [INFO] [1698008090.922020312] [robot_state_publisher]: got segment leg1
[robot_state_publisher-1] [INFO] [1698008090.922023841] [robot_state_publisher]: got segment leg2
[robot_state_publisher-1] [INFO] [1698008090.922027280] [robot_state_publisher]: got segment rod
[state_publisher-2] OpenBLAS WARNING - could not determine the L2 cache size on this system, assuming 256k
[state_publisher-2] [INFO] [1698008091.137399029] [state_publisher]: state_publisher started
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1698008093.510333282] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 26220]
[INFO] [state_publisher-2]: process has finished cleanly [pid 26222]
(ros_env) sascha@lima-default:/tmp/ros2_ws$The solution seems to be
ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib in /usr/local/Caskroom/miniconda/base/envs/ros_env/lib
Info from here: ArduPilot/ardupilot_gz#21
Might it be possible to add this as a patch to robostack?
Tobias-Fischer
commented
7 months ago Good debugging!
@traversaro - do you think it's better to do set(CMAKE_SHARED_LIBRARY_SUFFIX ".dylib") or to create a symlink such that both ".so" and ".dylib" are created?
Tobias-Fischer
commented
7 months ago Quick reminder @traversaro
traversaro
commented
7 months ago @traversaro - do you think it's better to do
set(CMAKE_SHARED_LIBRARY_SUFFIX ".dylib")or to create a symlink such that both ".so" and ".dylib" are created?
I guess that libsdformat_urdf_plugin.so ends with .so on macOS instead of .dylib as it is a MODULE , see https://github.com/ros/sdformat_urdf/blob/ddf83ed07e5fa5aeaea1aa2609ba3d2a03102f20/sdformat_urdf/CMakeLists.txt#L72 , so if we want it to end with .dylib I guess we need to simply change MODULE to SHARED in https://github.com/ros/sdformat_urdf/blob/ddf83ed07e5fa5aeaea1aa2609ba3d2a03102f20/sdformat_urdf/CMakeLists.txt#L72 , as done for the similar urdf parser plugin in https://github.com/ros2/urdf/blob/1d257eb6a3fa34593c0da67f5d16cd0155d7d91b/urdf/CMakeLists.txt#L58 . I opened a PR upstream for this in https://github.com/ros/sdformat_urdf/pull/22 .
Note that the root issue is https://github.com/ros/pluginlib/issues/200 .
Tobias-Fischer
commented
7 months ago Thanks a lot @traversaro! I've added your patch here so this is being resolved in the next rebuild: https://github.com/RoboStack/ros-humble/commit/285d3793fedf493a29ff42608c9417b2f6f99e1e
Tobias-Fischer
commented
4 months ago This should be fixed with the latest packages - please let us know if not.
Solution to issue cannot be found in the documentation.
Issue
Great to have robostack available! I'm on macOS 13.5.2 (22G91). rviz2 and simple
ros2 run demo_nodes_cpp talkerandros2 run demo_nodes_cpp listenerworks. I tried to run a URDF demo. I broke it down to that robot_state_publisher does not work.Something named
sdformat_urdf_pluginseems to be installed:Would be nice to get this running!
Installed packages
Environment info