{humble} WIP: ros-image-world fixes for Humble Kirkstone

[robwoolley]

This is the latest revision to enable ignition and rviz2 to support building the turtlebot3 recipe on ROS Humble with
Yocto Kirkstone.

It requires meta-clang and meta-qt5. The following also needs to be added to local.conf:

DISTRO_FEATURES:append = " x11 opengl vulkan polkit"
PACKAGECONFIG:append:pn-clang = " libomp"
PACKAGECONFIG:append:pn-qtbase-native = " gui"
PACKAGECONFIG:append:pn-python3 = " tk"

Tested on Raspberry Pi 4 using the shell mode with this kas script found in the build branch of meta-ros:
oeros-kirkstone-humble-raspberrypi4-64.yml

Needs some work before I can merge this. I am just submitting this PR for additional feedback from people eager to support the Turtlebot3, rviz, or Ignition/Gazebo.

[robwoolley]

@whni I have made the changes you suggested. Let me know if you would like me to give you credit for the fixes. If so, please let me know what name and email address to use.

[whni]

@whni I have made the changes you suggested. Let me know if you would like me to give you credit for the fixes. If so, please let me know what name and email address to use.

Hi @robwoolley it's fine. So glad that I can contribute to this project. Btw, we are planning a new project so hope we could cooperate in a long term :)

[whni]

Hi @robwoolley

Reporting another issue when bitbake moveit package. Please see the attached moveit_build_fail.log
for full log

For the rosidl-adapter error, we can add it to build dependency of moveit-setup-framework recipe. However, I have no idea on the following errors. Thanks a lot if you could take a look

| -- rviz_ogre_vendor::RenderSystem_GL for IMPORTED_LOCATION_RELEASE: _render_system_gl_static_library_abs-NOTFOUND
| -- rviz_ogre_vendor::RenderSystem_GL for IMPORTED_LOCATION_DEBUG: _render_system_gl_static_library_abs-NOTFOUND
| CMake Warning at /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/lib/cmake/Qt5/Qt5Config.cmake:7 (message):
|   SkippingbecauseOE_QMAKE_PATH_EXTERNAL_HOST_BINSisnotdefined
| Call Stack (most recent call first):
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_common/cmake/rviz_common-extras.cmake:30 (find_package)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_common/cmake/rviz_commonConfig.cmake:41 (include)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/moveit_ros_visualization/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/moveit_ros_visualization/cmake/moveit_ros_visualizationConfig.cmake:41 (include)
|   CMakeLists.txt:13 (find_package)
| 
| 
| CMake Warning at /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/lib/cmake/Qt5/Qt5Config.cmake:7 (message):
|   SkippingbecauseOE_QMAKE_PATH_EXTERNAL_HOST_BINSisnotdefined
| Call Stack (most recent call first):
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_rendering/cmake/rviz_rendering-extras.cmake:30 (find_package)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_rendering/cmake/rviz_renderingConfig.cmake:41 (include)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_common/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_common/cmake/rviz_commonConfig.cmake:41 (include)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/moveit_ros_visualization/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/moveit_ros_visualization/cmake/moveit_ros_visualizationConfig.cmake:41 (include)
|   CMakeLists.txt:13 (find_package)
| 
| 
| CMake Warning at /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/lib/cmake/Qt5/Qt5Config.cmake:7 (message):
|   SkippingbecauseOE_QMAKE_PATH_EXTERNAL_HOST_BINSisnotdefined
| Call Stack (most recent call first):
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_default_plugins/cmake/rviz_default_plugins-extras.cmake:30 (find_package)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/rviz_default_plugins/cmake/rviz_default_pluginsConfig.cmake:41 (include)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/moveit_ros_visualization/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
|   /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/share/moveit_ros_visualization/cmake/moveit_ros_visualizationConfig.cmake:41 (include)
|   CMakeLists.txt:13 (find_package)
| 
| 
| CMake Warning at /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/lib/cmake/Qt5Core/Qt5CoreConfig.cmake:6 (message):
|   SkippingbecauseOE_QMAKE_PATH_EXTERNAL_HOST_BINSisnotdefined
| Call Stack (most recent call first):
|   CMakeLists.txt:14 (find_package)
| 
| 
| CMake Warning at /home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/recipe-sysroot/usr/lib/cmake/Qt5Widgets/Qt5WidgetsConfig.cmake:6 (message):
|   SkippingbecauseOE_QMAKE_PATH_EXTERNAL_HOST_BINSisnotdefined
| Call Stack (most recent call first):
|   CMakeLists.txt:15 (find_package)
| 
| 
| CMake Error at CMakeLists.txt:25 (qt5_wrap_cpp):
|   Unknown CMake command "qt5_wrap_cpp".
| 
| 
| -- Configuring incomplete, errors occurred!
| See also "/home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/build/CMakeFiles/CMakeOutput.log".
| WARNING: exit code 1 from a shell command.
ERROR: Task (/home/weihengni/Projects/robotpi/build/../layers/meta-ros/meta-ros2-humble/generated-recipes/moveit/moveit-setup-framework_2.5.5-1.bb:do_configure) failed with exit code '1'

