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Various improvements to support generating recipes for Noetic #280

Merged
merged 13 commits into from
Dec 12, 2020
Merged

Various improvements to support generating recipes for Noetic #280

merged 13 commits into from
Dec 12, 2020

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shr-project
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@shr-project shr-project commented Nov 6, 2020 •
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@shr-project shr-project force-pushed the jansa/noetic branch 6 times, most recently from eead3ab to e0b59c0 Compare November 6, 2020 04:08
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@allenh1 @herb-kuta-lge Please review and merge

@shr-project shr-project force-pushed the jansa/noetic branch 2 times, most recently from 1806769 to b46d2ab Compare November 13, 2020 18:59
@shr-project shr-project mentioned this pull request Dec 4, 2020
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@shr-project shr-project changed the title yocto_recipe: use ROS_PYTHON_VERSION 2 only for melodic Various improvements to support generating recipes for Noetic Dec 4, 2020
herb-kuta-lge
herb-kuta-lge requested changes Dec 5, 2020
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@shr-project shr-project force-pushed the jansa/noetic branch 2 times, most recently from 1995657 to f704598 Compare December 5, 2020 21:49
shr-project added a commit to shr-project/lgsvl_msgs that referenced this pull request Dec 5, 2020
@shr-project
package.xml: use uppercase ROS_VERSION for buildtool_depend condition
74ee510 
* otherwise it won't be parsed correctly by superflore as explained in:
  "bitbake: use own condition_context instead of whole os.environ"
  commit from:
  ros-infrastructure/superflore#280

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project shr-project mentioned this pull request Dec 5, 2020
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This was referenced Dec 6, 2020
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shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{melodic} Sync to files/melodic/generated/cache.yaml as of 2020101212…
4f81322 
…5146

Regenerate with superflore modified to better parse <export><build_type> elements
as implemented in:
ros-infrastructure/superflore#280

Recipes generated by superflore for all packages in ROS distribution melodic.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro melodic --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{dashing} Sync to files/dashing/generated/cache.yaml as of 2020102818…
8c59af1 
…3600

Regenerate with superflore modified to better parse <export><build_type> elements
as implemented in:
ros-infrastructure/superflore#280

Recipes generated by superflore for all packages in ROS distribution dashing.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro dashing --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{eloquent} Sync to files/eloquent/generated/cache.yaml as of 20200811…
8d0e1a6 
…171906

Regenerate with superflore modified to better parse <export><build_type> elements
as implemented in:
ros-infrastructure/superflore#280

Recipes generated by superflore for all packages in ROS distribution eloquent.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro eloquent --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{foxy} Sync to files/foxy/generated/cache.yaml as of 20201105055614
1ddafe2 
Regenerate with superflore modified to better parse <export><build_type> elements
as implemented in:
ros-infrastructure/superflore#280

Recipes generated by superflore for all packages in ROS distribution foxy.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro foxy --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{rolling} Sync to files/rolling/generated/cache.yaml as of 2020101218…
33876ce 
…5327

Regenerate with superflore modified to better parse <export><build_type> elements
as implemented in:
ros-infrastructure/superflore#280

Recipes generated by superflore for all packages in ROS distribution rolling.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro rolling --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{melodic} Sync to files/melodic/generated/cache.yaml as of 2020101212…
a422520 
…5146

Regenerate with superflore modified to even better parse <export><build_type> elements
and handling ROS_UNRESOLVED_PLATFORM_PKG_* variables as implemented in:
ros-infrastructure/superflore#280

Recipes generated by superflore for all packages in ROS distribution melodic.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro melodic --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{melodic} Sync to files/melodic/generated/cache.yaml as of 2020101212…
43882ac 
…5146

Regenerate with superflore from:
ros-infrastructure/superflore#280
and rosdistro/rosdep changes from:
ros/rosdistro#27623

Recipes generated by superflore for all packages in ROS distribution melodic.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro melodic --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{dashing} Sync to files/dashing/generated/cache.yaml as of 2020102818…
519e10c 
…3600

