Choreonoid is not working in CI

[mmurooka]

After updating Chorenoid in the apt package (see https://github.com/isri-aist/CnoidRosUtils/issues/1#issuecomment-1357131188), the simulation is not running in CI.

https://github.com/isri-aist/BaselineWalkingController/actions/runs/3754939850/jobs/6379591691

+ choreonoid --start-simulation sim_mc.cnoid
PDcontroller0: onInitialize() 
QCursor: Cannot create bitmap cursor; invalid bitmap(s)
QCursor: Cannot create bitmap cursor; invalid bitmap(s)
PDcontroller0: on Activated 
[PDcontroller0] Gain file [PDgains_sim.dat] opened
[PDcontroller0] tlimit_ratio is set to 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
[PDcontroller0] loadGain
[PDcontroller0]   R_HIP_P, pgain = 5000, dgain = 30
[PDcontroller0]   R_HIP_R, pgain = 5000, dgain = 30
[PDcontroller0]   R_HIP_Y, pgain = 5000, dgain = 30
[PDcontroller0]   R_KNEE, pgain = 6000, dgain = 50
[PDcontroller0]   R_ANKLE_R, pgain = 3000, dgain = 20
[PDcontroller0]   R_ANKLE_P, pgain = 3000, dgain = 20
[PDcontroller0]   L_HIP_P, pgain = 5000, dgain = 30
[PDcontroller0]   L_HIP_R, pgain = 5000, dgain = 30
[PDcontroller0]   L_HIP_Y, pgain = 5000, dgain = 30
[PDcontroller0]   L_KNEE, pgain = 6000, dgain = 50
[PDcontroller0]   L_ANKLE_R, pgain = 3000, dgain = 20
[PDcontroller0]   L_ANKLE_P, pgain = 3000, dgain = 20
[PDcontroller0]   WAIST_Y, pgain = 5000, dgain = 32
[PDcontroller0]   WAIST_P, pgain = 5000, dgain = 32
[PDcontroller0]   WAIST_R, pgain = 5000, dgain = 32
[PDcontroller0]   NECK_Y, pgain = 1000, dgain = 21
[PDcontroller0]   NECK_R, pgain = 1000, dgain = 21
[PDcontroller0]   NECK_P, pgain = 1000, dgain = 21
[PDcontroller0]   R_SHOULDER_P, pgain = 1100, dgain = 70
[PDcontroller0]   R_SHOULDER_R, pgain = 1100, dgain = 70
[PDcontroller0]   R_SHOULDER_Y, pgain = 1100, dgain = 70
[PDcontroller0]   R_ELBOW_P, pgain = 1200, dgain = 80
[PDcontroller0]   R_ELBOW_Y, pgain = 1200, dgain = 80
[PDcontroller0]   R_WRIST_R, pgain = 500, dgain = 24
[PDcontroller0]   R_WRIST_Y, pgain = 500, dgain = 24
[PDcontroller0]   R_UTHUMB, pgain = 30, dgain = 3
[PDcontroller0]   R_LTHUMB, pgain = 30, dgain = 3
[PDcontroller0]   R_UINDEX, pgain = 30, dgain = 3
[PDcontroller0]   R_LINDEX, pgain = 30, dgain = 3
[PDcontroller0]   R_ULITTLE, pgain = 30, dgain = 3
[PDcontroller0]   R_LLITTLE, pgain = 30, dgain = 3
[PDcontroller0]   L_SHOULDER_P, pgain = 1100, dgain = 70
[PDcontroller0]   L_SHOULDER_R, pgain = 1100, dgain = 70
[PDcontroller0]   L_SHOULDER_Y, pgain = 1100, dgain = 70
[PDcontroller0]   L_ELBOW_P, pgain = 1200, dgain = 80
[PDcontroller0]   L_ELBOW_Y, pgain = 1200, dgain = 80
[PDcontroller0]   L_WRIST_R, pgain = 500, dgain = 24
[PDcontroller0]   L_WRIST_Y, pgain = 500, dgain = 24
[PDcontroller0]   L_UTHUMB, pgain = 30, dgain = 3
[PDcontroller0]   L_LTHUMB, pgain = 30, dgain = 3
[PDcontroller0]   L_UINDEX, pgain = 30, dgain = 3
[PDcontroller0]   L_LINDEX, pgain = 30, dgain = 3
[PDcontroller0]   L_ULITTLE, pgain = 30, dgain = 3
[PDcontroller0]   L_LLITTLE, pgain = 30, dgain = 3
+ kill -2 20611
+ kill -2 20556
+ sleep 10s
PDcontroller0: on Deactivated 

[gergondet]

Hi @mmurooka

I think that's because the new package does not have a dependency on hrpsys-base. I have added it now and it should be ok in a little over an hour (see https://github.com/gergondet/choreonoid/actions)

If you want to give it a quick run you can also install hrpsys-base alongside jvrc-choreonoid in the CI scripts

[mmurooka]

@gergondet Thank you. It is now resolved.