Update Docker build by ruffsl · Pull Request #233 · moveit/moveit2

ruffsl · 2020-07-13T18:37:03Z

Description

Update to #44

ruffsl · 2020-07-13T18:57:31Z

I was just revising #44 to sync some newer feature from the nav2 dockerfiles, but when using the nightly build of ROS2, I can't seem to build the overlay for moveit2 project without octomap by skipping it as in the official build instructions, and I can't build the underlay with it.

cc. @davetcoleman @mlautman

Details

With octomap

RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build \
      --symlink-install \
      --mixin $UNDERLAY_MIXINS \
    || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)

#18 [builder 7/14] RUN . /opt/ros/foxy/setup.sh &&     colcon build       --...
#18 0.779 [connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[/opt/rti.com/rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.
#18 1.456 Starting >>> octomap
#18 1.469 Starting >>> joint_state_publisher
#18 1.482 Starting >>> eigen_stl_containers
#18 1.493 Starting >>> object_recognition_msgs
#18 1.503 Starting >>> octomap_msgs
#18 1.513 Starting >>> random_numbers
#18 1.522 Starting >>> urdfdom_py
#18 1.535 Starting >>> angles
#18 1.554 Starting >>> control_msgs
#18 1.566 Starting >>> ompl
#18 2.913 Finished <<< joint_state_publisher [1.44s]
#18 2.915 Starting >>> joint_state_publisher_gui
#18 2.936 Starting >>> moveit_resources
#18 2.977 Finished <<< urdfdom_py [1.45s]
#18 2.981 Starting >>> srdfdom
#18 3.816 Finished <<< eigen_stl_containers [2.33s]
#18 3.841 Finished <<< angles [2.31s]
#18 4.142 Finished <<< joint_state_publisher_gui [1.23s]
#18 17.52 Finished <<< random_numbers [16.0s]
#18 29.26 Finished <<< moveit_resources [26.3s]
#18 31.27 --- stderr: octomap
#18 31.27 
#18 31.27 
#18 31.27 
#18 31.27 
#18 31.27 ---
#18 31.27 Finished <<< octomap [29.8s]
#18 31.28 Starting >>> dynamic_edt_3d
#18 31.29 Starting >>> geometric_shapes
#18 31.31 Starting >>> octovis
#18 34.16 Finished <<< octomap_msgs [32.7s]
#18 34.94 Finished <<< srdfdom [32.0s]
#18 34.94 --- stderr: srdfdom
#18 34.94 CMake Warning at CMakeLists.txt:70 (message):
#18 34.94   Locale nl_NL not available.  Locale test will not be meaningful.
#18 34.94 
#18 34.94 
#18 34.94 ---
#18 37.68 --- stderr: geometric_shapes
#18 37.68 CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/assimp-5.0/assimpTargets.cmake:54 (if):
#18 37.68   if given arguments:
#18 37.68 
#18 37.68     "ON"
#18 37.68 
#18 37.68   An argument named "ON" appears in a conditional statement.  Policy CMP0012
#18 37.68   is not set: if() recognizes numbers and boolean constants.  Run "cmake
#18 37.68   --help-policy CMP0012" for policy details.  Use the cmake_policy command to
#18 37.68   set the policy and suppress this warning.
#18 37.68 Call Stack (most recent call first):
#18 37.68   /usr/lib/x86_64-linux-gnu/cmake/assimp-5.0/assimp-config.cmake:1 (include)
#18 37.68   CMakeLists.txt:16 (find_package)
#18 37.68 This warning is for project developers.  Use -Wno-dev to suppress it.
#18 37.68 
#18 37.68 /opt/underlay_ws/src/ros-planning/geometric_shapes/src/shapes.cpp:39:10: fatal error: octomap/octomap.h: No such file or directory
#18 37.68    39 | #include <octomap/octomap.h>
#18 37.68       |          ^~~~~~~~~~~~~~~~~~~
#18 37.68 compilation terminated.
#18 37.68 make[2]: *** [CMakeFiles/geometric_shapes.dir/build.make:154: CMakeFiles/geometric_shapes.dir/src/shapes.cpp.o] Error 1
#18 37.68 make[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/geometric_shapes.dir/all] Error 2
#18 37.68 make: *** [Makefile:141: all] Error 2
#18 37.68 ---
#18 37.68 Failed   <<< geometric_shapes [6.39s, exited with code 2]
#18 39.78 Aborted  <<< object_recognition_msgs [38.3s]
#18 40.95 Aborted  <<< dynamic_edt_3d [9.67s]
#18 60.10 Aborted  <<< octovis [28.8s]
#18 75.21 Aborted  <<< control_msgs [1min 14s]
#18 132.2 Aborted  <<< ompl [2min 11s]
#18 132.3 
#18 132.3 Summary: 10 packages finished [2min 11s]
#18 132.3   1 package failed: geometric_shapes
#18 132.3   5 packages aborted: control_msgs dynamic_edt_3d object_recognition_msgs octovis ompl
#18 132.3   5 packages had stderr output: dynamic_edt_3d geometric_shapes octomap octovis srdfdom
#18 132.3   1 package not processed
#18 ERROR: executor failed running [/bin/sh -c . /opt/ros/$ROS_DISTRO/setup.sh &&     colcon build       --symlink-install       --mixin $UNDERLAY_MIXINS     || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)]: runc did not terminate sucessfully
------
 > [builder 7/14] RUN . /opt/ros/foxy/setup.sh &&     colcon build       --symlink-install       --mixin release ccache     || ([ -z "True" ] || exit 1):
------
failed to solve with frontend dockerfile.v0: failed to build LLB: executor failed running [/bin/sh -c . /opt/ros/$ROS_DISTRO/setup.sh &&     colcon build       --symlink-install       --mixin $UNDERLAY_MIXINS     || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)]: runc did not terminate sucessfully