Regenerate with superflore modified to even better parse <export><build_type> elements
and handling ROS_UNRESOLVED_PLATFORM_PKG_* variables as implemented in:
ros-infrastructure/superflore#280

Recipes generated by superflore for all packages in ROS distribution dashing.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro dashing --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
shr-project added a commit to shr-project/meta-ros that referenced this pull request Dec 7, 2020
@shr-project
{dashing} Sync to files/dashing/generated/cache.yaml as of 2020102818…
6524c57 
…3600

Regenerate with superflore from:
ros-infrastructure/superflore#280
and rosdistro/rosdep changes from:
ros/rosdistro#27623

Recipes generated by superflore for all packages in ROS distribution dashing.

This pull request was generated by running the following command:

superflore-gen-oe-recipes --dry-run --no-branch --ros-distro dashing --output-repository-path . --upstream-branch HEAD

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
allenh1
allenh1 previously approved these changes Dec 10, 2020
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lgtm

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allenh1 commented Dec 10, 2020

@herb-kuta-lge please take a look at this one when you can

herb-kuta-lge
herb-kuta-lge requested changes Dec 10, 2020
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I've unresolved 3 of the conversations.

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Please DON'T SQUASH the commits when merging, it will be impossible to review and understand the commits after they are squashed.

herb-kuta-lge
herb-kuta-lge requested changes Dec 11, 2020
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Unresolved 1 conversation.

@shr-project
yocto_recipe: use ROS_PYTHON_VERSION 2 only for melodic
4e54779 
* noetic should use 3

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: sort rosdep_cache entries when dumping yaml file
f8fa12c 
* when regenerating the recipes I often see change like this:

  suitesparse:
 -- suitesparse-cholmod@meta-ros
  - suitesparse-cxsparse@meta-ros
 +- suitesparse-cholmod@meta-ros

* because the order of the list is not defined

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
yocto_recipe: add static method to get ROS_PYTHON_VERSION value
095152e 
* it will be used for creating context for conditional evaluations in rosdistro as well

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: use own condition_context instead of whole os.environ
ab47f70 
* Use only ROS_OS_OVERRIDE, ROS_DISTRO, ROS_PYTHON_VERSION, ROS_VERSION
  variables with ROS_PYTHON_VERSION, ROS_VERSION derived from distro value
  instead of depending on ros-generate-recipes.sh script from meta-ros
  to export correct value in shell before calling superflore

* this is needed by DependencyWalker evaluate_condition_context
  parameter to correctly resolve the conditionals when evaluating
  dependencies and build_type

* there are 3 variables used in currently generated package.xml files
  not covered by this context:

  "ros_version" (lowercase) in lgsvl-msgs (all ROS distributions)
  https://raw.githubusercontent.com/ros2-gbp/lgsvl_msgs-release/release/rolling/lgsvl_msgs/0.0.3-2/package.xml

  "BUILD_WITH_LDMRS_SUPPORT" in sick_scan2 (only in foxy)

  "IGNITION_VERSION" in ros_ign_image (only in noetic)
  https://raw.githubusercontent.com/ros-gbp/ros_ign-release/release/noetic/ros_ign_image/0.111.0-1/package.xml

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: show list of available packages when pkg from --only isn't f…
7bffbe9 
…ound

* the package names aren't the same as generated recipes, so it's easy to make mistake
  and call e.g.
  sh scripts/ros-generate-recipes.sh noetic ros-core
  instead of
  sh scripts/ros-generate-recipes.sh noetic ros_core

* the KeyError doesn't seem to be thrown from regenerate_pkg in
  this case as it raises RuntimeError, but extend the error message
  in both cases (as it's possible that KeyError might be raised
  in some other code-paths)

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: fix regenerating individual recipes with --only parameter
6bbe38f 
* set preserve_existing to False in regenerate_pkg call
  otherwise it will consider old recipe to be up to date
  (even without comparing its version)
* call add_generated_files before commit, otherwise it
  generates a commit which removes the old version, but
  the new version is left untracked

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
yocto_recipe.py: Fix setting sensible default for <build_type> when n…
cd48b9f 
…ot ROS 1 (ros-infrastructure#267)

* _get_ros_version() expects just a string (as in distro.name) not whole RosDistro class
  This is a bit confusing, because in many places we use the same distro variable
  as this string, rename it to make it more clear in the next commit.

