[WIP] [unitree/cross] Fix unitree system build

[tkmtnt7000]

Currently, unitree system build (build_ros1_dependencies.sh and build_ros1.sh) fails at several points.

This PR includes

• [x] Fix app_manager url and version (772dc9a67ad1d15795a24fee85848da2c0f5cdc1)
• [x] Install python-typing to avoid import typing error (772dc9a67ad1d15795a24fee85848da2c0f5cdc1)
• [x] Add libfcl-dev and libccd-dev to dependencies because geometric_shapes package needs them (0ec465c1b8483f221ccfb971108eaefca41a6ac2, 929ae6e)
• [x] Avoid setuptools version error caused by spidev==3.6 (af35715082126af9c475411e4f3bb292c6595127)

But, this PR do not fix the following issue

• [ ] Unable to install python-twisted in build_ros1_dependencies.sh because of the following error.

  
  Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Twisted-17.9.0-py2.7-linux-aarch64.egg                                                                                                                                                                                                                                                                               
  Processing dependencies for Twisted==17.9.0                                                                                                                                                                                                                                                                                                                                                  
  Searching for zope.interface>=3.6.0                                                                                                                                                                                                                                                                                                                                                          
  Reading https://pypi.python.org/simple/zope.interface/                                                                                                                                                                                                                                                                                                                                       
  Downloading https://files.pythonhosted.org/packages/1f/ef/cae21b6295cb2960429f463e6e99daf3623a0c4ced7242a809a0c94c9605/zope.interface-6.1a2.tar.gz#sha256=167ea1a5c28aad2fa7fb0ca8761229bf54766ab6e696c80e592ee8c936ab1776                                                                                                                                                                   
  Best match: zope.interface 6.1a2                                                                                                                                                                                                                                                                                                                                                             
  Processing zope.interface-6.1a2.tar.gz                                                                                                                                                                                                                                                                                                                                                       
  Writing /tmp/easy_install-ur5jc9/zope.interface-6.1a2/setup.cfg                                                                                                                                                                                                                                                                                                                              
  Running zope.interface-6.1a2/setup.py -q bdist_egg --dist-dir /tmp/easy_install-ur5jc9/zope.interface-6.1a2/egg-dist-tmp-3dtby3                                                                                                                                                                                                                                                              
  warning: no files found matching '*.txt' under directory 'docs'                                                                                                                                                                                                                                                                                                                              
  src/zope/interface/_zope_interface_coptimizations.c:765:5: error: unknown type name ‘Py_hash_t’                                                                                                                                                                                                                                                                                              
   Py_hash_t _v_cached_hash;                                                                                                                                                                                                                                                                                                                                                               
   ^~~~~~~~~                                                                                                                                                                                                                                                                                                                                                                               
  src/zope/interface/_zope_interface_coptimizations.c:907:8: error: unknown type name ‘Py_hash_t’                                                                                                                                                                                                                                                                                              
  static Py_hash_t                                                                                                                                                                                                                                                                                                                                                                            
      ^~~~~~~~~                                                                                                                                                                                                                                                                                                                                                                            
  ********************************************************************************                                                                                                                                                                                                                                                                                                             
  WARNING:                                                                                                                                                                                                                                                                                                                                                                                     
  
      An optional code optimization (C extension) could not be compiled.                               
  
      Optimizations for this package will not be available!                                                                                                                                                      

command 'aarch64-linux-gnu-gcc' failed with exit status 1

---

File "build/bdist.linux-aarch64/egg/zope/interface/tests/test_advice.py", line 117
class Meta(type, metaclass=Metameta):
^
SyntaxError: invalid syntax

File "build/bdist.linux-aarch64/egg/zope/interface/adapter.py", line 336
yield from cls._allKeys(v, i - 1, new_parent_k)
^
SyntaxError: invalid syntax

File "build/bdist.linux-aarch64/egg/zope/interface/registry.py", line 294
yield from self.utilities.lookupAll((), interface)
^
SyntaxError: invalid syntax

creating /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg
Extracting zope.interface-6.1a2-py2.7-linux-aarch64.egg to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages
File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/adapter.py", line 336
yield from cls._allKeys(v, i - 1, new_parent_k)
^
SyntaxError: invalid syntax

File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/registry.py", line 294
yield from self.utilities.lookupAll((), interface)
^
SyntaxError: invalid syntax

File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/tests/test_advice.py", line 117
class Meta(type, metaclass=Metameta):
^
SyntaxError: invalid syntax

Adding zope.interface 6.1a2 to easy-install.pth file

Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg
Searching for constantly>=15.1
Reading https://pypi.python.org/simple/constantly/
Downloading https://files.pythonhosted.org/packages/b9/65/48c1909d0c0aeae6c10213340ce682db01b48ea900a7d9fce7a7910ff318/constantly-15.1.0-py2.py3-none-any.whl#sha256=dd2fa9d6b1a51a83f0d7dd76293d734046aa176e384bf6e33b7e44880eb37c5d
Best match: constantly 15.1.0
Processing constantly-15.1.0-py2.py3-none-any.whl
Installing constantly-15.1.0-py2.py3-none-any.whl to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages
Adding constantly 15.1.0 to easy-install.pth file

Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/constantly-15.1.0-py2.7.egg
Searching for Automat>=0.3.0
Reading https://pypi.python.org/simple/Automat/
Downloading https://files.pythonhosted.org/packages/29/90/64aabce6c1b820395452cc5472b8f11cd98320f40941795b8069aef4e0e0/Automat-22.10.0-py2.py3-none-any.whl#sha256=c3164f8742b9dc440f3682482d32aaff7bb53f71740dd018533f9de286b64180
Best match: Automat 22.10.0
Processing Automat-22.10.0-py2.py3-none-any.whl
Installing Automat-22.10.0-py2.py3-none-any.whl to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages
writing requirements to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Automat-22.10.0-py2.7.egg/EGG-INFO/requires.txt
Adding Automat 22.10.0 to easy-install.pth file
Installing automat-visualize script to /opt/jsk/System/ros1_dependencies/bin

Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Automat-22.10.0-py2.7.egg
Searching for attrs>=19.2.0
Reading https://pypi.python.org/simple/attrs/
Downloading https://files.pythonhosted.org/packages/97/90/81f95d5f705be17872843536b1868f351805acf6971251ff07c1b8334dbb/attrs-23.1.0.tar.gz#sha256=6279836d581513a26f1bf235f9acd333bc9115683f14f7e8fae46c98fc50e015
Best match: attrs 23.1.0
Processing attrs-23.1.0.tar.gz
error: Couldn't find a setup script in /tmp/easy_install-_r9Nfn/attrs-23.1.0.tar.gz

I installed `attrs<23.0` manually and then tried to install `python-twisted`, but almost same error occurs. I think easy_install cannnot find `attrs<23.0.` in local.

[k-okada]

Can you find the version of zope.interface installed on the working unitree robot?

◉ Kei Okada

2023年4月26日(水) 13:01 Naoto Tsukamoto @.***>:

Currently, unitree system build (build_ros1_dependencies.sh and build_ros1.sh) fails to some point.

This PR includes

• Fix app_manager url and version (772dc9a https://github.com/jsk-ros-pkg/jsk_robot/commit/772dc9a67ad1d15795a24fee85848da2c0f5cdc1 )
• Install python-typing to avoid import typing error (772dc9a https://github.com/jsk-ros-pkg/jsk_robot/commit/772dc9a67ad1d15795a24fee85848da2c0f5cdc1 )
• Add libfcl-dev and libccd-dev to dependencies because geometric_shapes package needs them (0ec465c https://github.com/jsk-ros-pkg/jsk_robot/commit/0ec465c1b8483f221ccfb971108eaefca41a6ac2 )
• Avoid setuptools version error caused by spidev==3.6 (af35715 https://github.com/jsk-ros-pkg/jsk_robot/commit/af35715082126af9c475411e4f3bb292c6595127 )

But, this PR cannot fix the following issue

• Unable to install python-twisted in build_ros1_dependencies.sh because of the following error.

Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Twisted-17.9.0-py2.7-linux-aarch64.egg Processing dependencies for Twisted==17.9.0 Searching for zope.interface>=3.6.0 Reading https://pypi.python.org/simple/zope.interface/ Downloading https://files.pythonhosted.org/packages/1f/ef/cae21b6295cb2960429f463e6e99daf3623a0c4ced7242a809a0c94c9605/zope.interface-6.1a2.tar.gz#sha256=167ea1a5c28aad2fa7fb0ca8761229bf54766ab6e696c80e592ee8c936ab1776 Best match: zope.interface 6.1a2 Processing zope.interface-6.1a2.tar.gz Writing /tmp/easy_install-ur5jc9/zope.interface-6.1a2/setup.cfg Running zope.interface-6.1a2/setup.py -q bdist_egg --dist-dir /tmp/easy_install-ur5jc9/zope.interface-6.1a2/egg-dist-tmp-3dtby3 warning: no files found matching '*.txt' under directory 'docs' src/zope/interface/_zope_interface_coptimizations.c:765:5: error: unknown type name ‘Py_hash_t’ Py_hash_t _v_cached_hash; ^~~~~ src/zope/interface/_zope_interface_coptimizations.c:907:8: error: unknown type name ‘Py_hash_t’ static Py_hash_t ^~~~~

---

WARNING:

    An optional code optimization (C extension) could not be compiled.