Without octomap

RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build \
      --symlink-install \
      --mixin $UNDERLAY_MIXINS \
      --packages-skip-by-dep octomap \
    || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)

#18 [builder 7/14] RUN . /opt/ros/foxy/setup.sh &&     colcon build       --...
#18 0.893 [connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[/opt/rti.com/rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.
#18 1.485 Starting >>> joint_state_publisher
#18 1.516 Starting >>> object_recognition_msgs
#18 1.530 Starting >>> octomap_msgs
#18 1.540 Starting >>> urdfdom_py
#18 1.557 Starting >>> angles
#18 1.568 Starting >>> control_msgs
#18 1.579 Starting >>> eigen_stl_containers
#18 1.595 Starting >>> octomap
#18 1.609 Starting >>> ompl
#18 1.619 Starting >>> random_numbers
#18 2.787 Finished <<< urdfdom_py [1.25s]
#18 2.790 Starting >>> srdfdom
#18 2.892 Finished <<< joint_state_publisher [1.41s]
#18 2.892 Starting >>> joint_state_publisher_gui
#18 2.909 Starting >>> moveit_resources
#18 3.637 Finished <<< angles [2.08s]
#18 3.653 Finished <<< eigen_stl_containers [2.07s]
#18 4.056 Finished <<< joint_state_publisher_gui [1.16s]
#18 17.26 Finished <<< random_numbers [15.6s]
#18 29.33 Finished <<< moveit_resources [26.4s]
#18 34.20 --- stderr: octomap
#18 34.20 
#18 34.20 
#18 34.20 
#18 34.20 
#18 34.20 ---
#18 34.20 Finished <<< octomap [32.6s]
#18 35.63 --- stderr: srdfdom
#18 35.63 CMake Warning at CMakeLists.txt:70 (message):
#18 35.63   Locale nl_NL not available.  Locale test will not be meaningful.
#18 35.63 
#18 35.63 
#18 35.63 ---
#18 35.63 Finished <<< srdfdom [32.8s]
#18 36.91 Finished <<< octomap_msgs [35.4s]
#18 49.80 Finished <<< object_recognition_msgs [48.3s]
#18 49.80 Starting >>> moveit_msgs
#18 74.28 Finished <<< control_msgs [1min 13s]
#18 154.4 [Processing: moveit_msgs, ompl]
#18 154.4 [Processing: moveit_msgs, ompl]
#18 154.4 Finished <<< ompl [2min 33s]
#18 219.2 [Processing: moveit_msgs]
#18 219.2 [Processing: moveit_msgs]
#18 219.2 Finished <<< moveit_msgs [2min 49s]
#18 219.2 
#18 219.2 Summary: 14 packages finished [3min 38s]
#18 219.2   2 packages had stderr output: octomap srdfdom
#18 DONE 219.4s

