Arm64 Binaries for ROS 2 Jazzy

[agoeckner]

It seems that CI for ROS 2 Jazzy isn't working/enabled. The ros-jazzy-spatio-temporal-voxel-layer package is not found by apt on my arm64 system.

[agoeckner]

I wonder whether @SteveMacenski you need to enable something in the CI system after fixing #303.

[SteveMacenski]

Back from ROSCon / ROS-I in Europe now. Sorry for the delay.

The Jazzy ARM job is failing with

23:25:39 -- Found openvdb_vendor: 2.5.2 (/opt/ros/jazzy/share/openvdb_vendor/cmake)
23:25:39 -- CMAKE_BUILD_TYPE: None
23:25:39 CMake Error at /opt/ros/jazzy/share/openvdb_vendor/cmake/openvdb_vendor-extras.cmake:8 (find_package):
23:25:39   By not providing "FindOpenVDB.cmake" in CMAKE_MODULE_PATH this project has
23:25:39   asked CMake to find a package configuration file provided by "OpenVDB", but
23:25:39   CMake did not find one.
23:25:39 
23:25:39   Could not find a package configuration file provided by "OpenVDB" with any
23:25:39   of the following names:
23:25:39 
23:25:39     OpenVDBConfig.cmake
23:25:39     openvdb-config.cmake
23:25:39 
23:25:39   Add the installation prefix of "OpenVDB" to CMAKE_PREFIX_PATH or set
23:25:39   "OpenVDB_DIR" to a directory containing one of the above files.  If
23:25:39   "OpenVDB" provides a separate development package or SDK, be sure it has
23:25:39   been installed.
23:25:39 Call Stack (most recent call first):
23:25:39   /opt/ros/jazzy/share/openvdb_vendor/cmake/openvdb_vendorConfig.cmake:41 (include)
23:25:39   CMakeLists.txt:31 (find_package)
23:25:39 
23:25:39 
23:25:39 -- Configuring incomplete, errors occurred!

Although the Humble and Iron are working. I am seeing a successful ARM openvdb_vendor build along with Humble and Iron, so it seems that the issue is unique to Jazzy & x86 works fine. I see that #303 fixed the ARM builds of openvdb_vendor. The error its reporting is from this line as STVL is finding the openvdb_vendor package. #301 avoids compiling OpenVDB on Jazzy or newer when it is available from apt in those distributions. Is OpenVDB not on ARM on 24.04? <depend condition="$ROS_DISTRO != humble and $ROS_DISTRO != iron">libopenvdb-dev</depend> should be getting it. Can you check that you have libopenvdb-dev on your computer (apt install / apt show)?

I'm curious if you build STVL locally using the openvdb_vendor binaries if that works. If not, that's a good sign since that means we can debug this problem locally and thus more easily.

I think perhaps the problem could be that we missed adding list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB") in openvdb_vendor/openvdb_vendor-extras.cmake. If you look at #301 and #303, 301 adds 2x of those list calls, but 303 only adds in the ARM call for 1x of them.

[agoeckner]

Hey Steve, no worries. Would've liked to see you at IROS but I think you chose the less oppressive option :)

---

I will check whether the openvdb-dev exists later today.

Interestingly though, our CI fails to build STVL with this error, indicating that it can't find OpenVDB:

