[naoqieus] how to create manifest.l automatically on kinetic while catkin build?

[kochigami]

I followed https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_naoqi_robot/README.md and setup pepper's environment with kinetic. However, it seems that manifest.l is not created automatically while catkin build on kinetic.

I'd like to know if it is an expected behavior and what I should do.

reference: #678 (it is working on indigo, but it doesn't on kinetic)

roscore
roseus pepper-interface.l

[ERROR] [1503541401.073768641]: Could not find roseus messages for naoqieus under (/home/pepper/catkin_ws/devel/share/roseus/ros /opt/ros/kinetic/share/roseus/ros)
try rosrun roseus generate-all-msg-srv.sh naoqieus
[ERROR] [1503541401.073860996]: Could not find nil/manifest.l
try rosrun roseus generate-all-msg-srv.sh naoqieus
Call Stack (max depth: 20):
  0: at (apply #'ros::load-org-for-ros ros::fullname args)
  1: at (apply #'ros::load-org-for-ros ros::fullname args)
  2: at (let ((ros::fullname fname)) (when (substringp "package://" fname) (setq ros::fullname (ros::resolve-ros-path fname)) (when ros::*compile-message* (let* ((ros::urlname (url-pathname fname)) (package-name (send ros::urlname :host)) (ros::path-name (format nil "~A_~A" package-name (substitute 95 47 (concatenate string (subseq (send ros::urlname :directory-string) 1) (send ros::urlname :name))))) (ros::old-module (find ros::path-name *loaded-modules* :key #'lisp::load-module-file-name :test #'equal))) (unless ros::old-module (let* ((ros::ppath (unix:getenv "CMAKE_PREFIX_PATH")) (dir (format nil "~A/share/roseus/ros/~A" (subseq ros::ppath 0 (position 58 ros::ppath)) package-name))) (unless (probe-file dir) (unix:mkdir dir)) (compiler:compile-file-if-src-newer ros::fullname (format nil "~A/~A" dir ros::path-name)) (return-from load (load (format nil "~A/~A.so" dir ros::path-name) :entry (format nil "___~A" ros::path-name)))))))) (if (null ros::fullname) (error "file ~s not found" fname)) (apply #'ros::load-org-for-ros ros::fullname args))
  3: at (load "package://naoqieus/naoqi-interface.l")
/opt/ros/kinetic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl: ERROR th=0 no such package "NAO_INTERACTION_MSGS""NAO_INTERACTION_MSGS" in (apply #'ros::load-org-for-ros ros::fullname args)E:

pepper@pepper-desktop:~/catkin_ws/src/jsk_robot/jsk_naoqi_robot/naoqieus$ rosrun roseus generate-all-msg-srv.sh naoqieus
package:naoqieus -> /home/pepper/catkin_ws/src/jsk_robot/jsk_naoqi_robot/naoqieus
generating... 1 files with ALL=No, COMPILE=No option
writing output to.../home/pepper/catkin_ws/devel/share/roseus/ros
generating... /0
generating manifest... /home/pepper/catkin_ws/devel/share/roseus/ros/naoqieus/manifest.l

Then roseus pepper-interface.l & pepper-init t succeeded.

[k-okada]

@kochigami This is very important report, thanks a lot!!

From jade, roseus is one of the "official" ros client, that means all catkin process generate roseus message, (see dpkg -L ros-kinetic-naoqi-bridge-msgs | grep eus on kinetic). But this will not make any roseus message for packages without msg/srv, so we need to skip reading manifest.l for these packages

This should be solved by, https://github.com/jsk-ros-pkg/jsk_roseus/pull/537, please check this.

[kochigami]

Thank you very much for your reply. I'm very glad to hear roseus promoted.

However, after I tried jsk-ros-pkg/jsk_roseus#537, something is wrong. I expect this is caused by my fault, and I'll look into it later.

What I did:

• git clone three pkgs

  pepper@pepper-desktop:~/catkin_ws/src$ ls
  jsk_robot (master)  jsk_roseus (#537)  nao_interaction (master)

