rclcpp needs specific version of rcl [humble]

stan-guer commented 1 year ago

Bug report

Required Info:

Operating System:
- Ubuntu 22.04
Installation type:
- binaries
Version or commit hash:
- ROS 2 Humble Hawksbill - Patch Release 4
DDS implementation:
- N/A
Client library (if applicable):
- rclcpp, rcl

Steps to reproduce issue

rocker --home --network host -- ros:humble-ros-base
apt update; apt install ros-humble-rclcpp # do not update ros-humble-rcl
# build any simple colcon package

Expected behavior

No errors

Actual behavior

Getting error:

/usr/bin/ld: /opt/ros/humble/lib/librclcpp.so: undefined reference to `rcl_clock_time_started'

Additional information

Ever since PR #2210 has been merged, rclcpp now requires rcl_clock_time_started to be available in the rcl library, which was added here. Currently there's no version check for rcl and now that the Patch 4 with this change is out it's possible to update rclcpp without updating rcl:

Package: ros-humble-rclcpp
Version: 16.0.5-2jammy.20230721.204813
Priority: optional
Section: misc
Maintainer: Ivan Paunovic <ivanpauno@ekumenlabs.com>
Installed-Size: 3342 kB
Depends: libc6 (>= 2.34), libgcc-s1 (>= 3.3.1), libstdc++6 (>= 12), ros-humble-ament-index-cpp, ros-humble-builtin-interfaces, ros-humble-libstatistics-collector, ros-humble-rcl, ros-humble-rcl-interfaces, ros-humble-rcl-yaml-param-parser, ros-humble-rcpputils, ros-humble-rcutils, ros-humble-rmw, ros-humble-rosgraph-msgs, ros-humble-rosidl-runtime-cpp, ros-humble-rosidl-typesupport-c, ros-humble-rosidl-typesupport-cpp, ros-humble-statistics-msgs, ros-humble-tracetools, ros-humble-ros-workspace

I scoured the ros2 infrastructure stuff and can't find where dependency versions are defined or how they're even built (using cpack or bloom), so I hope it's the correct place for this issue.

If someone tells me where this is defined, I can even open a PR for this fairly minor issue.

fujitatomoya commented 1 year ago

I am not familiar with versioning process, but https://www.ros.org/reps/rep-0140.html#build-depend-multiple could be something?

CC: @ros2/team

sloretz commented 1 year ago

version_gte="VERSION" attribte on the tag that depends on rcl should fix it - at least that's what I recall us doing for ROS 1:

edit: here's the place to add it https://github.com/ros2/rclcpp/blob/22a954e1b00ea2ba810666baa92a3c66fe1a8654/rclcpp/package.xml#L37

Edit: Minimum rcl version is 16.0.5: https://github.com/ros2/rclcpp/commit/52327dd3a3b0fc47446ce86ecaf16fdde4fc4a60

I think <depend version_gte="16.0.5">rcl</depend> on the humble branch of this repo should fix it.

stan-guer commented 1 year ago

@sloretz you mean version 5.3.4? rcl has a different versioning: cc9ea2810ff7c181ccdd43dc1f5c336f531fa8d8

Wouldn't this fix also be applicable to rolling?

EDIT: So then I think rolling will require version 5.6.0 of rcl

clalancette commented 1 year ago

Wouldn't this fix also be applicable to rolling?

No, I don't think we shouldn't apply these kinds of fixes to the rolling branch. Rolling changes all of the time, and this metadata is going to get out-of-date really quickly.

ros2 / rclcpp