Cmake cannot find `tf2-kdl`, it's not in propagatedBuildInputs

[movefasta]

Hello. I tried to build moveit-core on Humble and got an issue with cmake, that cannot found package

nix log /nix/store/vrwn8d3ligjzf3zqa1cslyzca4l2hri3-ros-humble-moveit-core-2.5.4-r1.drv
...
CMake Error at CMakeLists.txt:31 (find_package):
  By not providing "Findtf2_kdl.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "tf2_kdl", but
  CMake did not find one.

To debug this i'm run nix shell with inputsFrom = [ ros-humble.moveit-core ]; attribute and found that tf2-kdl is not presented in propagatedBuildInputs. Meanwhile another moveit-core dependencies (like tf2-eigen, that cmake successfully found) are defined there:

$ env | grep propagatedBuildInputs
propagatedBuildInputs=... /nix/store/r63apzy6wbbq089sl28abhipwjvvznip-ros-humble-std-msgs-4.2.3-r1
/nix/store/y47bkw473bih729lb4b8bzkgsmf024d3-ros-humble-tf2-0.25.2-r1
/nix/store/q0rbsbyjd90c3vsiigd8cc3gzscq09qb-ros-humble-tf2-eigen-0.25.2-r1
/nix/store/p1cxzjc233jwphvcwdbivbgvbp4cz3vc-ros-humble-tf2-geometry-msgs-0.25.2-r1 ...

According to humble/moveit-core/default.nix#L18, tf2-kdl is in checkInputs and missing in propagatedBuildInputs.

[movefasta]

it was fixed in https://github.com/ros-planning/moveit2/pull/1817

[movefasta]

Well, issue was fixed, but fix was not included to releases yet. What should i do? Overlay nix-ros-ovelay with master branch of moveit-core?

[lopsided98]

Overriding the version won't fix the problem, since it won't change the dependencies. Your best bet is probably to override the package to add tf2-kdl to propagatedBuildInputs while you wait for them to make a new release.

[movefasta]

Thanks for advice. I tried

moveit-core-patched = ros.humble.moveit-core.overrideAttrs (old: { 
  propagatedBuildInputs = old.propagatedBuildInputs ++ [ ros.humble.tf2-kdl ];
});

moveit-core was built successfully, but when i tried build moveit-ros-planning ('moveit-core''s dependent) it starts to build moveit-core again and drops with same error. I thought, that moveit-ros-planning is using standard overlays's version and tried to override moveit-core from buildPropagatedInputs of moveit-ros-planning:

  propagatedBuildInputs = (pkgs.lib.lists.remove "moveit-core" old.propagatedBuildInputs) ++ [ moveit-core-patched ];
});

This is not helps... so why moveit-ros-planning is trying build moveit-core again?

[lopsided98]

You can apply an overlay to the ROS package set with something like humble.overrideScope (final: prev: { moveit-core = prev.moveit-core.overrideAttrs ... })), which will replace all usages of moveit-core with the fixed version.

[movefasta]

Thanks. That's works! Final overriding is here

humble-overrided = ros.humble.overrideScope (final: prev: {
    moveit-core = prev.moveit-core.overrideAttrs (old: { propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];});
    moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: { propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];});
  });