• catkin clean -b and catkin clean -d

• catkin build -c

• roscore, roscd peppereus & roseus pepper-interface.l

roseus ;; loading roseus("1.6.2-5-g1524954") on euslisp((9.23 ip-172-31-22-159 Tue Jun 13 17:50:01 PST 2017  1.1.0))
eustf roseus_c_util Call Stack (max depth: 20):
  0: at (apply #'ros::load-org-for-ros ros::fullname args)
  1: at (apply #'ros::load-org-for-ros ros::fullname args)
  2: at (let ((ros::fullname fname)) (when (substringp "package://" fname) (setq ros::fullname (ros::resolve-ros-path fname)) (when ros::*compile-message* (let* ((ros::urlname (url-pathname fname)) (package-name (send ros::urlname :host)) (ros::path-name (format nil "~A_~A" package-name (substitute 95 47 (concatenate string (subseq (send ros::urlname :directory-string) 1) (send ros::urlname :name))))) (ros::old-module (find ros::path-name *loaded-modules* :key #'lisp::load-module-file-name :test #'equal))) (unless ros::old-module (let* ((ros::ppath (unix:getenv "CMAKE_PREFIX_PATH")) (dir (format nil "~A/share/roseus/ros/~A" (subseq ros::ppath 0 (position 58 ros::ppath)) package-name))) (unless (probe-file dir) (unix:mkdir dir)) (compiler:compile-file-if-src-newer ros::fullname (format nil "~A/~A" dir ros::path-name)) (return-from load (load (format nil "~A/~A.so" dir ros::path-name) :entry (format nil "___~A" ros::path-name)))))))) (if (null ros::fullname) (error "file ~s not found" fname)) (apply #'ros::load-org-for-ros ros::fullname args))
  3: at (load "package://naoqieus/naoqi-interface.l")
/opt/ros/kinetic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl: ERROR th=0 no such package "NAO_INTERACTION_MSGS""NAO_INTERACTION_MSGS" in (apply #'ros::load-org-for-ros ros::fullname args)E: 

memo:

• nao_interaction_msg has manifest.l

  pepper@pepper-desktop:~/catkin_ws/devel/share/roseus/ros/nao_interaction_msgs$ ls
  manifest.l  msg  srv

• source code is referenced

  pepper@pepper-desktop:~/catkin_ws/devel/share/roseus/ros/nao_interaction_msgs$ roscd nao_interaction_msgs/
  pepper@pepper-desktop:~/catkin_ws/src/nao_interaction/nao_interaction_msgs$

• roseus, peppereus, naoqieus sources are also referenced

  pepper@pepper-desktop:~$ roscd roseus
  pepper@pepper-desktop:~/catkin_ws/src/jsk_roseus/roseus$ cd 
  pepper@pepper-desktop:~$ roscd peppereus/
  pepper@pepper-desktop:~/catkin_ws/src/jsk_robot/jsk_naoqi_robot/peppereus$ roscd naoqieus/
  pepper@pepper-desktop:~/catkin_ws/src/jsk_robot/jsk_naoqi_robot/naoqieus$

[k-okada]

humm, basically https://github.com/jsk-ros-pkg/jsk_roseus/pull/537 changes our strategy to write roseus program. We will ask user to use load-** <msg> instead of using load-** <package>, because we nolonger build manifest file for package without msg/srv.

we still able to use ros::load-ros-manifest, but may be better to use ros::load-ros-package or (ros::roseus-add-msgs) or (ros::roseus-add-srvs)

--- a/jsk_naoqi_robot/naoqieus/naoqi-interface.l
+++ b/jsk_naoqi_robot/naoqieus/naoqi-interface.l
@@ -1,5 +1,5 @@
 (load "package://pr2eus/robot-interface.l")
-(ros::load-ros-manifest "naoqieus")
+(ros::load-ros-manifest "nao_interaction_msgs")

or

(ros::load-ros-package "nao_interaction_msgs")

or

(ros::roseus-add-msgs "nao_interaction_msgs")
(ros::roseus-add-srvs "nao_interaction_msgs")

[k-okada]

i have updated https://github.com/jsk-ros-pkg/jsk_roseus/pull/537, this does not require you to change naoqi-interface.l

[k-okada]

i have updated jsk-ros-pkg/jsk_roseus#537, this does not require you to change naoqi-interface.l

I'm afraid we still need to change naoqi-interface.l on kinetic. Did you change locally? @kochigami

[kochigami]

Actually, I've never succeeded in executing pepper-interface.l on kinetic. After my last comment, I haven't tried https://github.com/jsk-ros-pkg/jsk_roseus/pull/537 ... Sorry about that.

I tried these lines again.

pepper@pepper-desktop:~/catkin_ws/src$ ls
jsk_robot (master)  jsk_roseus (#537)  nao_interaction (master)

% git pull --rebase origin master
% #537: git fetch k-okada & git merge k-okada/fix_jade 

• catkin clean -b and catkin clean -d
• catkin build -c
• roscore, roscd peppereus & roseus pepper-interface.l

/opt/ros/kinetic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl: ERROR th=0 no such package "NAO_INTERACTION_MSGS""NAO_INTERACTION_MSGS" in (apply #'ros::load-org-for-ros ros::fullname args)E: 

[pazeshun]

Oh, similar error to https://github.com/jsk-ros-pkg/jsk_roseus/issues/554...