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jsk-ros-pkg / jsk_roseus

ROS EusLisp Client
http://wiki.ros.org/roseus/Tutorials
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add functions to convert shape_msgs/SolidPrimitive <-> euslisp object #640

Closed 708yamaguchi closed 4 years ago

708yamaguchi commented 4 years ago

I added functions to convert shape_msgs/SolidPrimitive <-> euslisp object

shape_msgs/SolidPrimitive is used at collision-object-publisher.l, for example. https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus_moveit/euslisp/collision-object-publisher.l#L80-L85

If this pull request is merged, I will replace the above code with cube->shape-msg() functions.

708yamaguchi commented 4 years ago

Thank you for your review.

I named these functions following existing functions: https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/euslisp/roseus-utils.l#L537 https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/euslisp/roseus-utils.l#L550 https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/euslisp/roseus-utils.l#L567

I pushed an additional commit to reflect your advice.

k-okada commented 4 years ago

please check travis errors


[roseus:make] ;; loading roseus("1.7.4-54-g23fdb92") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
5300[roseus:make] Traceback (most recent call last):
5301[roseus:make]   File "/opt/ros/melodic/share/rostest/nodes/hztest", line 243, in <module>
5302[roseus:make]     time.sleep(0.75)
5303[roseus:make] KeyboardInterrupt
5304[roseus:make] [ERROR] [1586526159.057168430]: Could not find roseus messages for shape_msgs under (/home/travis/ros/ws_jsk_roseus/devel/.private/roseus/share /home/travis/ros/ws_jsk_roseus/devel/share /opt/ros/melodic/share)
5305[roseus:make] try rosrun roseus generate-all-msg-srv.sh shape_msgs
5306[roseus:make] ;; can not find nil/msg/ directory for [shape_msgs] packages
5307[roseus:make] Built target _run_tests_roseus_rostest_test_test-simple-client-wait.test
5308[roseus:make] Scanning dependencies of target _run_tests_roseus_rostest_test_test-namespace.test
5309[roseus:make] -- run_tests.py: execute commands
708yamaguchi commented 4 years ago

Thank you for your advice.

Cause of error

I have checked the travis error carefully, I found following:

What I should do

For kinetic and melodic tests, I think we should wait for jsk_pcl_ros to be released on http://packages.ros.org/ros-testing/ubuntu For indigo tests, I have no idea. Do I need to add shape_msgs to run_depend in roseus? Or is there any way to avoid the above error? Could you please teach me how to fix these problem?

knorth55 commented 4 years ago

this issue is related to https://github.com/jsk-ros-pkg/jsk_visualization/pull/765 . jsk_pcl_ros is not released because jsk_visualization build failed .

k-okada commented 4 years ago

Please add depends to shape_msgs from roseus as I noted on https://github.com/jsk-ros-pkg/jsk_roseus/pull/641#issuecomment-611292100. we do not want roseus depends on jsk_pcl_ros, whcih is large dependencies. please also note that shape_msgs provided from jsk_pcl_ros of roseus_tutorials. But this does not work when building deb file, becuase deb file created for each package, not each repository. So when system create roseus package, it doens not know about dependencies of roseus_tutorials

k-okada commented 4 years ago

please refer https://github.com/jsk-ros-pkg/jsk_visualization/pull/699#issuecomment-410621239 https://github.com/jsk-ros-pkg/jsk_visualization/pull/644#issuecomment-262473691 for jsk_visualizaiotn case. this is more complex than jsk_roseus, but it seems we do not want jsk_visualization depends on jsk_recognition.

708yamaguchi commented 4 years ago

Thank you for your teaching.

But this does not work when building deb file, becuase deb file created for each package, not each repository. So when system create roseus package, it doens not know about dependencies of roseus_tutorials

I have misunderstood the package system. Now I understand why we need to shape_msgs to roseus dependency.

Also, from these comments (https://github.com/jsk-ros-pkg/jsk_roseus/pull/641#issuecomment-611292100, https://github.com/jsk-ros-pkg/jsk_visualization/pull/699#issuecomment-410621239 and https://github.com/jsk-ros-pkg/jsk_visualization/pull/644#issuecomment-262473691), I understand that we should not add large packages dependencies.

I'll be careful from now on.

knorth55 commented 4 years ago

what i waant to tell you is that jsk_pcl_ros is not released in ros-testing is because of jsk_visualization. maybe it is good time to learn about ros buildfarm. https://github.com/jsk-ros-pkg/jsk_visualization/issues/764

708yamaguchi commented 4 years ago

@knorth55 Thank you very much for your information.

Now, I am trying to understand the system of ROS Buildfarm. e.g. xx-release repo, bloom command, jenkins, ros-shadow-fixed, ... etc

In my understanding, the current situation is as follows:

  1. jsk_rviz_plugins build on build.ros.org fails because some dependent packages have been changed. http://build.ros.org/job/Mbin_uB64__jsk_rviz_plugins__ubuntu_bionic_amd64__binary/
  2. jsk_interactive_marker build on build.ros.org (which depends on jsk_rviz_plugins) is pending. http://build.ros.org/job/Mbin_uB64__jsk_interactive_marker__ubuntu_bionic_amd64__binary/
  3. jsk_pcl_ros build on build.ros.org (which depends on jsk_interactive_marker) is pending. http://build.ros.org/job/Mbin_uB64__jsk_pcl_ros__ubuntu_bionic_amd64__binary/
  4. jsk_pcl_ros is not released on ros-testing (the same as ros-shadow-fixed?)(new repository of ros-shadow-fixed)
pazeshun commented 4 years ago

ros-shadow-fixed is old repository of ros-testing: https://discourse.ros.org/t/security-issue-on-ros-build-farm/9342/8

708yamaguchi commented 4 years ago

@pazeshun Thank you for correction!