#12 [4/5] RUN cd "/opt/robot" && . /opt/ros/jazzy/setup.sh && colcon build 
#12 39.37 Starting >>> apriltag_msgs
#12 39.90 Starting >>> grex_network_interfaces
#12 40.18 Starting >>> explore_lite
#12 40.49 Starting >>> ld08_driver
#12 40.79 Starting >>> openvdb_vendor
#12 41.08 Starting >>> turtlebot3_description
#12 41.37 Starting >>> apriltag
#12 41.65 Starting >>> laser_filters
#12 88.05 [Processing: apriltag, apriltag_msgs, explore_lite, grex_network_interfaces, laser_filters, ld08_driver, openvdb_vendor, turtlebot3_description]
#12 88.05 Finished <<< turtlebot3_description [47.0s]
#12 92.22 --- stderr: openvdb_vendor
#12 92.22 COMPONENT = openvdb
#12 92.22 ---
#12 92.22 Finished <<< openvdb_vendor [51.4s]
#12 92.24 Starting >>> spatio_temporal_voxel_layer
#12 148.0 [Processing: apriltag, apriltag_msgs, explore_lite, grex_network_interfaces, laser_filters, ld08_driver, spatio_temporal_voxel_layer]
#12 148.0 Finished <<< apriltag [1min 47s]
#12 158.2 --- stderr: ld08_driver
#12 158.2 /opt/robot/src/ld08_driver/src/transform.cpp: In constructor ‘SlTransform::SlTransform(LDVersion, bool)’:
#12 158.2 /opt/robot/src/ld08_driver/src/transform.cpp:30:50: warning: unused parameter ‘to_right_hand’ [-Wunused-parameter]
#12 158.2    30 | SlTransform::SlTransform(LDVersion version, bool to_right_hand)
#12 158.2       |                                             ~~~~~^~~~~~~~~~~~~
#12 158.2 ---
#12 158.2 Finished <<< ld08_driver [1min 58s]
#12 158.3 Starting >>> turtlebot3_bringup
#12 201.8 [Processing: apriltag_msgs, explore_lite, grex_network_interfaces, laser_filters, spatio_temporal_voxel_layer, turtlebot3_bringup]
#12 201.8 Finished <<< turtlebot3_bringup [43.6s]
#12 280.3 [Processing: apriltag_msgs, explore_lite, grex_network_interfaces, laser_filters, spatio_temporal_voxel_layer]
#12 280.3 [Processing: apriltag_msgs, explore_lite, grex_network_interfaces, laser_filters, spatio_temporal_voxel_layer]
#12 280.3 Finished <<< explore_lite [4min 0s]
#12 349.4 [Processing: apriltag_msgs, grex_network_interfaces, laser_filters, spatio_temporal_voxel_layer]
#12 349.4 [Processing: apriltag_msgs, grex_network_interfaces, laser_filters, spatio_temporal_voxel_layer]
#12 349.4 Finished <<< laser_filters [5min 8s]
#12 356.5 --- stderr: spatio_temporal_voxel_layer
#12 356.5 CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/Modules/FindFLANN.cmake:45 (find_package):
#12 356.5   Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
#12 356.5   variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
#12 356.5   cmake_policy command to set the policy and suppress this warning.
#12 356.5 
#12 356.5   CMake variable FLANN_ROOT is set to:
#12 356.5 
#12 356.5     /usr
#12 356.5 
#12 356.5   For compatibility, find_package is ignoring the variable, but code in a
#12 356.5   .cmake module might still use it.
#12 356.5 Call Stack (most recent call first):
#12 356.5   /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:261 (find_package)
#12 356.5   /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:306 (find_flann)
#12 356.5   /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:570 (find_external_library)
#12 356.5   /opt/ros/jazzy/share/pcl_conversions/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
#12 356.5   /opt/ros/jazzy/share/pcl_conversions/cmake/pcl_conversionsConfig.cmake:41 (include)
#12 356.5   CMakeLists.txt:22 (find_package)
#12 356.5 This warning is for project developers.  Use -Wno-dev to suppress it.
#12 356.5 
#12 356.5 CMake Error at /opt/robot/install/openvdb_vendor/share/openvdb_vendor/cmake/openvdb_vendor-extras.cmake:8 (find_package):
#12 356.5   By not providing "FindOpenVDB.cmake" in CMAKE_MODULE_PATH this project has
#12 356.5   asked CMake to find a package configuration file provided by "OpenVDB", but
#12 356.5   CMake did not find one.
#12 356.5 
#12 356.5   Could not find a package configuration file provided by "OpenVDB" with any
#12 356.5   of the following names:
#12 356.5 
#12 356.5     OpenVDBConfig.cmake
#12 356.5     openvdb-config.cmake
#12 356.5 
#12 356.5   Add the installation prefix of "OpenVDB" to CMAKE_PREFIX_PATH or set
#12 356.5   "OpenVDB_DIR" to a directory containing one of the above files.  If
#12 356.5   "OpenVDB" provides a separate development package or SDK, be sure it has
#12 356.5   been installed.
#12 356.5 Call Stack (most recent call first):
#12 356.5   /opt/robot/install/openvdb_vendor/share/openvdb_vendor/cmake/openvdb_vendorConfig.cmake:41 (include)
#12 356.5   CMakeLists.txt:31 (find_package)
#12 356.5 
#12 356.5 
#12 356.5 ---
#12 356.5 Failed   <<< spatio_temporal_voxel_layer [4min 24s, exited with code 1]
#12 466.4 Aborted  <<< apriltag_msgs [7min 7s]
#12 591.2 Aborted  <<< grex_network_interfaces [9min 11s]
#12 592.2 
#12 592.2 Summary: 7 packages finished [9min 26s]
#12 592.2   1 package failed: spatio_temporal_voxel_layer
#12 592.2   2 packages aborted: apriltag_msgs grex_network_interfaces
#12 592.2   3 packages had stderr output: ld08_driver openvdb_vendor spatio_temporal_voxel_layer
#12 592.2   5 packages not processed
#12 ERROR: process "/bin/sh -c cd \"$ROBOT_WS\" && . /opt/ros/jazzy/setup.sh && colcon build $ROBOT_COLCON_ARGS" did not complete successfully: exit code: 1

[SteveMacenski]

I assume you run rosdep before building? STVL / openvdb vendor should be grabbing that or building it if it needs to. Though

#12 92.22 --- stderr: openvdb_vendor
#12 92.22 COMPONENT = openvdb
#12 92.22 ---

might be diagnostic. Let me know what you find on the debian front. I suspect it exists and the issue is that missing line in the openvdb_vendor cmake since it probably is installed somewhere, the path just needs to be updated to include it.

[agoeckner]

The libopenvdb-dev package does indeed exist for arm64: https://packages.ubuntu.com/noble/libopenvdb-dev

I can confirm that it's installed in my Ubuntu 24.04 Docker image (probably from rosdep).

[SteveMacenski]

Can you make the Cmake adjustment I recommended in openvdb_vendor and try compiling openvdb_vendor + STVL again from a clean install/build space?

[agoeckner]

Yeah, that resolved it. I submitted a PR in #306.

[SteveMacenski]

I'm reopening and keeping in my inbox for doing a release - probably on Friday

[agoeckner]

Awesome, thanks for the help!

[SteveMacenski]

Sync happening now!