use drake cmakelists #233

manuelli · 2018-01-18T22:01:48Z

bump drake to master and use CMake build that wraps bazel
remove drake-schunk-driver built with bazel, rely on ros package version
build libbot from source since it's gone from drake

This change is

…ke anymore

…merge

manuelli · 2018-01-19T02:16:29Z

@gizatt looks like the build is failing due to an issue with VHACD which is part of your trimesh external project. Do you know what the issue is? Can you either fix it? In the meantime I disabled with WITH_TRIMESH flag for jenkins.

gizatt · 2018-01-19T17:35:14Z

I'm seeing an Apriltags build error, not VHACD, in the Jenkins build log:

21:29:49 CMakeFiles/drc-apriltags-driver.dir/apriltags_driver.cpp.o: In function `AprilTagDetector::AprilTagDetector(getopt*)':
21:29:49 apriltags_driver.cpp:(.text._ZN16AprilTagDetectorC2EP6getopt[_ZN16AprilTagDetectorC5EP6getopt]+0x2c2): undefined reference to `YAML::LoadFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
21:29:49 apriltags_driver.cpp:(.text._ZN16AprilTagDetectorC2EP6getopt[_ZN16AprilTagDetectorC5EP6getopt]+0x317): undefined reference to `YAML::detail::node_data::begin()'
21:29:49 apriltags_driver.cpp:(.text._ZN16AprilTagDetectorC2EP6getopt[_ZN16AprilTagDetectorC5EP6getopt]+0x3ec): undefined reference to `YAML::detail::node_data::end()'
21:29:49 collect2: error: ld returned 1 exit status
21:29:49 src/CMakeFiles/drc-apriltags-driver.dir/build.make:170: recipe for target 'bin/drc-apriltags-driver' failed
21:29:49 make[8]: *** [bin/drc-apriltags-driver] Error 1
21:29:49 CMakeFiles/Makefile2:117: recipe for target 'src/CMakeFiles/drc-apriltags-driver.dir/all' failed
21:29:49 make[7]: *** [src/CMakeFiles/drc-apriltags-driver.dir/all] Error 2
21:29:49 Makefile:127: recipe for target 'all' failed
21:29:49 make[6]: *** [all] Error 2
21:29:49 CMakeFiles/apriltags_driver.dir/build.make:112: recipe for target 'src/apriltags_driver-stamp/apriltags_driver-build' failed
21:29:49 make[5]: *** [src/apriltags_driver-stamp/apriltags_driver-build] Error 2
21:29:49 CMakeFiles/Makefile2:404: recipe for target 'CMakeFiles/apriltags_driver.dir/all' failed
21:29:49 make[4]: *** [CMakeFiles/apriltags_driver.dir/all] Error 2
21:29:49 make[4]: *** Waiting for unfinished jobs....

The old use-Drake-CMakelists upgrade had a VHACD failure, so I would expect to see one here (it has to be related to an environment change due to the top-level CMake changes). It's OK to turn it off to get this old branch landed if you can verify the error still happens -- change the default in the top-level CMakelist and change the Jenkins CMake build command in setup/build/run_jenkins.sh

manuelli · 2018-01-19T17:55:06Z

The build is now failing with


CMakeFiles/drc-apriltags-driver.dir/apriltags_driver.cpp.o: In function `AprilTagDetector::AprilTagDetector(getopt*)':
21:29:49 apriltags_driver.cpp:(.text._ZN16AprilTagDetectorC2EP6getopt[_ZN16AprilTagDetectorC5EP6getopt]+0x2c2): undefined reference to `YAML::LoadFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
21:29:49 apriltags_driver.cpp:(.text._ZN16AprilTagDetectorC2EP6getopt[_ZN16AprilTagDetectorC5EP6getopt]+0x317): undefined reference to `YAML::detail::node_data::begin()'
21:29:49 apriltags_driver.cpp:(.text._ZN16AprilTagDetectorC2EP6getopt[_ZN16AprilTagDetectorC5EP6getopt]+0x3ec): undefined reference to `YAML::detail::node_data::end()'
21:29:49 collect2: error: ld returned 1 exit status
21:29:49 src/CMakeFiles/drc-apriltags-driver.dir/build.make:170: recipe for target 'bin/drc-apriltags-driver' failed
21:29:49 make[8]: *** [bin/drc-apriltags-driver] Error 1
21:29:49 CMakeFiles/Makefile2:117: recipe for target 'src/CMakeFiles/drc-apriltags-driver.dir/all' failed
21:29:49 make[7]: *** [src/CMakeFiles/drc-apriltags-driver.dir/all] Error 2
21:29:49 Makefile:127: recipe for target 'all' failed
21:29:49 make[6]: *** [all] Error 2

