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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
Creative Commons Attribution Share Alike 4.0 International
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iCub ROS2 package installed by this repo can't be found by ros2 #177

Closed traversaro closed 2 years ago

traversaro commented 2 years ago

This repo installs an iCub package that is meant to be found by ROS2 ().

However, if I install:

mamba create -c conda-forge -c robostack-humble -n testicubmdls icub-models ros-humble-ros2pkg

then this command does not return anything:

(testicubmdls) traversaro@IITICUBLAP257:~$ ros2 pkg list | grep iCub
(testicubmdls) traversaro@IITICUBLAP257:~$

Instead on ROS1 rospack list | grep iCub returns iCub as expected.

So, https://github.com/robotology/icub-models/issues/81 is not working as expected (see also https://github.com/robotology/robotology-superbuild/issues/832).

Env:

(testicubmdls) traversaro@IITICUBLAP257:~$ mamba list
# packages in environment at /home/traversaro/mambaforge/envs/testicubmdls:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
argcomplete               1.12.3             pyhd8ed1ab_0    conda-forge
attr                      2.5.1                h166bdaf_1    conda-forge
attrs                     22.1.0             pyh71513ae_1    conda-forge
bzip2                     1.0.8                h7f98852_4    conda-forge
c-ares                    1.18.1               h7f98852_0    conda-forge
ca-certificates           2022.9.24            ha878542_0    conda-forge
catkin_pkg                0.5.2              pyhd8ed1ab_0    conda-forge
cmake                     3.24.3               h816a3e0_0    conda-forge
colorama                  0.4.6              pyhd8ed1ab_0    conda-forge
docutils                  0.19             py39hf3d152e_1    conda-forge
empy                      3.3.4              pyh9f0ad1d_1    conda-forge
exceptiongroup            1.0.1              pyhd8ed1ab_0    conda-forge
expat                     2.5.0                h27087fc_0    conda-forge
foonathan-memory          0.7.2                h27087fc_1    conda-forge
gmock                     1.11.0               h924138e_0    conda-forge
gtest                     1.11.0               h924138e_0    conda-forge
icub-models               1.25.0           py39h5a03fae_1    conda-forge
importlib-metadata        5.0.0              pyha770c72_1    conda-forge
importlib_resources       5.10.0             pyhd8ed1ab_0    conda-forge
iniconfig                 1.1.1              pyh9f0ad1d_0    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
krb5                      1.19.3               h3790be6_0    conda-forge
lark-parser               0.12.0             pyhd8ed1ab_0    conda-forge
ld_impl_linux-64          2.39                 hc81fddc_0    conda-forge
libacl                    2.3.1                ha37c62d_1    conda-forge
libblas                   3.9.0           16_linux64_openblas    conda-forge
libcblas                  3.9.0           16_linux64_openblas    conda-forge
libcurl                   7.86.0               h7bff187_1    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 h516909a_1    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libgcc-ng                 12.2.0              h65d4601_19    conda-forge
libgfortran-ng            12.2.0              h69a702a_19    conda-forge
libgfortran5              12.2.0              h337968e_19    conda-forge
libgomp                   12.2.0              h65d4601_19    conda-forge
liblapack                 3.9.0           16_linux64_openblas    conda-forge
libnghttp2                1.47.0               hdcd2b5c_1    conda-forge
libnsl                    2.0.0                h7f98852_0    conda-forge
libopenblas               0.3.21          pthreads_h78a6416_3    conda-forge
libsqlite                 3.39.4               h753d276_0    conda-forge
libssh2                   1.10.0               haa6b8db_3    conda-forge
libstdcxx-ng              12.2.0              h46fd767_19    conda-forge
libuuid                   2.32.1            h7f98852_1000    conda-forge
libuv                     1.44.2               h166bdaf_0    conda-forge
libzlib                   1.2.13               h166bdaf_4    conda-forge
ncurses                   6.3                  h27087fc_1    conda-forge
netifaces                 0.11.0           py39hb9d737c_1    conda-forge
numpy                     1.23.4           py39h3d75532_1    conda-forge
