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robust-rosin / robust

A dataset of 200+ bugs in the Robot Operating System for BugZoo
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Docker build fails for Kobuki b213df3 #177

Open git-afsantos opened 5 years ago

git-afsantos commented 5 years ago

https://github.com/robust-rosin/robust/blob/master/kobuki/b213df3/b213df3.bug

With errors:

-- +++ processing catkin package: 'kobuki_auto_docking' -- ==> add_subdirectory(repo-under-test/kobuki_auto_docking) CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package kdl_conversions. [...] CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package kobuki_dock_drive. [...] -- +++ processing catkin package: 'kobuki_description' -- ==> add_subdirectory(repo-under-test/kobuki_description) CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package xacro. [...] -- +++ processing catkin package: 'kobuki_node' -- ==> add_subdirectory(repo-under-test/kobuki_node)

I built deps.rosinstall as per usual:

./rosinstall_generator_tm.sh "2013-08-30T09:46:00+00:00" hydro --deps --deps-only --tar kobuki_node > deps.rosinstall

The missing dependencies do not even seem to be related to the PUT (kobuki_node), but rather to other packages (within the same metapackage, I think).

gavanderhoorn commented 5 years ago

kobuki_dock_drive and kdl_conversions are dependencies of kobuki_auto_docking (see the wiki page and expand the Dependencies section of the Package Header box (to the right)).

Could you include the .rosinstall file in a comment here?

git-afsantos commented 5 years ago 
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    local-name: rviz
    uri: https://github.com/ros-gbp/rviz-release/archive/release/hydro/rviz/1.10.5-0.tar.gz
    version: rviz-release-release-hydro-rviz-1.10.5-0
- tar:
    local-name: sensor_msgs
    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/hydro/sensor_msgs/1.10.2-0.tar.gz
    version: common_msgs-release-release-hydro-sensor_msgs-1.10.2-0
- tar:
    local-name: smclib
    uri: https://github.com/ros-gbp/bond_core-release/archive/release/hydro/smclib/1.7.13-0.tar.gz
    version: bond_core-release-release-hydro-smclib-1.7.13-0
- tar:
    local-name: std_msgs
    uri: https://github.com/ros-gbp/std_msgs-release/archive/release/hydro/std_msgs/0.5.8-0.tar.gz
    version: std_msgs-release-release-hydro-std_msgs-0.5.8-0
- tar:
    local-name: std_srvs
    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/hydro/std_srvs/1.9.48-0.tar.gz
    version: ros_comm-release-release-hydro-std_srvs-1.9.48-0
- tar:
    local-name: tf
    uri: https://github.com/ros-gbp/geometry-release/archive/release/hydro/tf/1.10.6-0.tar.gz
    version: geometry-release-release-hydro-tf-1.10.6-0
- tar:
    local-name: tf2
    uri: https://github.com/ros-gbp/geometry2-release/archive/release/hydro/tf2/0.4.7-0.tar.gz
    version: geometry2-release-release-hydro-tf2-0.4.7-0
- tar:
    local-name: tf2_msgs
    uri: https://github.com/ros-gbp/geometry2-release/archive/release/hydro/tf2_msgs/0.4.7-0.tar.gz
    version: geometry2-release-release-hydro-tf2_msgs-0.4.7-0
- tar:
    local-name: tf2_py
    uri: https://github.com/ros-gbp/geometry2-release/archive/release/hydro/tf2_py/0.4.7-0.tar.gz
    version: geometry2-release-release-hydro-tf2_py-0.4.7-0
- tar:
    local-name: tf2_ros
    uri: https://github.com/ros-gbp/geometry2-release/archive/release/hydro/tf2_ros/0.4.7-0.tar.gz
    version: geometry2-release-release-hydro-tf2_ros-0.4.7-0
- tar:
    local-name: topic_tools
    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/hydro/topic_tools/1.9.48-0.tar.gz
    version: ros_comm-release-release-hydro-topic_tools-1.9.48-0
- tar:
    local-name: urdf
    uri: https://github.com/ros-gbp/robot_model-release/archive/release/hydro/urdf/1.10.15-0.tar.gz
    version: robot_model-release-release-hydro-urdf-1.10.15-0
- tar:
    local-name: urdf_parser_plugin
    uri: https://github.com/ros-gbp/robot_model-release/archive/release/hydro/urdf_parser_plugin/1.10.15-0.tar.gz
    version: robot_model-release-release-hydro-urdf_parser_plugin-1.10.15-0
- tar:
    local-name: urdfdom
    uri: https://github.com/ros-gbp/urdfdom-release/archive/release/hydro/urdfdom/0.2.8-1.tar.gz
    version: urdfdom-release-release-hydro-urdfdom-0.2.8-1
- tar:
    local-name: urdfdom_headers
    uri: https://github.com/ros-gbp/urdfdom_headers-release/archive/release/hydro/urdfdom_headers/0.2.3-1.tar.gz
    version: urdfdom_headers-release-release-hydro-urdfdom_headers-0.2.3-1
- tar:
    local-name: visualization_msgs
    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/hydro/visualization_msgs/1.10.2-0.tar.gz
    version: common_msgs-release-release-hydro-visualization_msgs-1.10.2-0
- tar:
    local-name: xmlrpcpp
    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/hydro/xmlrpcpp/1.9.48-0.tar.gz
    version: ros_comm-release-release-hydro-xmlrpcpp-1.9.48-0
- tar:
    local-name: yocs_controllers
    uri: https://github.com/yujinrobot-release/yujin_ocs-release/archive/release/hydro/yocs_controllers/0.4.0-0.tar.gz
    version: yujin_ocs-release-release-hydro-yocs_controllers-0.4.0-0
- tar:
    local-name: yocs_velocity_smoother
    uri: https://github.com/yujinrobot-release/yujin_ocs-release/archive/release/hydro/yocs_velocity_smoother/0.4.0-0.tar.gz
    version: yujin_ocs-release-release-hydro-yocs_velocity_smoother-0.4.0-0
git-afsantos commented 5 years ago