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
yocto_recipe.py: Override the build_type from catkin_pkg in some cases (
f0d6ad1 
ros-infrastructure#267)

* if get_build_type() returns 'catkin' and we're generating some ROS 2 distribution
  change it to 'ament_cmake' and show an error message

* there are couple cases where <export><build_type> is missing completely
  and then catkin_pkg get_build_type() will return the default value as
  'catkin' as specified in
  https://www.ros.org/reps/rep-0149.html#build-type-multiple
  "If no <build_type> is provided, catkin is assumed."
  but this assumption doesn't work for ROS 2 distributions and in meta-ros
  we had to override these cases (as of 2020-12-05):

  dashing:
    https://raw.github.com/ros2-gbp/async_web_server_cpp-release/release/dashing/async_web_server_cpp/1.0.0-1/package.xml
    https://raw.github.com/boschresearch/fmilibrary_vendor-release/release/dashing/fmilibrary_vendor/0.2.0-1/package.xml
    https://raw.github.com/ros-geographic-info/geographic_info-release/release/dashing/geographic_info/1.0.1-1/package.xml
    https://raw.github.com/swri-robotics-gbp/gps_umd-release/release/dashing/gps_umd/1.0.4-1/package.xml
    https://raw.github.com/ros2-gbp/web_video_server-release/release/dashing/web_video_server/1.0.0-1/package.xml
    https://raw.github.com/KIT-MRT/mrt_cmake_modules-release/release/dashing/mrt_cmake_modules/1.0.8-1/package.xml

  eloquent:
    https://raw.github.com/boschresearch/fmilibrary_vendor-release/release/eloquent/fmilibrary_vendor/0.2.0-1/package.xml
    https://raw.github.com/ros-geographic-info/geographic_info-release/release/eloquent/geographic_info/1.0.1-1/package.xml
    https://raw.github.com/swri-robotics-gbp/gps_umd-release/release/eloquent/gps_umd/1.0.2-1/package.xml

  foxy:
    https://raw.github.com/boschresearch/fmilibrary_vendor-release/release/foxy/fmilibrary_vendor/0.2.0-1/package.xml
    https://raw.github.com/swri-robotics-gbp/gps_umd-release/release/foxy/gps_umd/1.0.4-1/package.xml
    https://raw.github.com/KIT-MRT/mrt_cmake_modules-release/release/foxy/mrt_cmake_modules/1.0.8-1/package.xml

  rolling:
    https://raw.github.com/ros2-gbp/fmilibrary_vendor-release/release/rolling/fmilibrary_vendor/0.2.0-2/package.xml
    https://raw.github.com/ros2-gbp/gps_umd-release/release/rolling/gps_umd/1.0.3-2/package.xml

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: rename distro to rosdistro
df12276 
* e.g. _get_ros_version() expects just a string (as in distro.name) not whole RosDistro class
  this is a bit confusing, because in many places we use the same distro variable
  as this string, rename it to make it more clear

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: make sure that the unresolved dependencies are valid OE reci…
82dc39e 
…pe names