#19 [builder 8/14] WORKDIR /opt/overlay_ws
#19 DONE 0.0s

#20 [builder 9/14] COPY --from=cacher /tmp//opt/overlay_ws ./
#20 DONE 0.1s

#21 [builder 10/14] RUN . /opt/underlay_ws/install/setup.sh &&     apt-get u...
#21 0.966 [connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[/opt/rti.com/rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.
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#21 4.186 Fetched 14.5 MB in 3s (4705 kB/s)
#21 4.186 Reading package lists...
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#21 30.76 Setting up liburdfdom-dev:amd64 (1.0.4+ds-2) ...
#21 31.85 executing command [apt-get install -y -qq python-lxml]
#21 31.85 executing command [apt-get install -y -qq liburdfdom-tools]
#21 31.85 executing command [apt-get install -y -qq libogre-1.9-dev]
#21 31.85 executing command [apt-get install -y -qq libfcl-dev]
#21 31.85 executing command [apt-get install -y -qq liburdfdom-dev]
#21 31.85 executing command [apt-get install -y -qq liburdfdom-headers-dev]
#21 31.85 #All required rosdeps installed successfully
#21 DONE 32.0s

#22 [builder 11/14] COPY --from=cacher /opt/overlay_ws ./
#22 DONE 0.4s

#23 [builder 12/14] RUN . /opt/underlay_ws/install/setup.sh &&     colcon bu...
#23 0.745 [connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[/opt/rti.com/rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.
#23 1.424 Starting >>> moveit_core
#23 4.600 --- stderr: moveit_core
#23 4.600 CMake Error at CMakeLists.txt:70 (find_package):
#23 4.600   By not providing "Findgeometric_shapes.cmake" in CMAKE_MODULE_PATH this
#23 4.600   project has asked CMake to find a package configuration file provided by
#23 4.600   "geometric_shapes", but CMake did not find one.
#23 4.600 
#23 4.600   Could not find a package configuration file provided by "geometric_shapes"
#23 4.600   with any of the following names:
#23 4.600 
#23 4.600     geometric_shapesConfig.cmake
#23 4.600     geometric_shapes-config.cmake
#23 4.600 
#23 4.600   Add the installation prefix of "geometric_shapes" to CMAKE_PREFIX_PATH or
#23 4.600   set "geometric_shapes_DIR" to a directory containing one of the above
#23 4.600   files.  If "geometric_shapes" provides a separate development package or
#23 4.600   SDK, be sure it has been installed.
#23 4.600 
#23 4.600 
#23 4.600 ---
#23 4.600 Failed   <<< moveit_core [3.18s, exited with code 1]
#23 4.659 
#23 4.659 Summary: 0 packages finished [3.43s]
#23 4.659   1 package failed: moveit_core
#23 4.659   1 package had stderr output: moveit_core
#23 4.659   9 packages not processed
#23 ERROR: executor failed running [/bin/sh -c . $UNDERLAY_WS/install/setup.sh &&     colcon build       --symlink-install       --mixin $OVERLAY_MIXINS     || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)]: runc did not terminate sucessfully
------
 > [builder 12/14] RUN . /opt/underlay_ws/install/setup.sh &&     colcon build       --symlink-install       --mixin release ccache     || ([ -z "True" ] || exit 1):
------
failed to solve with frontend dockerfile.v0: failed to build LLB: executor failed running [/bin/sh -c . $UNDERLAY_WS/install/setup.sh &&     colcon build       --symlink-install       --mixin $OVERLAY_MIXINS     || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)]: runc did not terminate sucessfully

ruffsl · 2020-07-31T07:51:49Z

Looks like the workflow is building and testing with code coverage:

You may need to login into github to see the workflow.

moveit#188

explicitly skip keys from underlay

as rosdep is too slow to seach entire debug workspace

so rosdep doesn't attempt to install rti connext that block ci with interactive install

mergify · 2021-11-19T11:06:27Z

This pull request is in conflict. Could you fix it @ruffsl?

ruffsl · 2021-11-19T18:55:51Z

Migration to CircleCI is no longer roadmapped. However, I may follow up and refactor the Dockerfiles sometime.

This was referenced Jul 29, 2020

Simplify kdl now that kinetic support is dropped #237

Merged

Undefined reference to `boost::gregorian::greg_month::' #239

Closed

ruffsl mentioned this pull request Aug 5, 2020

Use uppercase octomap to fix header not found errors moveit/geometric_shapes#155

Closed

ruffsl added 25 commits August 18, 2020 12:23

Move .repos file

ca5936c

Clean up ignore files

58128f6

Alphabetize repositories

641f0eb

Add missing dependencies

32cf6af

Add Dockerfile

1861a08

Add and update missing repos

0a47cf0

Alphabetize repos

51fc642

Adjust workarrounds

15919b9

Don't build with --symlink-install just yet

c880a0f

moveit#188

Stage config from nav2

09b3ad0

nav2 to moveit2

e0703f3

Test with fork repo

ce2da2b

Don't build with --symlink-install just yet

342068a

moveit#188

Stage coverage script from nav2

ea52e16

nav2 to moveit2

7861af9

OMPL does not regester with ament index

008fb6e

explicitly skip keys from underlay

root ros install has no src dir

ff3c280

Search all of underlay

b84e08f

spoof src dir for root ros install underlay

8194d58

as rosdep is too slow to seach entire debug workspace

Remove old skip-keys

00e0310

Install apt-utils

c0a91be

Set DEBIAN_FRONTEND to noninteractive

d199751

Make empty src dir for ros underlay

dd97d66

so rosdep doesn't attempt to install rti connext that block ci with interactive install

Update codecov config

3d747ba

Bump up job limit

f156bb1

ruffsl added 3 commits August 18, 2020 12:37

Synk config with fixes from nav2

40d0e48

Add missing repos

0a6a1c7

Add build hooks for dockerhub

e674bdb

ruffsl force-pushed the docker2 branch from 68a30b8 to e674bdb Compare August 18, 2020 20:43

Fix checkout path

593a715

henningkayser changed the base branch from master to main September 4, 2020 12:41

ruffsl closed this Nov 19, 2021

MikeWrock pushed a commit to MikeWrock/moveit2 that referenced this pull request Aug 15, 2022

Set the keyboard Servo speed to 1.0, not 0.2 (moveit#233)

5c0d13d

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Update Docker build#233

Update Docker build#233
ruffsl wants to merge 29 commits intomoveit:mainfrom
ruffsl:docker2

ruffsl commented Jul 13, 2020

Uh oh!

ruffsl commented Jul 13, 2020

With octomap

Without octomap

Uh oh!

ruffsl commented Jul 31, 2020

Uh oh!

mergify bot commented Nov 19, 2021

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ruffsl commented Nov 19, 2021

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ruffsl commented Jul 13, 2020

Description

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ruffsl commented Jul 13, 2020

With octomap

Without octomap

Uh oh!

ruffsl commented Jul 31, 2020

Uh oh!

mergify bot commented Nov 19, 2021

Uh oh!

ruffsl commented Nov 19, 2021

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