The packages it complains about are indeed absent of the .rosinstall. But it only complains because it is trying to build kobuki_auto_docking and kobuki_description, which are not dependencies of the PUT, but belong to the same metapackage.

https://github.com/yujinrobot/kobuki/tree/b213df3324cd933ddfc1bbd7ef8dce50cc233d51

git-afsantos commented 5 years ago

Building a .rosinstall for the whole kobuki metapackage might silence the issue, but does not sound like a real solution.

gavanderhoorn commented 5 years ago

Is the white listing failing for some reason?

The fork of kobuki we use of course has all the packages, including kobuki_auto_docking.

If the pkg white listing isn't working correctly, it would make sense for Catkin to try and build everything, which will fail, as, as you also observed, the .rosinstall file doesn't contain the dependencies for all those other nodes.

Can you post the complete build log?

gavanderhoorn commented 5 years ago

O and please state the versions of both robust-rosin/robust and the time machine you are using.

git-afsantos commented 5 years ago

I am using the most recent versions on master for both.

Whitelisting could be failing because this build is using catkin 0.5.73, and --only-pkg-with-deps was only added in 0.5.78.

The build log is too long for a GitHub comment. Do you want me to post it split in parts, or do you need only a specific part?

gavanderhoorn commented 5 years ago

I'm particulary wondering about the way catkin_make is invoked.

And I still don't understand how Catkin can be those old versions in the images. It's being installed and upgraded from PyPi, which should return the latest -- compatible -- version. Always.

@ChrisTimperley?

