Open clalancette opened 1 week ago
@clalancette, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main
due to API changes (or your contribution genuinely fails).
@clalancette, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main
due to API changes (or your contribution genuinely fails).
This one needs a release of behaviortree.cpp to be done so we can get the exported target there. I'll contact the maintainers tomorrow and see if we can get a release of that.
Are these changes backportable to Jazzy or only rolling?
Are these changes backportable to Jazzy or only rolling?
They are backportable to Jazzy, assuming that https://github.com/BehaviorTree/BehaviorTree.CPP/pull/826 is released into Jazzy (it has not yet been, as far as I can tell).
This pull request is in conflict. Could you fix it @clalancette?
@clalancette thanks for all this work, especially this package + Smac Planner + MPPI + System Tests are the largest time hogs so even this alone probably cuts off minutes. It would be great if during these PRs you gave a ballpark of time saved for that package and/or stack. Nothing formal, just something to acknowledge your efforts for.
I was curious to know what capacity you're working on this. Is this something of your own volition to help me / the community / yourself if doing stuff on the rare occasion that Nav2 needs assistance -- or is this something Intrinsic needs bc you're looking at starting to use it?
Is this something of your own volition to help me / the community / yourself if doing stuff on the rare occasion that Nav2 needs assistance
It is me doing it on my own volition. I've been using Navigation2 as a test bed for rmw_zenoh work, and I noticed that the compile times were high, so I decided to look into it.
It would be great if during these PRs you gave a ballpark of time saved for that package and/or stack. Nothing formal, just something to acknowledge your efforts for.
I can give some numbers as I open PRs, but this is unfortunately a case where we won't see a lot of savings until we get the bulk of it done. That is, most of savings are going to be when the downstream packages can rely on the exported targets, rather than the LIBRARIES/INCLUDE_DIRS.
One other thing I'll mention is that I started this journey on the iron
branch, and there, this series made a huge difference (as stated in https://github.com/ros-navigation/navigation2/pull/4357, I went from 22 minutes to 9 minutes locally). As I've been porting to the main
branch, I've been seeing less of a difference. I'm not sure if that is because main
is just better to start with, or if it's because I haven't yet ported everything over yet.
Got it! Your help is much appreciated :saluting_face:
as a test bed for rmw_zenoh work
I had some threads with Angelo on this but haven't heard back.. I need to ping them. I wanted to add into our build matrix to run Zenoh once the binaries are available like we have to run Fast/Cyclone on our nightlies. That'll show issues if they exist. Even now, Fast and Cyclone fail on different things.
One other thing I'll mention is that I started this journey on the iron branch, and there, this series made a huge difference (as stated in https://github.com/ros-navigation/navigation2/pull/4357, I went from 22 minutes to 9 minutes locally). As I've been porting to the main branch, I've been seeing less of a difference. I'm not sure if that is because main is just better to start with, or if it's because I haven't yet ported everything over yet.
Must be - Iron is pretty close or essentially the same as main
. Probably just not ported yet!
@clalancette, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main
due to API changes (or your contribution genuinely fails).
It would be great if during these PRs you gave a ballpark of time saved for that package and/or stack. Nothing formal, just something to acknowledge your efforts for.
I can give some numbers as I open PRs
As a not very scientific number, locally I went from a compile time for all of navigation2 of 10 minutes 32 seconds on main
to 10 minutes 19 seconds with this PR.
I think just waiting on the BT stuff to sync (and perhaps https://github.com/ros-navigation/navigation2/pull/4485#discussion_r1655183962?)? Otherwise, let me know when we can retrigger CI for this to go on!
I think just waiting on the BT stuff to sync (and perhaps #4485 (comment)?)? Otherwise, let me know when we can retrigger CI for this to go on!
Yep, exactly. Once those are synced out, we can rerun CI on this and it should pass.
OK, if there's others you can open while we wait, happy to have a few of these open in parallel. Whatever works for you :-)
This pull request is in conflict. Could you fix it @clalancette?
Fixed the merge conflict :+1:
@clalancette, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main
due to API changes (or your contribution genuinely fails).
Basic Info
Description of contribution in a few bullet points
This commit does a number of things:
Description of documentation updates required from your changes
None needed.
Future work that may be required in bullet points
The rest of the packages in this repository need a similar treatment (PRs will be upcoming).
For Maintainers: