Splitted rosidl_generator_c and rosidl_generator_cpp in two: rosidl_generator_x and rosidl_runtime_x

[ahcorde]

This issue is to track all the PRs that are need it to compile ros2.repos with the changes introduced in this PR split #442. We will have these packages:

• rosidl_generator_c
• rosidl_generator_cpp
• rosidl_runtime_c (new)
• rosidl_runtime_cpp (new)

[ahcorde]

• Splitted rosidl_generator_c and rosidl_generator_cpp in two: rosidl_generator_x and rosidl_runtime_x #442
• Added rosidl_runtime c and cpp dependencies rmw_cyclonedds#138
• added rosidl_runtime c and cpp depencencies rmw_fastrtps#351
• Added the right dependency rosidl_runtime_c instead of rosidl_generator_c rmw#198
• added rosidl_runtime c and cpp depencencies rosidl_python#100
• added rosidl_runtime_c depencency rosidl_typesupport_fastrtps#32
• added rosidl_runtime c depencency rosidl_typesupport#58
• added rosidl_runtime c and cpp depencencies rosbag2#310
• removed rosidl_generator_cpp from package.xml because it's not being used in the CMakeLists.txt rosidl_defaults#5
• Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp rclcpp#1014
• Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp rcl#588

[dirk-thomas]

It would make it easier to review these PRs if you could reference at least one specific source line in the packages where new dependencies are added to clarify why they are added. It might also be good to clarify - when runtime packages are added - why generators are still needed.

[ahcorde]

It might also be good to clarify - when runtime packages are added - why generators are still needed.

This was my fault I didn't remove the rosidl_generator_c/cpp dependencies. I revisited all the changes and removed this dependencies

[ahcorde]

I have been checking rcl, rcl_lifecycle, rcl_action, rclcpp and rclcpp_action all of them make use of rosidl_generator ( with the new packages should be rosidl_runtime) but I think this dependecy is not need it, the reason why it's because rosidl_generator/rosidl_runtim is used where a message packages it's being used too.

Some examples:
RCL:
https://github.com/ros2/rcl/blob/master/rcl_action/CMakeLists.txt#L57
https://github.com/ros2/rcl/blob/master/rcl_lifecycle/CMakeLists.txt#L48

RCLCPP:

https://github.com/ros2/rclcpp/blob/master/rclcpp_action/CMakeLists.txt#L36
https://github.com/ros2/rclcpp/blob/master/rclcpp/CMakeLists.txt#L180

@wjwwood and @dirk-thomas what do you think?

[ahcorde]

testing all PRs

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

• Replace rosidl_generator_x for rosidl_runtime_x rmw_connext#399
• Replaced rosidl_generator_x for rosidl_runtime_x rosidl_typesupport_connext#49

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[dirk-thomas]

Please double check that with all the PRs the actual goal (avoiding a runtime dependency on any generator package) has been achieved.

[ahcorde]

rmw_connext and rosidl_typesupport_connext approved. Launching CI for all the commits:

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

I have been reproducing the failure in my local MAC OS machine. if I used include_directories there is no issue when cmake is trying to find the generated headers, but with target_include_directories, I think a race condition is happening. If I execute colcon a second time then the error disappears.

@wjwwood or @dirk any thoughts about this?

[dirk-thomas]

The rosidl_generator_cpp PR removes the add_dependencies(<test_target> ${PROJECT_NAME}) calls for all test targets: e.g. https://github.com/ros2/rosidl/pull/442/files#diff-59c331d207ef4d5e6a390e74e0bc4739L54

Without that dependency CMake tries to build the test before the code generator was run which creates the used header files.

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

The packages depend on rosidl_generator_c or rosidl_generator_cpp are:

• rosidl_typesupport_introspection_cpp
• rosidl_typesupport_introspection_c
• rosidl_default_generators

The packages depend on rosidl_runtime_c or rosidl_runtime_cpp

• rmw_cyclonedds
• rmw_fastrtps
• rmw
• rosidl_python
• rosidl_typesupport_fastrtps
• rosidl_typesupport
• rosbag2
• rosidl_defaults
• rclcpp
• rcl

[dirk-thomas]

The packages depend on rosidl_generator_c or rosidl_generator_cpp are:

I guess the dependencies still need to be removed from the two introspection packages then to achieve the stated goal, right?

[ahcorde]

• Removed rosidl_generator_c and rosidl_generator_cpp from rosidl_typesupport_introspection_cpp and rosidl_typesupport_introspection_c 3db20b0
• Added rosidl_generator_c and rosidl_generator_cpp to rosidl_generator_py ros2/rosidl_python@dea8232

---

The packages depend on rosidl_generator_c or rosidl_generator_cpp are:

• rosidl_default_generators
• rosidl_generator_py

The packages depend on rosidl_runtime_c or rosidl_runtime_cpp

• rmw_cyclonedds
• rmw_fastrtps
• rmw
• rosidl_python
• rosidl_typesupport_fastrtps
• rosidl_typesupport
• rosidl_typesupport_introspection_cpp
• rosidl_typesupport_introspection_c
• rosbag2
• rosidl_defaults
• rclcpp
• rcl

[ahcorde]

• Changed rosidl_generator_cpp with rosidl_runtime_cpp rmw_dds_common#10

[ahcorde]

The packages depend on rosidl_generator_c or rosidl_generator_cpp are:

• rmw_dds_common_generators
• rosidl_default_generators
• rosidl_generator_py

The packages depend on rosidl_runtime_c or rosidl_runtime_cpp

• rcl
• rclcpp
• rmw
• rmw_cyclonedds
• rmw_dds_common
• rmw_fastrtps
• rosbag2
• rosidl_defaults
• rosidl_python
• rosidl_typesupport
• rosidl_typesupport_fastrtps
• rosidl_typesupport_introspection_c
• rosidl_typesupport_introspection_cpp

[dirk-thomas]

Please update all PRs to update / revert changes to dependency types of the following kind, e.g. ros2/rmw_dds_common#10:

Since the added buildtool_depend and buildtool_export_depend dependencies are a build as well as a run dependency please revert the dependency type to the previously used depend. I would rather like to avoid that kind of dependency type changes in this already massive amount of changes.

[dirk-thomas]

Also please update the list of all related PRs somewhere in this ticket - in a single place (rather than having to scroll through the whole thread).

[ahcorde]

The packages depend on rosidl_generator_c or rosidl_generator_cpp are:

• rmw_dds_common_generators Changed rosidl_generator_cpp with rosidl_runtime_cpp rmw_dds_common#10
• rosidl_default_generators removed rosidl_generator_cpp from package.xml because it's not being used in the CMakeLists.txt rosidl_defaults#5
• rosidl_generator_py added rosidl_runtime c and cpp depencencies rosidl_python#100

The packages depend on rosidl_runtime_c or rosidl_runtime_cpp

• rcl Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp rcl#588
• rclcpp Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp rclcpp#1014
• rmw Added the right dependency rosidl_runtime_c instead of rosidl_generator_c rmw#198
• rmw_cyclonedds Added rosidl_runtime c and cpp dependencies rmw_cyclonedds#138
• rmw_dds_common Changed rosidl_generator_cpp with rosidl_runtime_cpp rmw_dds_common#10
• rmw_conenxt Replace rosidl_generator_x for rosidl_runtime_x rmw_connext#399
• rmw_fastrtps added rosidl_runtime c and cpp depencencies rmw_fastrtps#351
• rosbag2 added rosidl_runtime c and cpp depencencies rosbag2#310
• rosidl Splitted rosidl_generator_c and rosidl_generator_cpp in two: rosidl_generator_x and rosidl_runtime_x #442
  • rosidl_runtime_c
  • rosidl_runtime_cpp
  • rosidl_typesupport_introspection_c
  • rosidl_typesupport_introspection_cpp
• rosidl_defaults removed rosidl_generator_cpp from package.xml because it's not being used in the CMakeLists.txt rosidl_defaults#5
• rosidl_python added rosidl_runtime c and cpp depencencies rosidl_python#100
• rosidl_typesupport added rosidl_runtime c depencency rosidl_typesupport#58
• rosidl_typesupport_connext Replaced rosidl_generator_x for rosidl_runtime_x rosidl_typesupport_connext#49
• rosidl_typesupport_fastrtps added rosidl_runtime_c depencency rosidl_typesupport_fastrtps#32

---

update / revert changes to dependency types

• rmw_connext https://github.com/ros2/rmw_connext/pull/399/files
• rosidl_typesupport_connext https://github.com/ros2/rosidl_typesupport_connext/pull/49/files
• rosbag2 https://github.com/ros2/rosbag2/pull/310/files
• rmw_fastrtps https://github.com/ros2/rmw_fastrtps/pull/351/files
• rmw_dds_common https://github.com/ros2/rmw_dds_common/pull/10/files
• rcl Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp rcl#588
• rosidl_typesupport_fastrtps https://github.com/ros2/rosidl_typesupport_fastrtps/pull/32/files
• rosidl https://github.com/ros2/rosidl/pull/442/files

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

These warnings on Windows were already fixed, but I didn't update the branch in the PR

15:49:21 C:\ci\ws\src\ros2\rmw_dds_common\rmw_dds_common\test\test_graph_cache.cpp(195,8): warning C4996: 'strncpy': This function or variable may be unsafe. Consider using strncpy_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details. [C:\ci\ws\build\rmw_dds_common\test_graph_cache.vcxproj]

15:49:21 C:\ci\ws\src\ros2\rmw_dds_common\rmw_dds_common\test\test_graph_cache.cpp(388,8): warning C4996: 'strncpy': This function or variable may be unsafe. Consider using strncpy_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details. [C:\ci\ws\build\rmw_dds_common\test_graph_cache.vcxproj]

[ahcorde]

Testing changes on rmw_cyclonedss

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

• Updated all repos involved in this change.
• Skipping ros1_bridge, qt_*, rqt_*, and rviz_* packages.
• Testing against test_rclcpp and rosbag2_tests.

• Linux
• Linux-aarch64
• macOS
• Windows

[ahcorde]

• One warning made the builds unstable but there is a (PR pending)

CMake Deprecation Warning at /home/jenkins-agent/workspace/ci_linux-aarch64/ws/install/ament_cmake_export_interfaces/share/ament_cmake_export_interfaces/cmake/ament_export_interfaces.cmake:37 (message):
ament_export_interfaces() is deprecated, use ament_export_targets() instead
Call Stack (most recent call first):
CMakeLists.txt:85 (ament_export_interfaces)

In MacOS

• projectroot.cppcheck

Windows

• some failures in test_rclcpp