git-afsantos commented 5 years ago
build.sh and catkin invocation ``` Step 40/43 : RUN echo "[ROBUST] creating build script" && echo "[ROBUST] PUT is provided by catkin package: '${CATKIN_PKG}'" && echo "#!/bin/bash\n source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make --only-pkg-with-deps=${CATKIN_PKG}" > build.sh && chmod +x build.sh && echo "[ROBUST] created build script" ---> Running in beb13cdbbc4f [ROBUST] creating build script [ROBUST] PUT is provided by catkin package: 'kobuki_node' [ROBUST] created build script Removing intermediate container beb13cdbbc4f ---> 105350d8896c Step 41/43 : RUN echo "[ROBUST] attempting to build PUT..." && echo "[ROBUST] is a build failure expected? ${IS_BUILD_FAILURE}." && ./build.sh || [ "${IS_BUILD_FAILURE}" = "yes" ] ---> Running in f93cbeb6b917 [ROBUST] attempting to build PUT... [ROBUST] is a build failure expected? no. -- The C compiler identification is GNU -- The CXX compiler identification is GNU -- Check for working C compiler: /usr/bin/gcc -- Check for working C compiler: /usr/bin/gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Using CATKIN_DEVEL_PREFIX: /ros_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/hydro -- This workspace overlays: /opt/ros/hydro -- Found PythonInterp: /usr/bin/python (found version "2.7.3") -- Using Debian Python package layout -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /ros_ws/build/test_results -- Looking for include files CMAKE_HAVE_PTHREAD_H -- Looking for include files CMAKE_HAVE_PTHREAD_H - found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE -- Found gtest sources under '/usr/src/gtest': gtests will be built -- catkin 0.5.73 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 10 packages in topological order: -- ~~ - kobuki (metapackage) -- ~~ - kobuki_auto_docking -- ~~ - kobuki_bumper2pc -- ~~ - kobuki_controller_tutorial -- ~~ - kobuki_description -- ~~ - kobuki_keyop -- ~~ - kobuki_random_walker -- ~~ - kobuki_safety_controller -- ~~ - kobuki_node -- ~~ - kobuki_testsuite -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin metapackage: 'kobuki' -- ==> add_subdirectory(repo-under-test/kobuki) -- +++ processing catkin package: 'kobuki_auto_docking' -- ==> add_subdirectory(repo-under-test/kobuki_auto_docking) CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package kdl_conversions. Set kdl_conversions_DIR to the directory containing a CMake configuration file for kdl_conversions. The file will have one of the following names: kdl_conversionsConfig.cmake kdl_conversions-config.cmake Call Stack (most recent call first): repo-under-test/kobuki_auto_docking/CMakeLists.txt:3 (find_package)  CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package kobuki_dock_drive. Set kobuki_dock_drive_DIR to the directory containing a CMake configuration file for kobuki_dock_drive. The file will have one of the following names: kobuki_dock_driveConfig.cmake kobuki_dock_drive-config.cmake Call Stack (most recent call first): repo-under-test/kobuki_auto_docking/CMakeLists.txt:3 (find_package)  -- +++ processing catkin package: 'kobuki_bumper2pc' -- ==> add_subdirectory(repo-under-test/kobuki_bumper2pc) -- +++ processing catkin package: 'kobuki_controller_tutorial' -- ==> add_subdirectory(repo-under-test/kobuki_controller_tutorial) -- +++ processing catkin package: 'kobuki_description' -- ==> add_subdirectory(repo-under-test/kobuki_description) CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package xacro. Set xacro_DIR to the directory containing a CMake configuration file for xacro. The file will have one of the following names: xacroConfig.cmake xacro-config.cmake Call Stack (most recent call first): repo-under-test/kobuki_description/CMakeLists.txt:3 (find_package)  -- +++ processing catkin package: 'kobuki_keyop' -- ==> add_subdirectory(repo-under-test/kobuki_keyop) -- +++ processing catkin package: 'kobuki_random_walker' -- ==> add_subdirectory(repo-under-test/kobuki_random_walker) -- +++ processing catkin package: 'kobuki_safety_controller' -- ==> add_subdirectory(repo-under-test/kobuki_safety_controller) -- +++ processing catkin package: 'kobuki_node' -- ==> add_subdirectory(repo-under-test/kobuki_node) -- +++ processing catkin package: 'kobuki_testsuite' -- ==> add_subdirectory(repo-under-test/kobuki_testsuite) -- kobuki_testsuite: 1 messages, 0 services -- Configuring incomplete, errors occurred! Base path: /ros_ws Source space: /ros_ws/src Build space: /ros_ws/build Devel space: /ros_ws/devel Install space: /ros_ws/install Creating symlink "/ros_ws/src/CMakeLists.txt" pointing to "/opt/ros/hydro/share/catkin/cmake/toplevel.cmake" #### #### Running command: "cmake /ros_ws/src -DCATKIN_DEVEL_PREFIX=/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/ros_ws/install" in "/ros_ws/build" #### Invoking "cmake" failed The command '/bin/sh -c echo "[ROBUST] attempting to build PUT..." && echo "[ROBUST] is a build failure expected? ${IS_BUILD_FAILURE}." && ./build.sh || [ "${IS_BUILD_FAILURE}" = "yes" ]' returned a non-zero code: 1 ```

And the lines where it says it is fetching catkin.