[whni]

For the moveit-setup-framework issue,

I can resolved by adding these:

ROS_BUILDTOOL_DEPENDS += " \
    rosidl-cmake-native \
"

EXTRA_OECMAKE += "-DOE_QMAKE_PATH_EXTERNAL_HOST_BINS='${OE_QMAKE_PATH_EXTERNAL_HOST_BINS}'"

inherit qmake5

However, inherit qmake5 has to be placed before inherit ros_${ROS_BUILD_TYPE} in the original recipe. Otherwise it will throw an error like

| ls: cannot access '/home/weihengni/Projects/robotpi/build/BUILD-robotpi-humble-kirkstone/work/cortexa72-robotpi-linux/moveit-setup-framework/2.5.5-1-r0/git/*.pro': No such file or directory

@robwoolley do you know how to let inherit qmake5 take effect in the bbappend file before inherit ros_${ROS_BUILD_TYPE} in the original recipe? Otherwise, we may need you to directly patch the original recipe. Thank you so much!

[whni]

I also see some build error about moveit-setup-srdf-plugins. You could try to build moveit package then can find all the errors

|   Could not find a package configuration file provided by "ament_cmake_ros"
|   with any of the following names:
| 
|     ament_cmake_rosConfig.cmake
|     ament_cmake_ros-config.cmake

Update:
these recipes all have the similar issues:
1. moveit-setup-app-plugins_2.5.5-1.bb
2. moveit-setup-assistant_2.5.5-1.bb
3. moveit-setup-controllers_2.5.5-1.bb
4. moveit-setup-core-plugins_2.5.5-1.bb
5. moveit-setup-framework_2.5.5-1.bb
6. moveit-setup-srdf-plugins_2.5.5-1.bb

All need the above patch:

EXTRA_OECMAKE += "-DOE_QMAKE_PATH_EXTERNAL_HOST_BINS='${OE_QMAKE_PATH_EXTERNAL_HOST_BINS}'"

inherit qmake5

and add some missing ROS_BUILDTOOL_DEPENDS

[whni]

Hi @robwoolley will these fix been merged to kirkstone?

[robwoolley]

Hi @whni, yes I plan to merge the fixes to kirkstone after the work has been completed for rolling. That work is nearly complete, you can check out the notes from the working group meeting for details: https://docs.google.com/document/d/1LqUjcu6vdlqVJO62SreCyjzddNDZhfO2n-7qYghY_cQ/edit#heading=h.3vrwbu9vio04

[whni]

Checking in this topic? Any update?

[whni]

@robwoolley Please let us know whenever this is merged. Thank you!

[whni]

Hi @robwoolley could we know if this pull request will be merged soon? We need to decided if we can stick on humble. Thank you so much!

[whni]

Looks like no one is looking at this pull request now? @robwoolley

[robwoolley]

Hi @whni,

I think this PR still needs work before it can be merged. I haven't tried running anything on the hardware yet. My focus has been on the Rolling and Styhead combo first since it is expected to be "unstable" then will backport any work to the "stable" Humble and Kirkstone combination.

I have been short on free time over the summer to make progress, but we have been making headway on getting CI/CD builds going for regression testing of all combinations. (Check out the working group minutes for the latest status: https://docs.google.com/document/d/1LqUjcu6vdlqVJO62SreCyjzddNDZhfO2n-7qYghY_cQ/edit)

Have you been able to get graphics up and running on the Raspberry Pi hardware? It would be a huge help to know that the existing recipes were working on the hardware.

Regards,
Rob

[whni]

Hi @robwoolley

We didn't test all graphics components but just need those to be compiled successfully. On RPi 4, we are building our own image that includes ros-image-world. At least turtlebot bringup/cartographer are running good and rviz window is working

[whni]

@robwoolley Hi, we are still waiting for this pull request on humble. Could we expect this to happen soon?