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:robot: MoveIt for ROS 2
https://moveit.ai/
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rosdep cannot find packages on Ubuntu Focal to build moveit2 source #1120

Closed cgarry-vs closed 2 years ago

cgarry-vs commented 2 years ago

Description

Overview of your issue here.

Your environment

Steps to reproduce

Follow the MoveIt 2 Source Build - Linux guide at https://moveit.ros.org/install-moveit2/source/ and you will fail at the colcon build stage, as no moveit dependencies can be found for Ubuntu Focal (see gist).

Expected behaviour

To be able to install moveit2 for rosrolling on Ubuntu 20.04.4 Focal LTS

Actual behaviour

Fails during colcon build step.

Backtrace or Console output

https://gist.github.com/cgarry-vs/6aa9709ec5b91f0f88f4322f123277c4

tylerjw commented 2 years ago

Rolling is now on Jammy (22.04) so rosdep has removed all those keys from Focal (20.04).

gavanderhoorn commented 2 years ago

Just a quick note: the missing packages are not system dependencies, they are ROS packages (there is a difference between these two when it comes to rosdep @tylerjw: ROS pkgs don't have "keys" registered).

In order to fix this, you'd have to build all the listed packages from source as well.

You could use rosinstall_generator to generate a complete .repos file for you, including all the (recursive) dependencies rosdep complains about.

cgarry-vs commented 2 years ago

@tylerjw @gavanderhoorn thanks! what is the supported/recommended setup then? I can make a PR to the docs if building deps from source is the recommended way, or Ubuntu 20.04 -> Ubuntu 22.04 in the docs. I presume it's the same reason the binary install sudo apt install ros-rolling-moveit doesn't work on Focal either.

vatanaksoytezer commented 2 years ago

Hello @cgarry-vs thanks for offering help. For main branch our CI runs on Galactic right now. Rolling / Jammy was pretty usable before, until Ubuntu 22.04 decided to migrate from Python 3.9 to Python 3.10 and now everything including rclcpp, ros and non-ros stuff is broken, see: https://discourse.ros.org/t/preparing-for-rolling-sync-delayed-by-python-3-10-transition/24521/8. Unfortunately us and all ROS packages are waiting for the Python transition to complete on Jammy, for Rolling to be usable again.

For my experience I currently use 20.04 / Galactic as a maintainer to contribute MoveIt.

If you want to use rolling on focal you need to change your ros index url to an older one (export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml) and do a source build.

I would be more than happy to review if you open a PR, to update the docs.

cgarry-vs commented 2 years ago

@gavanderhoorn generated a repos file:

rosinstall_generator --rosdistro rolling --format repos --upstream-development ALL > moveit2.repos and followed the doc instructions side from that. Build got a lot further but still failed. Doesn't seem like a non-trivial effort to get 20.04 + Rolling + MoveIt2 to up and running. Might just try 22.04.

https://gist.github.com/cgarry-vs/1cdef350d59c91af71bf284d78d24010

cgarry-vs commented 2 years ago

@vatanaksoytezer thanks for the clarity! Will send a PR and try the older index, or just see if I can get by with a different ROS version.

gavanderhoorn commented 2 years ago

Apart from build issues caused by the problems @vatanaksoytezer mentions, you wouldn't want to do a full from-source build.

You should be able to ask rosinstall_generator to skip packages you already have installed (something like --exclude RPP or --exclude-path with --tar, but see the --help).

CMake Error at rc_dynamics_api/opt/CMakeLists.txt:88 (add_subdirectory):
  The source directory

    /home/chris/ws_moveit2/src/rc_dynamics_api/rc_dynamics_api/opt/cpr

  does not contain a CMakeLists.txt file.

is that a ROS 2 package? This doesn't look like a ROS 2 pkg manifest.

Edit: could be pure-cmake.

Edit 2: if you want to attempt this, I'd recommend using a clean workspace. Not one with other packages in it. Right now your build is failing on a non-MoveIt package.

cgarry-vs commented 2 years ago

@gavanderhoorn thanks. Deleted everything and followed the docs again so pretty sure I had a clean workspace. Will give it another go later though.

gavanderhoorn commented 2 years ago

Well, rc_dynamics_api, rmf_traffic_editor_assets and control_box_rst are definitely not part of MoveIt2 ..

aditya2592 commented 2 years ago

Hello @cgarry-vs thanks for offering help. For main branch our CI runs on Galactic right now. Rolling / Jammy was pretty usable before, until Ubuntu 22.04 decided to migrate from Python 3.9 to Python 3.10 and now everything including rclcpp, ros and non-ros stuff is broken, see: https://discourse.ros.org/t/preparing-for-rolling-sync-delayed-by-python-3-10-transition/24521/8. Unfortunately us and all ROS packages are waiting for the Python transition to complete on Jammy, for Rolling to be usable again.

For my experience I currently use 20.04 / Galactic as a maintainer to contribute MoveIt.

If you want to use rolling on focal you need to change your ros index url to an older one (export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml) and do a source build.

I would be more than happy to review if you open a PR, to update the docs.

@vatanaksoytezer How are you setting up moveit with ubuntu 20.04 and galactic? Are we supposed to use the galactic branch in this repo? And should we use rosinstall_generator with galactic as distro or rolling?

vatanaksoytezer commented 2 years ago

@aditya2592 You can use the main branch and follow the instructions on https://moveit.ros.org/install-moveit2/source/

aditya2592 commented 2 years ago

@vatanaksoytezer Are those instructions also valid when ROS2 is installed from source? I am seeing issues described in this post - https://github.com/ros-planning/moveit2/issues/156 and I was wondering if different instructions are needed

cgarry-vs commented 2 years ago

Followed the mentioned instructions, but set the ROS index after cloning moveit2/main and the dependencies installed without issue (at least for me on Ubuntu Focal 20.04, ROS Rolling).

export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml

@vatanaksoytezer https://github.com/ros-planning/moveit.ros.org/pull/702

cgarry-vs commented 2 years ago

I've gotten it to work without having to build any dependencies from source by using the old ros package index recommended in the earlier comment (be sure to rosdep init, update, etc. in the MoveIt2 repo after the clone step) and following the rest of the MoveIt2 build instructions as usual.

On Tue, Mar 22, 2022, 17:28 Aditya Agarwal @.***> wrote:

@vatanaksoytezer https://github.com/vatanaksoytezer Are those instructions also valid when ROS2 is installed from source? I am seeing issues described in this post - #156 https://github.com/ros-planning/moveit2/issues/156 and I was wondering if different instructions are needed

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