Step 31/43 : RUN wstool init -j8 ${ROS_WSPACE}/src ${ROS_WSPACE}/deps.rosinstall ---> Running in 5bc48128916f Using initial elements from: /ros_ws/deps.rosinstall Writing /ros_ws/src/.rosinstall [...] [catkin] Fetching https://github.com/ros-gbp/catkin-release/archive/release/hydro/catkin/0.5.73-0.tar.gz (version catkin-release-release-hydro-catkin-0.5.73-0) to /ros_ws/src/catkin

gavanderhoorn commented 5 years ago

[catkin] Fetching https://github.com/ros-gbp/catkin-release/archive/release/hydro/catkin/0.5.73-0.tar.gz (version catkin-release-release-hydro-catkin-0.5.73-0) to /ros_ws/src/catkin

Ah, right. I'd forgotten that catkin is actually a package in the ROS workspace. That's why old versions are being used.

Ok. So --only-pkg-with-deps cannot just be expected to always work.

Two options I believe:

  1. see if using CATKIN_WHITELIST_PACKAGES directly (that is essentially what --only-pkg-with-deps does
  2. always install a recent version of catkin
  3. manually rm or CATKIN_IGNORE any pkgs in the source repository of the PUT(s) that are not the PUT(s)

Of these I think option 1 would be the best to check first: it looks like it's been supported since at least 2012 (here) and should not be too difficult to implement / have the least amount of side-effects.

git-afsantos commented 5 years ago

see if using CATKIN_WHITELIST_PACKAGES directly (that is essentially what --only-pkg-with-deps does

This requires editing the part where build.sh is generated, right?

gavanderhoorn commented 5 years ago

Yes, this bit.

You'd add something like: -DCATKIN_WHITELIST_PACKAGES=foo;bar;fop instead of the --only-pkg-with-deps.

With foo;bar;fop obviously the actual pkg names that you'd like to see built.

One disadvantage of this is that --only-pkg-with-deps also figures out what the dependencies are of the pkg that you pass it and also adds those to the whitelist. That would now become our responsibility.

For pkgs that essentially only depend on the pkgs in the underlay workspace (ie: those from the .rosinstall file) this would not be a problem (as they have no other dependencies present in the overlay workspace), but that may not always be true.

gavanderhoorn commented 5 years ago

@gavanderhoorn wrote:

One disadvantage of this is that --only-pkg-with-deps also figures out what the dependencies are of the pkg that you pass it and also adds those to the whitelist. That would now become our responsibility.

For pkgs that essentially only depend on the pkgs in the underlay workspace (ie: those from the .rosinstall file) this would not be a problem (as they have no other dependencies present in the overlay workspace), but that may not always be true.

That's basically this bit of code.

git-afsantos commented 5 years ago

Using -DCATKIN_WHITELIST_PACKAGES=${CATKIN_PKG} worked in this case. The issue now is to somehow emulate that bit in older catkin versions.

gavanderhoorn commented 5 years ago

Using -DCATKIN_WHITELIST_PACKAGES=${CATKIN_PKG} worked in this case. The issue now is to somehow emulate that bit in older catkin versions.

I don't understand. The point of using this is that it works in Catkin versions back to at least 2012.

Edit: oh, wait. You mean the bit of code that determines the recursive dependencies.

Yes, that would be good.

gavanderhoorn commented 5 years ago

It's only a few lines of Python and fairly stand-alone. We could either patch older versions of Catkin with it -- after it has been cloned into the underlay workspace -- or find a way to run it without being part of Catkin. The only thing we need from it is that list of pkgs.

gavanderhoorn commented 5 years ago

This is the commit in which --only-pkg-with-deps was added. That seems to also have introduced get_package_names_with_recursive_dependencies(..), which is unfortunate, as that is the main piece of functionality we'd like to re-use.

The good news is though that it seems like the infrastructure for --only-pkg-with-deps seems fairly stand-alone (note that the code that currently handles that option (this) seems a tad more complete).

gavanderhoorn commented 5 years ago

I think this should now work as @ChrisTimperley overrides the version of catkin when it is lower than what we need (#272).

You'd need to rebase on current master @git-afsantos.