KDL parameters fail to build on latest version of `generate_parameter_library`

sea-bass commented 6 months ago

Description

When building the KDL plugin in the moveit_kinematics package, I see build errors because the generated header file from the parameters places two . characters in a row, which is invalid C++.

This stems from the parameter map defined in https://github.com/ros-planning/moveit2/blob/main/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml#L8-L16

I believe these were caused by this recent PR to generate_parameter_library: https://github.com/PickNikRobotics/generate_parameter_library/pull/166. I filed issue https://github.com/PickNikRobotics/generate_parameter_library/issues/182 in that repo as well.

Your environment

ROS Distro: Humble
OS Version: e.g. Ubuntu 22.04
Source or Binary build? Source, from main
Which RMW (Fast DDS or Cyclone DDS)? Any

Backtrace or Console output

--- stderr: moveit_kinematics
  In file included from /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h:42,
                   from /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp:37:
  /home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘void kdl_kinematics::ParamListener::refresh_dynamic_parameters()’:
  /home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:146:36: error: expected unqualified-id before ‘.’ token
    146 |       auto& entry = updated_params..joints_map[value_1];
        |                                    ^
  /home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘rcl_interfaces::msg::SetParametersResult kdl_kinematics::ParamListener::update(const std::vector<rclcpp::Parameter>&)’:
  /home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:217:32: error: expected unqualified-id before ‘.’ token
    217 |                 updated_params..joints_map[value_1].weight = param.as_double();
        |                                ^
  /home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘void kdl_kinematics::ParamListener::declare_params()’:
  /home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:[308](https://github.com/ros-planning/moveit2/actions/runs/8332188070/job/22800777158?pr=2747#step:12:322):36: error: expected unqualified-id before ‘.’ token
    308 |       auto& entry = updated_params..joints_map[value_1];
        |                                    ^
  gmake[2]: *** [kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/build.make:76: kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/src/kdl_kinematics_plugin.cpp.o] Error 1
  gmake[1]: *** [CMakeFiles/Makefile2:363: kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/all] Error 2
  gmake[1]: *** Waiting for unfinished jobs....
  gmake: *** [Makefile:146: all] Error 2
  ---
  Failed   <<< moveit_kinematics [51.7s, exited with code 2]

Yadunund commented 6 months ago

@sea-bass I opened #2758 to track regression we're seeing on Iron.

Do you think the issue can be patched and bloomed in generate_parameter_library by end of this week? Else we may have to revert https://github.com/ros/rosdistro/pull/40149. Let me know what you think!

sea-bass commented 6 months ago

@sea-bass I opened #2758 to track regression we're seeing on Iron.

Do you think the issue can be patched and bloomed in generate_parameter_library by end of this week? Else we may have to revert ros/rosdistro#40149. Let me know what you think!

It's possible that https://github.com/PickNikRobotics/generate_parameter_library/pull/185 will fix it, and we'll see what we can do for end of the week.

If not, then that (and the corresponding humble PR to rosdistro) should indeed be reverted and we'll get this in for the next sync.

Yadunund commented 6 months ago

Sounds good! Thanks for the quick response!

peter-pri commented 6 months ago

Today I got also this error on my build of moveit2 on a Rasberry Pi 4. I remove one of the two dots (three times) as a workaround in "kdl_kinematics_parameters.hpp". Does this make sense ? Clearly, the generator program has to be fixed in the next days. My build was successful with 8G RAM after I added "--executor sequential" to the build command: build_movit2_on_raspberry_pi_8GB_RAM.txt

sea-bass commented 6 months ago

https://github.com/PickNikRobotics/generate_parameter_library/pull/185 has been merged, so you can use that branch now!

kimsooyoung commented 5 months ago

I'm working on moveit2 with Ubuntu 22.04 & ROS 2 Humble and just resolved this issue.

For those who are encountering this one, Here's my command line log.

# download new generate_parameter_library which one can resolve this err
cd ~/ws_moveit/src/
wget https://github.com/PickNikRobotics/generate_parameter_library/archive/refs/tags/0.3.8.tar.gz
tar -zxvf 0.3.8.tar.gz
rm -rf 0.3.8.tar.gz

# build downloaded generate_parameter_library and sourcing
cd ~/ws_moveit/
colcon build --symlink-install --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/local_setup.bash

# Now build whole moveit2 pkgs again
colcon build --mixin release --parallel-workers 4

github-actions[bot] commented 4 months ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

moveit / moveit2