Incompatible cyclonedds breaks with 0.22.4 galactic backport

[Aposhian]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• Version or commit hash:
  • 0.22.4
• DDS implementation:
  • CycloneDDS
• Client library (if applicable):
  • N/A

Steps to reproduce issue

docker run -it ros:galactic@sha256:e88918e911975edd2d2ae88c1078561146665fdb1a836d044b132913f1a7cbf7
apt-get update && apt-get install -y ros-galactic-rmw-cyclonedds-cpp
nm -gD /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so  | grep loan_available
nm -gD /opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0 | grep loan_available

Expected behavior

librmw_cyclonedds_cpp should have a reference to dds_is_loan_available and so should libddsc.

Actual behavior

librmw_cyclonedds_cpp has a reference to dds_is_loan_available but libddsc only has is_loan_available. This is because the debian package for ros-galactic-cyclonedds was not updated along with ros-galactic-rmw-cyclonedds-cpp since the debian package dependency is unversioned as seen here:

root@61f7f94841c0:/# apt depends ros-galactic-rmw-cyclonedds-cpp
ros-galactic-rmw-cyclonedds-cpp
  Depends: libc6 (>= 2.14)
  Depends: libgcc-s1 (>= 3.0)
  Depends: libstdc++6 (>= 9)
  Depends: ros-galactic-cyclonedds
  Depends: ros-galactic-rcpputils
  Depends: ros-galactic-rcutils
  Depends: ros-galactic-rmw
  Depends: ros-galactic-rmw-dds-common
  Depends: ros-galactic-rosidl-runtime-c
  Depends: ros-galactic-rosidl-typesupport-introspection-c
  Depends: ros-galactic-rosidl-typesupport-introspection-cpp
  Depends: ros-galactic-ros-workspace

Additional information

While this could be solved by simply adding a version_gte attribute to the <depends>cyclonedds</depends> tag in the package.xml for rmw_cyclonedds_cpp, the debian package versions for ros-*-cyclonedds are not managed very well, so we would have to use build numbers to distinguish between 0.8.0-5focal.20210608.002038 and 0.8.0-6focal.20211217.210911. So it may be best to wait for the debian package version to be bumped upstream first: https://github.com/eclipse-cyclonedds/cyclonedds/issues/1089

[Aposhian]

Caused by: https://github.com/ros2/rmw_cyclonedds/pull/336

[clalancette]

librmw_cyclonedds_cpp has a reference to dds_is_loan_available but libddsc only has is_loan_available. This is because the debian package for ros-galactic-cyclonedds was not updated along with ros-galactic-rmw-cyclonedds-cpp

That doesn't seem to be the case: https://github.com/ros/rosdistro/pull/31510 and https://github.com/ros/rosdistro/pull/31555 were both merged for the latest sync. Indeed, if I run your test on the packaged versions I have:

$ nm -gD /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so  | grep loan_available
                 U dds_is_loan_available
$ nm -gD /opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0 | grep loan_available
00000000000c4260 T dds_is_loan_available
00000000000c42f0 T is_loan_available

My version of the packages is:

ubuntu@ros2-focal:~$ dpkg -l | egrep '.*galactic.*cyclonedds'
ii  ros-galactic-cyclonedds                             0.8.0-6focal.20211217.210911         amd64        Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii  ros-galactic-rmw-cyclonedds-cpp                     0.22.4-1focal.20211222.231803        amd64        Implement the ROS middleware interface using Eclipse CycloneDDS in C++.

What versions do you have?

[Aposhian]

I have the following versions (in the latest build of the ros:galactic container):

$ docker run ros:galactic bash -c "dpkg -l | grep cyclone"
ii  ros-galactic-cyclonedds                             0.8.0-5focal.20210608.002038         amd64        Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii  ros-galactic-rmw-cyclonedds-cpp                     0.22.3-1focal.20210805.162212        amd64        Implement the ROS middleware interface using Eclipse CycloneDDS in C++.

but then I manually do

apt update && apt install ros-galactic-rmw-cyclonedds-cpp

which brings me to this state, which is broken:

ii  ros-galactic-cyclonedds                             0.8.0-5focal.20210608.002038         amd64        Eclipse Cyclone DDS is a very performant and robust open-source DDS implementation.
ii  ros-galactic-rmw-cyclonedds-cpp                     0.22.4-1focal.20211222.231803        amd64        Implement the ROS middleware interface using Eclipse CycloneDDS in C++.

So rmw_cyclonedds_cpp 0.22.4 actually depends on having cyclonedds 0.8.0-6 or greater, but since the apt package dependency is unversioned, it's perfectly happy to leave it at 0.8.0-5, which leads to the problem.

Since you have 0.8.0-6, that is why there is no problem in your install.

[clalancette]

Ah, I see what you mean, thanks for the clarification.. Since the package is already installed in your case, upgrading just rmw-cyclonedds-cpp causes it to fail. We don't generally recommend doing that (for exactly this reason), but it is a bit unfortunate.

One thing we could do is to add a patch to the release repository to make sure rmw_cyclonedds_cpp does depend on cyclonedds 0.8.0-6 or later. But I'm not an expert here, so I'll defer to @nuclearsandwich and @cottsay for thoughts.

[eboasson]

@clalancette @nuclearsandwich @cottsay the root cause is that I forgot to update package.xml when bumping version numbers. I need to add a check in the CI because I am bound to make the same mistake again.

[Aposhian]

Once we have a cyclonedds Debian package with the version number bumped to 0.8.2, then this should be resolved by adding version_gte=0.8.2 to the <depends>cyclonedds</depends> tag, which will allow Bloom to propagate that requirement to the Debian package itself.

[eboasson]

Cyclone now has a 0.8.2 where the package.xml version is correct.

[Aposhian]

It looks like the ros-galactic-cyclonedds 0.8.2 package hasn't made it to the apt repo yet, but I have made a draft PR that adds the version dependency for when it does. And as a reminder for everyone: the version tagging doesn't help you if you are building from source and using rosdep to install dependencies: it just helps when you are installing both cyclonedds and rmw_cyclonedds as debian packages.

[alexleel]

$ nm -gD /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so | grep loan_available U dds_is_loan_available $ nm -gD /opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0 | grep loan_available 00000000000c4260 T dds_is_loan_available 00000000000c42f0 T is_loan_available

Hi I install cyclonedds as https://github.com/eclipse-cyclonedds/cyclonedds However. the libddsc.so.0 does not have dds_is_loan_available as below: $nm -gD libddsc.so.0 | grep loan_available 00000000000febdb T is_loan_available And librmw_cyclonedds_cpp has this reference , so when I run some test as $ros2 run ros2_shm_demo talker ros2_shm_demo/lib/ros2_shm_demo/talker: symbol lookup error: /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so: undefined symbol: dds_is_loan_available

What can I do to make the version compatible?

Thanks.