openssl                   1.1.1s               h166bdaf_0    conda-forge
packaging                 21.3               pyhd8ed1ab_0    conda-forge
pip                       22.3.1             pyhd8ed1ab_0    conda-forge
pluggy                    1.0.0              pyhd8ed1ab_5    conda-forge
pyparsing                 3.0.9              pyhd8ed1ab_0    conda-forge
pytest                    7.2.0              pyhd8ed1ab_2    conda-forge
python                    3.9.13          h9a8a25e_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python_abi                3.9                      2_cp39    conda-forge
readline                  8.1.2                h0f457ee_0    conda-forge
rhash                     1.4.3                h166bdaf_0    conda-forge
ros-humble-action-msgs    1.2.0            py39h6be7e7a_1    robostack-humble
ros-humble-ament-cmake    1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-core 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-export-definitions 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-export-dependencies 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-export-include-directories 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-export-interfaces 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-export-libraries 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-export-link-flags 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-export-targets 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-gen-version-h 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-gmock 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-gtest 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-include-directories 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-libraries 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-pytest 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-python 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-ros 0.10.0           py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-target-dependencies 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-test 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-cmake-version 1.3.2            py39h63710d1_1    robostack-humble
ros-humble-ament-copyright 0.12.4           py39h63710d1_1    robostack-humble
ros-humble-ament-index-cpp 1.4.0            py39h63710d1_1    robostack-humble
ros-humble-ament-index-python 1.4.0            py39h63710d1_1    robostack-humble
ros-humble-ament-lint     0.12.4           py39h63710d1_1    robostack-humble
ros-humble-ament-package  0.14.0           py39h63710d1_1    robostack-humble
ros-humble-builtin-interfaces 1.2.0            py39h6be7e7a_1    robostack-humble
ros-humble-cyclonedds     0.9.0            py39h8cec1a4_1    robostack-humble
ros-humble-domain-coordinator 0.10.0           py39h63710d1_1    robostack-humble
ros-humble-fastcdr        1.0.24           py39h63710d1_1    robostack-humble
ros-humble-fastrtps       2.6.2            py39hf487e8b_1    robostack-humble
ros-humble-fastrtps-cmake-module 2.2.0            py39h63710d1_1    robostack-humble
ros-humble-foonathan-memory-vendor 1.2.0            py39h63710d1_1    robostack-humble
ros-humble-gmock-vendor   1.10.9004        py39h63710d1_1    robostack-humble
ros-humble-gtest-vendor   1.10.9004        py39h63710d1_1    robostack-humble
ros-humble-iceoryx-binding-c 2.0.2            py39h63710d1_1    robostack-humble
ros-humble-iceoryx-hoofs  2.0.2            py39h63710d1_1    robostack-humble
ros-humble-iceoryx-posh   2.0.2            py39h63710d1_1    robostack-humble
ros-humble-libyaml-vendor 1.2.2            py39h63710d1_1    robostack-humble
ros-humble-lifecycle-msgs 1.2.0            py39h6be7e7a_1    robostack-humble
ros-humble-python-cmake-module 0.10.0           py39h63710d1_1    robostack-humble
ros-humble-rcl            5.3.2            py39h63710d1_1    robostack-humble
ros-humble-rcl-action     5.3.1            py39h63710d1_1    robostack-humble
ros-humble-rcl-interfaces 1.2.0            py39h6be7e7a_1    robostack-humble
ros-humble-rcl-lifecycle  5.3.1            py39h63710d1_1    robostack-humble
ros-humble-rcl-logging-interface 2.3.0            py39h63710d1_1    robostack-humble
ros-humble-rcl-logging-spdlog 2.3.0            py39h495f368_1    robostack-humble
ros-humble-rcl-yaml-param-parser 5.3.2            py39h63710d1_1    robostack-humble
ros-humble-rclpy          3.3.4            py39h6be7e7a_1    robostack-humble
ros-humble-rcpputils      2.4.0            py39h63710d1_1    robostack-humble
