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stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
http://stack-of-tasks.github.io/pinocchio/
BSD 2-Clause "Simplified" License
1.78k stars 375 forks source link

Installing via Linux fails from today (2024.01.31.) #2142

Closed PetoAdam closed 7 months ago

PetoAdam commented 7 months ago

Bug description

When I try to install the package via the documentation at: https://stack-of-tasks.github.io/pinocchio/download.html, the installation fails, even though it worked perfectly yesterday.

Expected behavior

The package should be installed correctly.

Reproduction steps

I am installing the package to the default vscode image for now with this setup:

Dockerfile (comment #-s taken out due to Markdown syntax):

Use the official VS Code Remote - Containers image FROM mcr.microsoft.com/vscode/devcontainers/base:0-buster

Install required dependencies RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \ && apt-get -y install --no-install-recommends lsb-release curl \ && rm -rf /var/lib/apt/lists/*

Copy and run the installation script to the container COPY scripts/install-pinocchio.sh /workspaces/scripts/install-pinocchio.sh RUN chmod +x /workspaces/scripts/install-pinocchio.sh

Copy workspace folder to the container COPY PhysicsService /workspaces/PhysicsService RUN chown -R vscode /workspaces/PhysicsService

Switch back to non-root to install packages USER vscode

Expose the environment variables ENV PATH=/opt/openrobots/bin:$PATH ENV PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH ENV LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH ENV PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH ENV CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH

.devcontainer.json:

{ "name": "CppPinocchioDevContainer", "dockerFile": "Dockerfile", "extensions": ["ms-vscode.cpptools"], "settings": { "terminal.integrated.shell.linux": "/bin/bash" }, "forwardPorts": [22], "postCreateCommand": "/workspaces/scripts/install-pinocchio.sh", "workspaceMount": "source=remote-container-home,target=/workspaces/PhysicsService", "shutdownAction": "stopCompose", "remoteUser": "vscode" }

and here is the install-pinocchio.sh script:

!/bin/bash

Run apt update to fetch package descriptions sudo apt update -qqy

Add robotpkg as a source repository sudo apt install -qqy lsb-release curl sudo mkdir -p /etc/apt/keyrings curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc \ | sudo tee /etc/apt/keyrings/robotpkg.asc echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \ | sudo tee /etc/apt/sources.list.d/robotpkg.list

Run apt update to fetch package descriptions sudo apt update -qqy

Install Pinocchio and its dependencies sudo apt install -qqy robotpkg-py3*-pinocchio

Configure environment variables echo 'export PATH=/opt/openrobots/bin:$PATH' >> /home/vscode/.bashrc echo 'export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH' >> /home/vscode/.bashrc echo 'export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH' >> /home/vscode/.bashrc echo 'export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH' >> /home/vscode/.bashrc echo 'export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH' >> /home/vscode/.bashrc

This script seems to fail with the issue:

deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub buster robotpkg 32 packages can be upgraded. Run 'apt list --upgradable' to see them. Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation:

The following packages have unmet dependencies: robotpkg-py37-pinocchio : Depends: robotpkg-py37-hpp-fcl (= 1.7.3r1) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.8.1) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 2.3.6) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.4) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 2.4.0) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.0) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.5.4) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.2) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 2.3.5) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.4.4) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 2.2.0) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.8) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 2.3.0) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.5) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.8.0) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.3) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.4r2) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.4r1) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.4.4r1) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.4.2) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.1r1) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.7.1) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.6.0) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.4.5) but it is not going to be installed or robotpkg-py37-hpp-fcl (= 1.3.0) but it is not going to be installed E: Unable to correct problems, you have held broken packages.

Additional context

The same script was working perfectly yesterday, but today I rebuilt the container and met this issue.

System

nim65s commented 7 months ago

Thanks for the report. We lack proper testing on Debian for now, and your Docker image is based on Debian. I'll investigate.

nim65s commented 7 months ago

Oh, This is debian buster, which is currently "oldoldstable", could you try to upgrade to bullseye or bookworm ? FROM mcr.microsoft.com/vscode/devcontainers/base:0-buster → FROM mcr.microsoft.com/devcontainers/base:bookworm ?

nim65s commented 7 months ago

Also there are mentions of both python 3.7 and python 3.10 in your setup. Make sure to use only one: the one from your debian system.

nim65s commented 7 months ago

Actually, we forgot to release bookworm… so please try:

-FROM mcr.microsoft.com/vscode/devcontainers/base:0-buster
+FROM mcr.microsoft.com/devcontainers/base:1.0-bullseye
PetoAdam commented 7 months ago

It works! I was already planning on upgrading to bullseye, so this really makes me do it. :) Thanks for the heads-up regarding the python version, I dont't use it inside the container, but at least that is a possible debug issue solved 👍 Thanks a lot!