it looks like apriltags driver is not finding yaml-cpp. @jamiesnape I am guessing this related to this PR? This is in the director build and I guess drake no longer supplies yaml-cpp linker flags.

@gizatt yes the original error was VHACD, which I then fixed by disabling it in the jenkins build. This yaml-cpp error is new.

jamiesnape · 2018-01-19T17:59:12Z

@manuelli RobotLocomotion/drake#7602.

manuelli · 2018-01-19T18:11:15Z

@jamiesnape so I guess drake still has yaml-cpp,. I am not sure why the apriltags-driver is suddenly having problems linking against yaml-cpp. Do you think it is related to the bug in yaml-cpp mentioned in RobotLocomotion/drake#7602? As a short term fix we can disable apriltags_drivers as no one is using them.

jamiesnape · 2018-01-19T18:19:51Z

Looks like the variable yaml-cpp_LIBRARIES referred to here is called YAML_CPP_LIBRARIES in the system installed library: https://github.com/patmarion/apriltags_driver/blob/fb0eff3f569b70de14ce8d7398fef98263f12446/src/CMakeLists.txt#L46

(${yaml-cpp_LIBRARIES} would resolve to the empty string so you end up with no link flags)

…seDrakeCMakeLists-merge

manuelli · 2018-01-19T21:03:15Z

Ok thanks @jamiesnape that makes sense. I will implement a fix upstream in the apriltags driver or disable it. It seems like adding yaml-cpp to target_link_libraries fixes things.

jamiesnape · 2018-01-19T21:05:33Z

Yes:

# - Config file for the yaml-cpp package
# It defines the following variables
#  YAML_CPP_INCLUDE_DIR - include directory
#  YAML_CPP_LIBRARIES    - libraries to link against

...

# These are IMPORTED targets created by yaml-cpp-targets.cmake
set(YAML_CPP_LIBRARIES "yaml-cpp")

jamiesnape · 2018-01-19T21:06:21Z

src/ReachabilityAnalyzer/CMakeLists.txt

@@ -11,6 +11,8 @@ include_directories(${Eigen3_INCLUDE_DIR})
 find_package(VTK REQUIRED)
 include_directories(${VTK_INCLUDE_DIRS})

+find_path(yaml-cpp REQUIRED)


find_package ?

Whoops, typo on my part. Just pushed a fix.

manuelli · 2018-01-19T22:30:49Z

I just tested the IK issue from #234 and it seems to be working fine. I think this is ready to be merged. @peteflorence @gizatt

gizatt · 2018-01-19T23:00:19Z

Reviewed 1 of 3 files at r1, 4 of 5 files at r2, 1 of 1 files at r3, 1 of 2 files at r4, 1 of 1 files at r5.
Review status: all files reviewed at latest revision, 2 unresolved discussions.

src/ReachabilityAnalyzer/CMakeLists.txt, line 26 at r5 (raw file):

    ${VTK_LIBRARIES}
    RemoteTreeViewerWrapper
    yaml-cpp)

I think more "correct" would be ${YAML_CPP_LIBRARIES}, but this is probably safer since that variable name hasn't been consistent across system-vs-local Yaml in the recent past...

