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Dependecy issues between tf2 and tf2_geometry_msgs #275

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Crusty82 opened this issue Dec 7, 2017 · 11 comments · May be fixed by #357
Open

Dependecy issues between tf2 and tf2_geometry_msgs #275

Crusty82 opened this issue Dec 7, 2017 · 11 comments · May be fixed by #357
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@Crusty82
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Crusty82 commented Dec 7, 2017

If you look closely, you can see that

tf2/include/tf2/impl/utils.h includes <tf2_geometry_msgs> and
tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h includes

So there is a cycle there.
I am forced to compile these packages via a different build system, and my system dies with a cyclic dependency error.
Also note how tf2 sneakily includes tf2_geometry_msgs without actually requiring the package in CMakeLists or package.xml. I fail to understand how this can build in the first place, but it surely doesn't build for me.
@tfoote
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tfoote commented Dec 7, 2017

This was flagged in #170 There's a proposed fix to call it out specifically but that explicitly triggers the circular dependency in the main build. #170 so can't be merged. The main solution is that we need to move that implementation.

@Crusty82
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Crusty82 commented Dec 7, 2017

Thanks for replying this quickly Tully, and sorry I missed issue #170. I will locally fix this then by moving functionality from tf2 into tf2_geometry_msgs. Thanks!

@tfoote
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tfoote commented Dec 7, 2017

No problem. If you have a clean solution a PR would be appreciated. I think it it's likely that the template specializations in the impl can move to tf2_geometry_msgs and then anyone with that as a dependency could use them the same way they always have.

@tfoote tfoote added the bug label Mar 22, 2018
@tfoote tfoote mentioned this issue Mar 22, 2018
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@mikeferguson mikeferguson mentioned this issue Jul 30, 2018
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mikeferguson added a commit to ros-planning/navigation that referenced this issue Jul 30, 2018
@mikeferguson
fix rotate_recovery debian build
4ff9bd7 
* add depend on tf2_geometry_msgs (due to ros/geometry2#275)
* add other hidden depends: angles, geometry_msgs, tf2
mikeferguson added a commit to ros-planning/navigation that referenced this issue Jul 31, 2018
@mikeferguson
fix depends for dwa_local_planner
aa2a0ea 
* add tf2_geometry_msgs (due to ros/geometry2#275)
* add missing depends on angles, sensor_msgs, tf2
mintar added a commit to ros-planning/navigation_experimental that referenced this issue Sep 5, 2018
@mintar
twist_recovery: Add missing dependency
193861d 
Actually, this is a workaround for the following bug: ros/geometry2#275
@trainman419
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I just ran into this too, and I also solved it by moving the functions that manipulate geometry_msgs types into tf2_geometry_msgs.

I can submit my changes as a PR if you'd like, but it's an API change and since I'm only testing against a small part of ROS and I'm not using cmake to build ROS, so I can't confirm that this fix is valid for the rest of the ROS ecosystem.

@tfoote
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tfoote commented Nov 8, 2018

@trainman419 If you have the moved implementation could you add a backwards compatible API placeholder that forwards to the new location and gives a deprecation warning? That deprecated API will still cause the dependency issue, but we can remove it in a future rosdistro and we can put a very specific warning that hopefully people will find the workaround quickly if they run into it.

@mintar
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mintar commented Nov 9, 2018

👍

we can remove it in a future rosdistro

That rosdistro better be Noetic, since it's the last one! :)

@jspricke
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We got bugged by this in Debian as well: https://bugs.debian.org/916479.
@trainman419 do you plan to send the PR soon?