* with
  https://raw.githubusercontent.com/ros-gbp/moveit-release/release/noetic/moveit_kinematics/1.1.0-1/package.xml
  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
  we have accidentally got orocos_kdl dependency (because ROS_DISTRO was
  missing in evaluate_condition_context)

  which results in dependency on ROS_UNRESOLVED_PLATFORM_PKG_orocos_kdl

* but ROS_UNRESOLVED_PLATFORM_PKG_orocos_kdl = "UNRESOLVED-orocos_kdl"
  never got generated in generated/superflore-ros-distro.inc simply because
  https://github.com/ros-infrastructure/superflore/blob/649543e232fe1f44fcdf12c90ed5e0fc19bad4b8/superflore/generators/bitbake/yocto_recipe.py#L671
  takes last underscore-separated field as PN, so it generated
  ROS_UNRESOLVED_PLATFORM_PKG_kdl = "UNRESOLVED-kdl"
  instead which in the end caused unexpanded dependency issue like:
  ERROR: Nothing PROVIDES '${ROS_UNRESOLVED_PLATFORM_PKG_orocos_kdl}' (but meta-ros/meta-ros1-noetic/generated-recipes/robot-calibration/robot-calibration_0.6.4-1.bb, meta-ros/meta-ros1-noetic/generated-recipes/moveit/moveit-kinematics_1.1.0-1.bb DEPENDS on or otherwise requires it)

* similar issue is reproducible e.g. with jsk_pcl_ros:
  https://raw.githubusercontent.com/tork-a/jsk_recognition-release/release/noetic/jsk_pcl_ros/1.2.15-1/package.xml
  which has:
  <exec_depend>ml_classifiers</exec_depend>
  but there is no ml_classifiers package in noetic, it's only in melodic and dashing
  where it also generated:
  ROS_UNRESOLVED_PLATFORM_PKG_classifiers = "UNRESOLVED-classifiers"
  instead of:
  ROS_UNRESOLVED_PLATFORM_PKG_ml-classifiers = "UNRESOLVED-ml-classifiers"

  and similarly openni_launch which also doesn't exist in noetic, only in melodic
  ROS_UNRESOLVED_PLATFORM_PKG_launch = "UNRESOLVED-launch"
  ROS_UNRESOLVED_PLATFORM_PKG_openni-launch = "UNRESOLVED-openni-launch"

* we could easily fix that by using whole "ROS_UNRESOLVED_PLATFORM_PKG_" prefix
  as a separator before PN, but there is still a risk of using underscore
  in bitbake variable names, because if some build happens to include
  one of these underscore separated strings (e.g. 'kdl') in OVERRIDES variable,
  then the ROS_UNRESOLVED_PLATFORM_PKG_orocos_kdl = "UNRESOLVED-orocos_kdl" assignment will
  be expanded as assignment to variable "ROS_UNRESOLVED_PLATFORM_PKG" with
  "kdl" and "orocos" as an overrides and ${ROS_UNRESOLVED_PLATFORM_PKG_orocos_kdl}
  will still end undefined - using fewer underscores here is better

* but there is still an option that the whole ROS package name will match with
  something in OVERRIDES (e.g. MACHINE name can be pretty much anything) and then
  these variables will fail the same, to fix it properly we should use uppercase
  for dependency name as well (while possibly changing the prefix to use dash as
  separators for easier readability), e.g.:
  ROS-UNRESOLVED-PLATFORM-PKG_OROCOS-KDL = "UNRESOLVED-OROCOS-KDL"
  but that would require migration of all manually overriden mappings:
  $ git grep ^ROS_UNRESOLVED_PLATFORM_PKG_ | grep '/ros-distro\.inc' | wc -l
  491
  which is easy, but would cause unwelcome diff between newer and older meta-ros
  branches. To mitigate this we plan to upstream all these manual overrides
  from meta-ros to rosdistro rosdep files and then we can re-evaluate this
  change to upper case when we don't use so many overrides

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: simplify unresolved dependencies handling
fecb498 
* use DEPENDENCY instead of PLATFORM_PKG in UNRESOLVED_* variables
  in some cases as documented in previous commit the unresolved
  dependency might be ROS package which just happens to be missing
  in pkg_names, so it's considered as external/system/platform
  package

* parse dependency name by skipping whole
  UNRESOLVED_DEPENDENCY_REF_PREFIX instead of relying on last
  underscore separated string