Comments from Reviewable

manuelli · 2018-01-22T20:34:57Z

@jamiesnape @fbudin69500 I was under the impression that the bot_core python package and bot_core lcmtypes were provided by libbot correct? From what I understand drake no longer has libbot, but does it still build those lcmtypes? We have somehow ended up with two versions of the bot_core python package installed. One is in

spartan/build/install/lib/python2.7/site-packages/bot_core

and the other in

spartan/build/install/lib/python2.7/dist-packages/bot_core

They have a very different set of lcmtypes. In particular the one in site-packages has many more, including position_3d_t. Is one of these being installed by drake and the other by the libbot CMake External project? This is all related to issue #236.

In particular some drake lcmtypes use bot_core lcmtypes as fields, see here

jamiesnape · 2018-01-22T20:39:02Z

They have a very different set of lcmtypes. In particular the one in site-packages has many more, including position_3d_t. Is one of these being installed by drake and the other by the libbot CMake External project?

Yes, there was a fork of the bot_core lcmtypes to https://github.com/openhumanoids/bot_core_lcmtypes.

jamiesnape · 2018-01-22T20:41:03Z

(you probably want the site-packages version first in your PYTHONPATH)

manuelli · 2018-01-22T20:41:48Z

Yeah I am coming to that conclusion. Somehow when I launch files a particular way the dist-packages gets put in front. Is there a way to avoid having two copies of bot_core installed?

jamiesnape · 2018-01-22T20:46:51Z

Somehow when I launch files a particular way the dist-packages gets put in front.

Via directorPython?

manuelli · 2018-01-22T20:48:22Z

Looks like the bot-procman-sheriff executable is modifying the PYTHONPATH.

#!/bin/sh
export PYTHONPATH=/home/manuelli/spartan/build/install/lib/python2.7/dist-packages:/home/manuelli/spartan/build/install/lib/python2.7/site-packages:${PYTHONPATH}
exec /usr/bin/python -m bot_procman.sheriff_gtk.sheriff_gtk $*

I am guessing that bot-procman-sheriff is installed by libbot.

manuelli · 2018-01-22T20:50:10Z

bot-procman-sheriff is modifying the pythonpath. Looks like that logic is happening here. So it is putting dist-packages ahead of site-packages. I don't know the logic behind modifying the pythonpath in the bot-procman-sheriff executable.

jamiesnape · 2018-01-22T20:53:47Z

I guess we should be appending rather than prepending, I will PR a change.

manuelli · 2018-01-22T20:58:22Z

Thanks. Once we do that should we update spartan to point to libbot/master?

jamiesnape · 2018-01-22T21:06:32Z

Yes, RobotLocomotion/libbot2@0813e5a.

Francois Budin and others added 3 commits January 5, 2018 14:06

Use Drake CMakeLists.txt and build libbot that is not included in dra…

c62e948

…ke anymore

build fixes

e53fcec

Merge remote-tracking branch 'origin/master' into UseDrakeCMakeLists-…

9f16911

…merge

manuelli mentioned this pull request Jan 18, 2018

Use Drake CMakeLists.txt and build libbot that is not included in dra… #228

Merged

remote drake-schunk-driver lcm version, update drake

3f0b6b5

turn off WITH_TRIMESH during jenkins build

059479b

manuelli added 3 commits January 19, 2018 13:45

disable apriltags driver

90915e6

Merge remote-tracking branch 'origin/UseDrakeCMakeLists-merge' into U…

db6f243

…seDrakeCMakeLists-merge

add yaml-cpp target link libraries to reachability analyzer

8996b26

jamiesnape reviewed Jan 19, 2018

View reviewed changes

bug fix

05a5230

manuelli requested review from peteflorence and gizatt January 19, 2018 22:30

manuelli merged commit a90eae7 into master Jan 20, 2018

This was referenced Jan 20, 2018

pydrake ik interface broken for kuka software #234

Closed

ROS Trajectory Server is broken #236

Closed

jamiesnape deleted the UseDrakeCMakeLists-merge branch January 22, 2018 20:40

jamiesnape mentioned this pull request Jan 22, 2018

Append instead of prepend PYTHONPATH in wrappers RobotLocomotion/libbot2#17

Merged

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use drake cmakelists #233

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use drake cmakelists #233

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