Revert eigenpy in Melodic to 2.7.8

[clalancette]

Despite the recent fixes, we still have packages failing to compile against the newer versions, like: https://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__dynamic-graph-python__ubuntu_bionic_amd64__binary/ . Let's revert it for now and see if that helps.

@wxmerkt FYI

[wxmerkt]

@clalancette Thanks for the note, I wasn't aware of these build failures and it's due to these packages also relying on jrl-cmakemodules and not having been upgraded.

@nim65s We need new releases of dynamic graph and possibly the SoT packages for the CMake fixes. I dont have access to the corresponding release packages and don't use them. Can you please prepare releases for them such that we can get the reverts for EigenPy & HPP-FCL reverted back to the current versions?

[nim65s]

I'm still fixing those packages internally for eigenpy 2.7.12, but each new rebuild fix a package and break another, or fix a distro and break another… But I still should be able to fix all those packages asap.

But when they will be fixed, they will depend on eigenpy 2.7.12, as I clearly can't afford to provide more compatibility.

[rhaschke]

Dear @clalancette,
I'm afraid that version 2.7.8 is broken too. The latest release sync was using 2.7.5!
The build of moveit_ros_planning_interface exhibits the well-known warning:

20:48:19 -- eigenpy FOUND. eigenpy at /opt/ros/melodic/lib/libeigenpy.so
20:48:19 CMake Warning at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1626 (message):
20:48:19   No header defined for python27; skipping header check
20:48:19 Call Stack (most recent call first):
20:48:19   /opt/ros/melodic/share/eigenpy/cmake/eigenpyConfig.cmake:142 (find_package)
20:48:19   CMakeLists.txt:50 (find_package)

Interestingly, the build farm proceeds without issues, but GHA issues the following linker errors when building moveit_servo:

Errors     << moveit_servo:make /home/runner/work/moveit/moveit/.work/target_ws/logs/moveit_servo/build.make.000.log
/home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_py_bindings_tools.so: undefined reference to `boost::python::throw_error_already_set()'
/home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_py_bindings_tools.so: undefined reference to `boost::python::converter::rvalue_from_python_stage1(_object*, boost::python::converter::registration const&)'
...

The corresponding linker command doesn't include libboost_python:

/usr/lib/ccache/clang++ -fPIC -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unused-parameter -Wno-unused-but-set-parameter -Wno-c++17-compat -Wno-overloaded-virtual -Wno-unused-function -O3 -DNDEBUG  -shared -Wl,-soname,libmoveit_py_bindings_tools.so.1.0.10 -o /home/runner/work/moveit/moveit/.work/target_ws/devel/.private/moveit_ros_planning_interface/lib/libmoveit_py_bindings_tools.so.1.0.10 CMakeFiles/moveit_py_bindings_tools.dir/src/roscpp_initializer.cpp.o -Wl,-rpath,/home/runner/work/moveit/moveit/.work/target_ws/install/lib:/opt/ros/melodic/lib:/home/runner/work/moveit/moveit/.work/upstream_ws/install/lib: /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_warehouse.so /opt/ros/melodic/lib/libwarehouse_ros.so /opt/ros/melodic/lib/libtf.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_pick_place_planner.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_move_group_capabilities_base.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_rdf_loader.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_kinematics_plugin_loader.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_robot_model_loader.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_constraint_sampler_manager_loader.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_planning_pipeline.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_trajectory_execution_manager.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_plan_execution.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_planning_scene_monitor.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_collision_plugin_loader.so /opt/ros/melodic/lib/libdynamic_reconfigure_config_init_mutex.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_ros_occupancy_map_monitor.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_exceptions.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_background_processing.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_kinematics_base.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_robot_model.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_transforms.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_robot_state.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_robot_trajectory.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_planning_interface.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_collision_detection.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_collision_detection_fcl.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_kinematic_constraints.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_planning_scene.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_constraint_samplers.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_planning_request_adapter.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_profiler.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_python_tools.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_trajectory_processing.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_distance_field.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_collision_distance_field.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_kinematics_metrics.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_dynamics_solver.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_utils.so /home/runner/work/moveit/moveit/.work/target_ws/install/lib/libmoveit_test_utils.so -lboost_iostreams -lfcl /opt/ros/melodic/lib/libkdl_parser.so /opt/ros/melodic/lib/liburdf.so -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world /opt/ros/melodic/lib/librosconsole_bridge.so /opt/ros/melodic/lib/libsrdfdom.so -ltinyxml /home/runner/work/moveit/moveit/.work/upstream_ws/install/lib/libgeometric_shapes.so /opt/ros/melodic/lib/liboctomap.so /opt/ros/melodic/lib/liboctomath.so /opt/ros/melodic/lib/librandom_numbers.so /opt/ros/melodic/lib/libclass_loader.so -lPocoFoundation -ldl /opt/ros/melodic/lib/libroslib.so /opt/ros/melodic/lib/librospack.so -lpython2.7 -lboost_program_options -ltinyxml2 /opt/ros/melodic/lib/liborocos-kdl.so /opt/ros/melodic/lib/liborocos-kdl.so.1.4.0 /opt/ros/melodic/lib/libtf2_ros.so /opt/ros/melodic/lib/libmessage_filters.so /opt/ros/melodic/lib/libtf2.so /opt/ros/melodic/lib/libactionlib.so /opt/ros/melodic/lib/libroscpp.so -lboost_filesystem /opt/ros/melodic/lib/libxmlrpcpp.so /opt/ros/melodic/lib/libroscpp_serialization.so /opt/ros/melodic/lib/librosconsole.so /opt/ros/melodic/lib/librosconsole_log4cxx.so /opt/ros/melodic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/melodic/lib/librostime.so /opt/ros/melodic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4 -lpython2.7 -lboost_program_options -ltinyxml2 /opt/ros/melodic/lib/liborocos-kdl.so /opt/ros/melodic/lib/liborocos-kdl.so.1.4.0 /opt/ros/melodic/lib/libtf2_ros.so /opt/ros/melodic/lib/libmessage_filters.so /opt/ros/melodic/lib/libtf2.so /opt/ros/melodic/lib/libactionlib.so /opt/ros/melodic/lib/libroscpp.so -lboost_filesystem /opt/ros/melodic/lib/libxmlrpcpp.so /opt/ros/melodic/lib/libroscpp_serialization.so /opt/ros/melodic/lib/librosconsole.so /opt/ros/melodic/lib/librosconsole_log4cxx.so /opt/ros/melodic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/melodic/lib/librostime.so /opt/ros/melodic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4 

... while the build using eigenpy 2.7.5 did!

I'm still puzzled why the ROS build farm succeeds, but our GHA fails. I don't see a difference yet.
EDIT: I triggered a new build here, comparing the release vs. testing repositories as well as gcc vs. clang. This reveals:

• Using clang fails with the aforementioned linker error in the build phase.
• Using gcc fails only during testing. Maybe that's the reason the build farm is happy?
  Actually, the dev job on the build farm exhibits the same issues, but only throws warnings.

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/preparing-for-melodic-sync-2022-09-01/27180/2