    Optimizations for this package will not be available!

command 'aarch64-linux-gnu-gcc' failed with exit status 1

---

File "build/bdist.linux-aarch64/egg/zope/interface/tests/test_advice.py", line 117 class Meta(type, metaclass=Metameta): ^ SyntaxError: invalid syntax

File "build/bdist.linux-aarch64/egg/zope/interface/adapter.py", line 336 yield from cls._allKeys(v, i - 1, new_parent_k) ^ SyntaxError: invalid syntax

File "build/bdist.linux-aarch64/egg/zope/interface/registry.py", line 294 yield from self.utilities.lookupAll((), interface) ^ SyntaxError: invalid syntax

creating /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg Extracting zope.interface-6.1a2-py2.7-linux-aarch64.egg to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/adapter.py", line 336 yield from cls._allKeys(v, i - 1, new_parent_k) ^ SyntaxError: invalid syntax

File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/registry.py", line 294 yield from self.utilities.lookupAll((), interface) ^ SyntaxError: invalid syntax

File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/tests/test_advice.py", line 117 class Meta(type, metaclass=Metameta): ^ SyntaxError: invalid syntax

Adding zope.interface 6.1a2 to easy-install.pth file

Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg Searching for constantly>=15.1 Reading https://pypi.python.org/simple/constantly/ Downloading https://files.pythonhosted.org/packages/b9/65/48c1909d0c0aeae6c10213340ce682db01b48ea900a7d9fce7a7910ff318/constantly-15.1.0-py2.py3-none-any.whl#sha256=dd2fa9d6b1a51a83f0d7dd76293d734046aa176e384bf6e33b7e44880eb37c5d Best match: constantly 15.1.0 Processing constantly-15.1.0-py2.py3-none-any.whl Installing constantly-15.1.0-py2.py3-none-any.whl to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages Adding constantly 15.1.0 to easy-install.pth file

Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/constantly-15.1.0-py2.7.egg Searching for Automat>=0.3.0 Reading https://pypi.python.org/simple/Automat/ Downloading https://files.pythonhosted.org/packages/29/90/64aabce6c1b820395452cc5472b8f11cd98320f40941795b8069aef4e0e0/Automat-22.10.0-py2.py3-none-any.whl#sha256=c3164f8742b9dc440f3682482d32aaff7bb53f71740dd018533f9de286b64180 Best match: Automat 22.10.0 Processing Automat-22.10.0-py2.py3-none-any.whl Installing Automat-22.10.0-py2.py3-none-any.whl to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages writing requirements to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Automat-22.10.0-py2.7.egg/EGG-INFO/requires.txt Adding Automat 22.10.0 to easy-install.pth file Installing automat-visualize script to /opt/jsk/System/ros1_dependencies/bin

Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Automat-22.10.0-py2.7.egg Searching for attrs>=19.2.0 Reading https://pypi.python.org/simple/attrs/ Downloading https://files.pythonhosted.org/packages/97/90/81f95d5f705be17872843536b1868f351805acf6971251ff07c1b8334dbb/attrs-23.1.0.tar.gz#sha256=6279836d581513a26f1bf235f9acd333bc9115683f14f7e8fae46c98fc50e015 Best match: attrs 23.1.0 Processing attrs-23.1.0.tar.gz error: Couldn't find a setup script in /tmp/easy_install-_r9Nfn/attrs-23.1.0.tar.gz

---

You can view, comment on, or merge this pull request online at:

https://github.com/jsk-ros-pkg/jsk_robot/pull/1793 Commit Summary

• 772dc9a https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/commits/772dc9a67ad1d15795a24fee85848da2c0f5cdc1 [unitree/cross] Fix app_manager url and version in unitree.repos
• 879c9d9 https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/commits/879c9d988f197eabf27749b23c237866cc655c01 [unitree/cross] Install python-typing to avoid import error in python2.7
• 0ec465c https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/commits/0ec465c1b8483f221ccfb971108eaefca41a6ac2 [unitree/cross] Add libfcl-dev and libccd-dev to dependencies, which is needed by geometric_shapes
• af35715 https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/commits/af35715082126af9c475411e4f3bb292c6595127 [unitree/cross] Avoid setuptools version error caused by spidev==3.6

File Changes

(6 files https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files)