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@shr-project
bitbake: fix removing all generated files before re-creating them
d367ded 
* without split() it was trying to remove all these files as one
  path in quotes and failing as shown after removing --ignore-unmatch

  git.exc.GitCommandError: Cmd('git') failed due to: exit code(128)
    cmdline: git rm -rf meta-ros2-eloquent/generated-recipes meta-ros2-eloquent/conf/ros-distro/include/eloquent/generated meta-ros2-eloquent/files/eloquent/generated/newer-platform-components.list meta-ros2-eloquent/files/eloquent/generated/rosdep-resolve.yaml meta-ros2-eloquent/files/eloquent/generated/superflore-change-summary.txt
    stderr: 'fatal: pathspec 'meta-ros2-eloquent/generated-recipes meta-ros2-eloquent/conf/ros-distro/include/eloquent/generated meta-ros2-eloquent/files/eloquent/generated/newer-platform-components.list meta-ros2-eloquent/files/eloquent/generated/rosdep-resolve.yaml meta-ros2-eloquent/files/eloquent/generated/superflore-change-summary.txt ' did not match any files'

  with split() it correctly complains only about superflore-change-summary.txt
  which will be fixed by returning --ignore-unmatch

  git.exc.GitCommandError: Cmd('git') failed due to: exit code(128)
    cmdline: git rm -rf meta-ros2-eloquent/generated-recipes meta-ros2-eloquent/conf/ros-distro/include/eloquent/generated meta-ros2-eloquent/files/eloquent/generated/newer-platform-components.list meta-ros2-eloquent/files/eloquent/generated/rosdep-resolve.yaml meta-ros2-eloquent/files/eloquent/generated/superflore-change-summary.txt
    stderr: 'fatal: pathspec 'meta-ros2-eloquent/files/eloquent/generated/superflore-change-summary.txt' did not match any files'

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
herb-kuta-lge
herb-kuta-lge previously approved these changes Dec 11, 2020
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LGTM.

@shr-project
bitbake: change ROS_UNRESOLVED_PLATFORM_PKG_* to ROS_UNRESOLVED_DEP-*
bbe1d07 
* this way the lowercase dependency name won't ever be parsed as an
  override
* use the same prefix in the value (instead of 'UNRESOLVED-')

* there was still a risk of using underscore
  in bitbake variable names, because if some build happens to include
  one of these underscore separated strings (e.g. 'orocos-kdl') in OVERRIDES variable,
  then the ROS_UNRESOLVED_PLATFORM_PKG_orocos_kdl = "UNRESOLVED-orocos_kdl" assignment will
  be expanded as assignment to variable "ROS_UNRESOLVED_PLATFORM_PKG" with
  "orocos-kdl" as an override and ${ROS_UNRESOLVED_PLATFORM_PKG_orocos_kdl}
  will still end undefined - using fewer underscores here is better

* there was still an option that the whole ROS package name will match with
  something in OVERRIDES (e.g. MACHINE name can be pretty much anything) and then
  these variables will fail, to fix it properly we should either use uppercase
  for dependency name or change the prefix separator from underscore to dash.

* this will require migration of all manually overriden mappings:
  $ git grep ^ROS_UNRESOLVED_PLATFORM_PKG_ | grep '/ros-distro\.inc' | wc -l
  491
  so I've updated rosdistro/rosdep to include most of them first and
  regenerated all ROS distributions with updated rosdistro.

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
@herb-kuta-lge herb-kuta-lge merged commit d970f6f into ros-infrastructure:master Dec 12, 2020
@shr-project shr-project deleted the jansa/noetic branch December 13, 2020 02:36
hadiTab pushed a commit to lgsvl/lgsvl_msgs that referenced this pull request Dec 14, 2020
@shr-project @hadiTab
package.xml: use uppercase ROS_VERSION for buildtool_depend condition
8de7551 
* otherwise it won't be parsed correctly by superflore as explained in:
  "bitbake: use own condition_context instead of whole os.environ"
  commit from:
  ros-infrastructure/superflore#280

Signed-off-by: Martin Jansa <martin.jansa@lge.com>
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