nav2_route causing CI workflow to fail on osx-64 & osx-arm64

[TedVanderfeen]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

FAILED: [code=1] CMakeFiles/route_server_core.dir/src/route_server.cpp.o 
 │ │ $BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang++ -DDEFAULT_RMW_IMPLEMENTATION=rmw_fastrtps_cpp -DFASTCDR_DYN_LINK -DTINYXML2_IMPORT -D_FILE_OFFSET_BITS=64 -Droute_server_core_EXPORTS -I$SRC_DIR/ros-jazzy-nav2-route/src/work/include -isystem $PREFIX/include/rclcpp -isystem $PREFIX/include/rclcpp_action -isystem $PREFIX/include/rclcpp_components -isystem $PREFIX/include/nav2_costmap_2d -isystem $PREFIX/include/nav2_msgs -isystem $PREFIX/include/python3.12 -isystem $PREFIX/lib/python3.12/site-packages/numpy/core/include -isystem $PREFIX/include/nav2_util -isystem $PREFIX/include/pluginlib -isystem $PREFIX/include/rcl_interfaces -isystem $PREFIX/include/geometry_msgs -isystem $PREFIX/include/visualization_msgs -isystem $PREFIX/include/std_msgs -isystem $PREFIX/include/nav_msgs -isystem $PREFIX/include/tf2_ros -isystem $PREFIX/include/tf2 -isystem $PREFIX/include/angles -isystem $PREFIX/include/rclcpp_lifecycle -isystem $PREFIX/include/sensor_msgs -isystem $PREFIX/include/tf2_geometry_msgs -isystem $PREFIX/include/std_srvs -isystem $PREFIX/include/builtin_interfaces -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/rosidl_typesupport_interface -isystem $PREFIX/include/rosidl_runtime_cpp -isystem $PREFIX/include/rosidl_typesupport_fastrtps_cpp -isystem $PREFIX/include/rmw -isystem $PREFIX/include/rosidl_dynamic_typesupport -isystem $PREFIX/include/rosidl_typesupport_fastrtps_c -isystem $PREFIX/include/rosidl_typesupport_introspection_c -isystem $PREFIX/include/rosidl_typesupport_introspection_cpp -isystem $PREFIX/include/libstatistics_collector -isystem $PREFIX/include/rcl -isystem $PREFIX/include/service_msgs -isystem $PREFIX/include/rcl_logging_interface -isystem $PREFIX/include/rcl_yaml_param_parser -isystem $PREFIX/include/type_description_interfaces -isystem $PREFIX/include/rcpputils -isystem $PREFIX/include/statistics_msgs -isystem $PREFIX/include/rosgraph_msgs -isystem $PREFIX/include/rosidl_typesupport_cpp -isystem $PREFIX/include/rosidl_typesupport_c -isystem $PREFIX/include/tracetools -isystem $PREFIX/include/action_msgs -isystem $PREFIX/include/unique_identifier_msgs -isystem $PREFIX/include/rcl_action -isystem $PREFIX/include/class_loader -isystem $PREFIX/include/composition_interfaces -isystem $PREFIX/include/laser_geometry -isystem $PREFIX/include/eigen3 -isystem $PREFIX/include/map_msgs -isystem $PREFIX/include/message_filters -isystem $PREFIX/include/geographic_msgs -isystem $PREFIX/include/bondcpp -isystem $PREFIX/include/bond -isystem $PREFIX/include/lifecycle_msgs -isystem $PREFIX/include/rcl_lifecycle -isystem $PREFIX/include/smclib -isystem $PREFIX/include/tf2_msgs -isystem $PREFIX/include/ament_index_cpp -isystem $PREFIX/include/tf2_sensor_msgs -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-jazzy-nav2-route-1.3.9 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -O3 -DNDEBUG -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode_15.4.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk -mmacosx-version-min=10.15 -fPIC -Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference -Wnon-virtual-dtor -MD -MT CMakeFiles/route_server_core.dir/src/route_server.cpp.o -MF CMakeFiles/route_server_core.dir/src/route_server.cpp.o.d -o CMakeFiles/route_server_core.dir/src/route_server.cpp.o -c $SRC_DIR/ros-jazzy-nav2-route/src/work/src/route_server.cpp
 │ │ In file included from $SRC_DIR/ros-jazzy-nav2-route/src/work/src/route_server.cpp:15:
 │ │ $SRC_DIR/ros-jazzy-nav2-route/src/work/include/nav2_route/route_server.hpp:132:22: error: non-const lvalue reference to type 'ReroutingState' cannot bind to a temporary of type 'ReroutingState'
 │ │   132 |     ReroutingState & rerouting_info = ReroutingState());
 │ │       |                      ^                ~~~~~~~~~~~~~~~~
 │ │ $SRC_DIR/ros-jazzy-nav2-route/src/work/include/nav2_route/route_server.hpp:132:22: note: passing argument to parameter 'rerouting_info' here
 │ │ 1 error generated.
 │ │ [6/33] Building CXX object CMakeFiles/route_server_core.dir/src/node_spatial_tree.cpp.o
 │ │ [7/33] Building CXX object CMakeFiles/route_server_core.dir/src/path_converter.cpp.o
 │ │ [8/33] Building CXX object CMakeFiles/route_server_core.dir/src/graph_loader.cpp.o
 │ │ [9/33] Building CXX object CMakeFiles/route_server_core.dir/src/graph_saver.cpp.o
 │ │ ninja: build stopped: subcommand failed.
 │ │ × error Script failed with status 1
 │ │ × error 
 │ │ × error Script execution failed.
 │ │ × error 
 │ │ × error   Work directory: /Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/work
 │ │ × error   Prefix: /Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/host_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_
 │ │ × error   Build prefix: /Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/build_env
 │ │ × error 
 │ │ × error To run the script manually, use the following command:
 │ │ × error 
 │ │ × error   cd "/Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/work" && ./conda_build.sh
 │ │ × error 
 │ │ × error To run commands interactively in the build environment:
 │ │ × error 
 │ │ × error   cd "/Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/work" && source build_env.sh

