Fix Windows build follow up and enable more Windows packages #143

traversaro · 2024-02-13T20:21:24Z

Remove a regression of #141 .

traversaro · 2024-02-13T22:08:04Z

I tried to enable a couple new package, now failing with:

fetch: 3 objects found, done.
fetch: Fetching all references...
batch response: This repository is over its data quota. Account responsible for LFS bandwidth should purchase more data packs to restore access.
error: failed to fetch some objects from 'https://github.com/ros2-gbp/moveit_resources-release.git/info/lfs'
fatal: destination path 'C:\Users\runneradmin\micromamba\envs\testpr_env\conda-bld\git_cache\github.com\ros2-gbp\moveit_resources-release.git' already exists and is not an empty directory.
Traceback (most recent call last):
  File "C:\Users\runneradmin\micromamba\envs\testpr_env\Lib\site-packages\conda_build\source.py", line 322, in git_mirror_checkout_recursive
    git_lfs_fetch(git, mirror_dir, stdout, stderr)
  File "C:\Users\runneradmin\micromamba\envs\testpr_env\Lib\site-packages\conda_build\source.py", line 215, in git_lfs_fetch
    check_call_env(
  File "C:\Users\runneradmin\micromamba\envs\testpr_env\Lib\site-packages\conda_build\utils.py", line 445, in check_call_env
    return _func_defaulting_env_to_os_environ("call", *popenargs, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\runneradmin\micromamba\envs\testpr_env\Lib\site-packages\conda_build\utils.py", line 436, in _func_defaulting_env_to_os_environ
    subprocess.check_call(_args, **kwargs)
  File "C:\Users\runneradmin\micromamba\envs\testpr_env\Lib\subprocess.py", line 413, in check_call
    raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['C:\\Program Files\\Git\\cmd\\git.exe', 'lfs', 'fetch', 'origin', '--all']' returned non-zero exit status 2.

During handling of the above exception, another exception occurred:

That I guess is already tracked in ros2-gbp/moveit_resources-release#1 .

traversaro · 2024-02-13T22:56:04Z

2024-02-13T22:50:33.6748965Z RuntimeError: Solver could not find solution.Mamba failed to solve:
2024-02-13T22:50:33.6749430Z  - gflags 2.2.*
2024-02-13T22:50:33.6749677Z  - libignition-gazebo6
2024-02-13T22:50:33.6749917Z  - libignition-math6
2024-02-13T22:50:33.6750148Z  - numpy 1.23.*
2024-02-13T22:50:33.6750351Z  - pip
2024-02-13T22:50:33.6750531Z  - pkg-config
2024-02-13T22:50:33.6750735Z  - pkg-config
2024-02-13T22:50:33.6750943Z  - python 3.11.* *_cpython
2024-02-13T22:50:33.6751200Z  - ros-humble-ament-cmake
2024-02-13T22:50:33.6751475Z  - ros-humble-ament-index-python
2024-02-13T22:50:33.6751772Z  - ros-humble-ament-lint-auto
2024-02-13T22:50:33.6752053Z  - ros-humble-ament-lint-common
2024-02-13T22:50:33.6752342Z  - ros-humble-rclcpp
2024-02-13T22:50:33.6752590Z  - ros-humble-ros-environment
2024-02-13T22:50:33.6752861Z  - ros-humble-ros-workspace
2024-02-13T22:50:33.6753121Z  - ros-humble-std-msgs
2024-02-13T22:50:33.6753381Z  - ros2-distro-mutex 0.5.* humble
2024-02-13T22:50:33.6753649Z  - vc >=14.2,<15
2024-02-13T22:50:33.6753871Z  - vc14_runtime >=14.29.30139
2024-02-13T22:50:33.6754124Z  - ucrt >=10.0.20348.0
2024-02-13T22:50:33.6754270Z 
2024-02-13T22:50:33.6754348Z with channels:
2024-02-13T22:50:33.6754516Z 
2024-02-13T22:50:33.6754606Z The reported errors are:
2024-02-13T22:50:33.6754883Z - Encountered problems while solving:
2024-02-13T22:50:33.6755343Z -   - package libignition-gazebo6-6.0.0-hf633310_0 requires tinyxml2 
2024-02-13T22:50:33.6755881Z >=9.0.0,<10.0a0, but none of the providers can be installed
2024-02-13T22:50:33.6756245Z -