• M jsk_unitree_robot/cross/build_ros1_dependencies.sh https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-8eaecf736887c64aa35bb9c052a4b81e238122112d00ffe276eba726bd6c275b (1)
• M jsk_unitree_robot/cross/docker/Dockerfile_ros1 https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-409890951891def2ae0c045ba4e57694bd3e0b396470ce56b76b01a921295bd6 (4)
• M jsk_unitree_robot/cross/repos/ros1_dependencies.repos https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-05781ec4c4b1fc5e3f870ea742dc7e99b59d55b3240870064e0857781201a0e2 (14)
• M jsk_unitree_robot/cross/repos/unitree.repos https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-50a562ed8e5fc848325533bbdc70675da37e7a1f214daa9b220f28356621edd2 (7)
• A jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1043-libccd-dev https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-4e1787b063449b4893927916dac9996bce2e101ad6b6a3850e8893dcafda12dc (32)
• A jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1044-libfcl-dev https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-99761156f2c85c5437f75cc02c462f7f2d80f42d180b80e0c2e7e467f4430e19 (29)

Patch Links:

• https://github.com/jsk-ros-pkg/jsk_robot/pull/1793.patch
• https://github.com/jsk-ros-pkg/jsk_robot/pull/1793.diff

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[tkmtnt7000]

It seems that zope.interface==4.3.2 is installed manually by ros1_dependencies_build_scripts

[tkmtnt7000]

Memo:

Twisted==17.9.0's requirements https://github.com/twisted/twisted/blob/667758e33d808ba730ccbdaa5741b64c2fe15399/src/twisted/python/_setup.py#L223-L232

Python libraries in arm64v8_System (昨年までビルドに成功していたもの)

tsukamoto@tsukamoto-desktop-ryzen ~/ros/unitree_ws/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross/arm64v8_System/ros1_dependencies/lib/python2.7/site-packages (PR-fix-unitree-system-build *%=) 
$ ls
Automat-20.2.0-py2.7.egg                constantly-15.1.0-py2.7.egg  incremental-16.10.1-py2.7.egg          sip.pyi          tornado-4.5.3-py2.7-linux-aarch64.egg
PyAudio-0.2.11-py2.7-linux-aarch64.egg  cv2.so                       lcm                                    sip.so           trollius-2.0.1-py2.7.egg
Twisted-17.9.0-py2.7-linux-aarch64.egg  easy-install.pth             mailutils                              sipconfig.py     txaio-2.8.1-py2.7.egg
attrs-22.1.0-py2.7.egg                  future-0.15.2-py2.7.egg      pymongo-3.6.1-py2.7-linux-aarch64.egg  sipdistutils.py  websocket_client-0.44.0-py2.7.egg
autobahn-17.10.1-py2.7.egg              futures-3.2.0-py2.7.egg      setuptools.pth                         site.py          zope.interface-4.3.2-py2.7-linux-aarch64.egg
backports_abc-0.5-py2.7.egg             futures-3.3.0-py2.7.egg      singledispatch-3.4.0.3-py2.7.egg       site.pyc         zope.interface-5.5.0.dev0-py2.7.egg

成功していないものの途中経過

user@2aee8519342c:/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages$ ls
autobahn-17.10.1-py2.7.egg   future-0.15.2-py2.7.egg        PyAudio-0.2.11-py2.7-linux-aarch64.egg  sip.pyi                                Twisted-17.9.0-py2.7-linux-aarch64.egg
Automat-22.10.0-py2.7.egg    futures-3.2.0-py2.7.egg        pymongo-3.6.1-py2.7-linux-aarch64.egg   sip.so                                 txaio-2.8.1-py2.7.egg
backports_abc-0.5-py2.7.egg  futures-3.4.0-py2.7.egg        setuptools.pth                          site.py                                websocket_client-0.44.0-py2.7.egg
constantly-15.1.0-py2.7.egg  incremental-16.10.1-py2.7.egg  singledispatch-3.4.0.3-py2.7.egg        site.pyc                               zope.interface-4.3.2-py2.7-linux-aarch64.egg
cv2.so                       lcm                            sipconfig.py                            tornado-4.5.3-py2.7-linux-aarch64.egg  zope.interface-6.1a2-py2.7-linux-aarch64.egg
easy-install.pth             mailutils                      sipdistutils.py                         trollius-2.0.1-py2.7.egg

[tkmtnt7000]

Thank you very much for reviewing. Sorry for late reply.

good try, but I think it is too hard to keep update with latest python modules. Since we had able to run the system before, we try to install the software version of that time.

I agree. When I worked my way through the process of trying to keep update with the latest python version, I found it much more difficult, too.

[tkmtnt7000]

Moved to #1794