https://github.com/RoboStack/ros-jazzy/actions/runs/18862928712?pr=114

Installed packages

N/A

Environment info

N/A

[TedVanderfeen]

@traversaro @Tobias-Fischer fyi

[TedVanderfeen]

nav2_route was recently added to the navigation2 metapackage. Likely the reason this is getting pulled in and built in our CI.

[Tobias-Fischer]

Let's open this issue directly in the nav2 repo - Steve is amazing and probably knows what do to!

[traversaro]

I think the problem is RoboStack/vinca#93 . We should probably simply skip it until the next full rebuild, sorry for the trouble!

[TedVanderfeen]

Happy to open an issue over in the navigation2/nav2_route repo. Even if we skip it for this, it will still be a problem if we ever want to build the nav2_route package for anything.

[traversaro]

Perhaps the problem is not there in the latest version? I thought that the problem is that due to RoboStack/vinca#93 we were installing a non-snapshot version of nav2_route in

ros-jazzy/rosdistro_snapshot.yaml

Line 3670 in e2c2d49

nav2_route:

, but it is actually there, but that is not the case, the only thing that is new is the dependency of navigation2 on nav2_route. But navigation2 is already built, so even if we build nav2_route, navigation2 will not start depending on it, so that is the reason I think we can safely skip it. On the other hand, that could be necessary based on ros-navigation/navigation2#5634, so we may want to fix this.

[traversaro]

I may be missing something, but can't we simply add const specifier to ReroutingState & ?

[traversaro]

Note that this would not be ABI-backward compatible, so we may want to only propose upstream on rolling.

[traversaro]

I may be missing something, but can't we simply add const specifier to ReroutingState & ?

ChatGPT answered me:

Also, findRoute() passes that state into GoalIntentExtractor::pruneStartandGoal(...) which mutates rerouting_info, so we can’t just make it const&.

[TedVanderfeen]

It recommended the same overload fix you proposed in the upstream for me. Thanks for sorting @traversaro @Tobias-Fischer