@trainman419
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Looks like my changes didn't end up being necessary for our project, and didn't make it into our repository. I will not be submitting a PR for these changes (I don't have any way to test the changes requested by @tfoote , either).

jspricke added a commit to jspricke/geometry2 that referenced this issue Jan 25, 2019
@jspricke
Move tf2::impl::toQuaternion to tf2_geometry_msgs
3d08107 
Closes: ros#275

This breaks the cycle between tf2 and tf2_geometry_msgs.
I didn't add deprecated attributes for functions having
tf2_geometry_msgs in the method signature, as they would need to have
the right header imported anyhow.
@jspricke jspricke linked a pull request Jan 25, 2019 that will close this issue
Open
jspricke added a commit to jspricke/geometry2 that referenced this issue Jan 25, 2019
@jspricke
Move tf2::impl::toQuaternion to tf2_geometry_msgs
f2b6318 
Closes: ros#275

This breaks the cycle between tf2 and tf2_geometry_msgs.
I didn't add deprecated attributes for functions having
tf2_geometry_msgs in the method signature, as they would need to have
the right header imported anyhow.
jspricke added a commit to jspricke/geometry2 that referenced this issue Jan 25, 2019
@jspricke
Move tf2::impl::toQuaternion to tf2_geometry_msgs
bebb683 
Closes: ros#275

This breaks the cycle between tf2 and tf2_geometry_msgs.
I didn't add deprecated attributes for functions having
tf2_geometry_msgs in the method signature, as they would need to have
the right header imported anyhow.
pjreed added a commit to pjreed/novatel_gps_driver that referenced this issue Nov 18, 2019
@pjreed
Add dependency on tf2_geometry_msgs
9c9220f 
The tf2 package depends on headers from this but does not actually
list it as a dependency; see ros/geometry2#275
@pjreed pjreed mentioned this issue Nov 18, 2019
Merged
pjreed added a commit to swri-robotics/novatel_gps_driver that referenced this issue Nov 18, 2019
@pjreed
Add dependency on tf2_geometry_msgs (#67)
fb164b1 
The tf2 package depends on headers from this but does not actually
list it as a dependency; see ros/geometry2#275
@stertingen stertingen mentioned this issue Jan 19, 2021
Closed
@hsd-dev hsd-dev mentioned this issue Mar 16, 2021
Merged
seanyen pushed a commit to ms-iot/geometry2 that referenced this issue Mar 22, 2021
@surfertas @clalancette
Add type hints to tf2_ros_py code(ros#275) (ros#315)
d7276d5 
* adding typehints to tf2_ros_py code

Co-authored-by: Chris Lalancette <clalancette@gmail.com>
@ayrton04
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This is causing one of our dev jobs to fail (though somehow the binary jobs are fine):

https://build.ros.org/job/Mdev__tf2_2d__ubuntu_bionic_amd64/1/consoleFull

17:55:25 /opt/ros/melodic/include/tf2/impl/utils.h:18:10: fatal error: tf2_geometry_msgs/tf2_geometry_msgs.h: No such file or directory
17:55:25  #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
17:55:25           ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Since tf2 doesn't (and can't) have tf2_geometry_msgs in its dependencies, tf2_geometry_msgs are not included in the build. I suppose the easiest thing for us to do is just include tf2_geometry_msgs as a dependency directly.

@ayrton04 ayrton04 mentioned this issue Jul 13, 2021
Merged
@mikepurvis mikepurvis mentioned this issue Jul 15, 2021
Closed
@tfoote
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tfoote commented Jul 20, 2021

Yes, if you include tf2_geometry_msgs as a dependency it will be fine. You should do this if you use utils.h which is the only place that uses this. It's header only and should probably be refactored out.

@jspricke
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@tfoote I did the refactoring in #357 would be great to get some feedback on this.

jspricke added a commit to jspricke/geometry2 that referenced this issue Apr 5, 2022
@jspricke
Move tf2::impl::toQuaternion to tf2_geometry_msgs
15b77ac 
Closes: ros#275

This breaks the cycle between tf2 and tf2_geometry_msgs.
I didn't add deprecated attributes for functions having
tf2_geometry_msgs in the method signature, as they would need to have
the right header imported anyhow.
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Move tf2::impl::toQuaternion to tf2_geometry_msgs jspricke/geometry2
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@trainman419 @mintar @tfoote @jspricke @Crusty82 @ayrton04