ros-humble-rcutils        5.1.1            py39h63710d1_1    robostack-humble
ros-humble-rmw            6.1.0            py39h63710d1_1    robostack-humble
ros-humble-rmw-connextdds 0.11.1           py39h63710d1_1    robostack-humble
ros-humble-rmw-connextdds-common 0.11.1           py39h63710d1_1    robostack-humble
ros-humble-rmw-cyclonedds-cpp 1.3.3            py39h63710d1_1    robostack-humble
ros-humble-rmw-dds-common 1.6.0            py39h6be7e7a_1    robostack-humble
ros-humble-rmw-fastrtps-cpp 6.2.1            py39h63710d1_1    robostack-humble
ros-humble-rmw-fastrtps-dynamic-cpp 6.2.1            py39h63710d1_1    robostack-humble
ros-humble-rmw-fastrtps-shared-cpp 6.2.1            py39h63710d1_1    robostack-humble
ros-humble-rmw-implementation 2.8.1            py39h63710d1_1    robostack-humble
ros-humble-rmw-implementation-cmake 6.1.0            py39h63710d1_1    robostack-humble
ros-humble-ros-workspace  1.0.2            py39h63710d1_1    robostack-humble
ros-humble-ros2cli        0.18.3           py39h63710d1_1    robostack-humble
ros-humble-ros2pkg        0.18.3           py39h63710d1_1    robostack-humble
ros-humble-rosgraph-msgs  1.2.0            py39h6be7e7a_1    robostack-humble
ros-humble-rosidl-adapter 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-cli     3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-cmake   3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-default-runtime 1.2.0            py39h6be7e7a_1    robostack-humble
ros-humble-rosidl-generator-c 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-generator-cpp 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-generator-py 0.14.2           py39h6be7e7a_1    robostack-humble
ros-humble-rosidl-parser  3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-runtime-c 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-runtime-cpp 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-typesupport-c 2.0.0            py39h63710d1_1    robostack-humble
ros-humble-rosidl-typesupport-cpp 2.0.0            py39h63710d1_1    robostack-humble
ros-humble-rosidl-typesupport-fastrtps-c 2.2.0            py39h63710d1_1    robostack-humble
ros-humble-rosidl-typesupport-fastrtps-cpp 2.2.0            py39h63710d1_1    robostack-humble
ros-humble-rosidl-typesupport-interface 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-typesupport-introspection-c 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rosidl-typesupport-introspection-cpp 3.1.3            py39h63710d1_1    robostack-humble
ros-humble-rpyutils       0.2.1            py39h63710d1_1    robostack-humble
ros-humble-rti-connext-dds-cmake-module 0.11.1           py39h63710d1_1    robostack-humble
ros-humble-spdlog-vendor  1.3.0            py39h495f368_1    robostack-humble
ros-humble-tracetools     4.1.0            py39h63710d1_1    robostack-humble
ros-humble-unique-identifier-msgs 2.2.1            py39h6be7e7a_1    robostack-humble
ros2-distro-mutex         0.1.0                    humble    robostack-humble
setuptools                65.5.1             pyhd8ed1ab_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
spdlog                    1.10.0               h924138e_0    conda-forge
sqlite                    3.39.4               h4ff8645_0    conda-forge
tinyxml2                  9.0.0                h9c3ff4c_2    conda-forge
tk                        8.6.12               h27826a3_0    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tzdata                    2022f                h191b570_0    conda-forge
wheel                     0.38.3             pyhd8ed1ab_0    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
yaml-cpp                  0.7.0                h27087fc_2    conda-forge
zipp                      3.10.0             pyhd8ed1ab_0    conda-forge
zlib                      1.2.13               h166bdaf_4    conda-forge
zstd                      1.5.2                h6239696_4    conda-forge
traversaro commented 2 years ago

fyi @Nicogene

traversaro commented 2 years ago

The relevant code to debug seems https://github.com/ament/ament_index/blob/496403d0865866041d7ce9a95172a6b0e186c812/ament_index_python/ament_index_python/packages.py#L29 .

traversaro commented 2 years ago

By reading https://github.com/ament/ament_cmake/blob/4d56683ae48c985e715207bfd8a0880900beb2f2/ament_cmake_core/doc/resource_index.md#file-system-index-layout, apparently we also need to install an empty file named iCub in <prefix>/share/ament_index/resource_index/packages.