traversaro · 2024-02-13T22:59:16Z

2024-02-13T22:50:33.6748965Z RuntimeError: Solver could not find solution.Mamba failed to solve:
2024-02-13T22:50:33.6749430Z  - gflags 2.2.*
2024-02-13T22:50:33.6749677Z  - libignition-gazebo6
2024-02-13T22:50:33.6749917Z  - libignition-math6
2024-02-13T22:50:33.6750148Z  - numpy 1.23.*
2024-02-13T22:50:33.6750351Z  - pip
2024-02-13T22:50:33.6750531Z  - pkg-config
2024-02-13T22:50:33.6750735Z  - pkg-config
2024-02-13T22:50:33.6750943Z  - python 3.11.* *_cpython
2024-02-13T22:50:33.6751200Z  - ros-humble-ament-cmake
2024-02-13T22:50:33.6751475Z  - ros-humble-ament-index-python
2024-02-13T22:50:33.6751772Z  - ros-humble-ament-lint-auto
2024-02-13T22:50:33.6752053Z  - ros-humble-ament-lint-common
2024-02-13T22:50:33.6752342Z  - ros-humble-rclcpp
2024-02-13T22:50:33.6752590Z  - ros-humble-ros-environment
2024-02-13T22:50:33.6752861Z  - ros-humble-ros-workspace
2024-02-13T22:50:33.6753121Z  - ros-humble-std-msgs
2024-02-13T22:50:33.6753381Z  - ros2-distro-mutex 0.5.* humble
2024-02-13T22:50:33.6753649Z  - vc >=14.2,<15
2024-02-13T22:50:33.6753871Z  - vc14_runtime >=14.29.30139
2024-02-13T22:50:33.6754124Z  - ucrt >=10.0.20348.0
2024-02-13T22:50:33.6754270Z 
2024-02-13T22:50:33.6754348Z with channels:
2024-02-13T22:50:33.6754516Z 
2024-02-13T22:50:33.6754606Z The reported errors are:
2024-02-13T22:50:33.6754883Z - Encountered problems while solving:
2024-02-13T22:50:33.6755343Z -   - package libignition-gazebo6-6.0.0-hf633310_0 requires tinyxml2 
2024-02-13T22:50:33.6755881Z >=9.0.0,<10.0a0, but none of the providers can be installed
2024-02-13T22:50:33.6756245Z -

This is a consequence of conda-forge/libignition-gazebo-feedstock#59 (comment) and conda-forge/dartsim-feedstock#43 (comment) .

Tobias-Fischer · 2024-02-14T03:29:25Z

It's very odd - on buildbranch_win, we're failing with:

C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__struct.hpp(143,28): error C2059: syntax error: 'constant' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__struct.hpp(216): message : see reference to class template instantiation 'controller_manager_msgs::srv::SwitchController_Request_<ContainerAllocator>' being compiled [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__struct.hpp(144,1): error C2238: unexpected token(s) preceding ';' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__struct.hpp(231,66): error C2589: 'constant': illegal token on right side of '::' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__struct.hpp(231): error C2062: type 'unknown-type' unexpected [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(28,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(44,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(60,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(76,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(92,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(108,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(124,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]
C:/bld/ros-humble-gazebo-ros2-control-0_1707878560410/_h_env/Library/include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__builder.hpp(140,3): error C2059: syntax error: ':' [%SRC_DIR%\build\gazebo_ros2_control.vcxproj]

This does not seem to happen here. I have no idea what the difference is. I already patched some other stuff in gazebo-ros2-control, see https://github.com/RoboStack/ros-humble/blob/main/patch/ros-humble-gazebo-ros2-control.patch

Any idea what this one is about @traversaro?

traversaro · 2024-02-14T08:29:32Z

For reference, this is the related code in include/controller_manager_msgs\controller_manager_msgs/srv/detail/switch_controller__struct.hpp:

  // constant declarations
  static constexpr int32_t BEST_EFFORT =
    1;
  static constexpr int32_t STRICT =
    2;

where in particular the static constexpr int32_t STRICT = is line 143 . Apparently STRICT is a Windows macro (see https://learn.microsoft.com/en-us/windows/win32/winprog/enabling-strict), so I guess there is some subtle difference for which that symbols get defined in azure and not in GitHub Actions (perhaps some difference in Windows SDK or Compiler version, thank changes the transitive include included?).

Tobias-Fischer · 2024-02-14T09:23:45Z

We use GitHub actions for both PRs and the main branches these days. We should add the cleanup path action to the generate gha script in vinca, maybe that would help?

traversaro · 2024-02-14T09:49:18Z

We use GitHub actions for both PRs and the main branches these days. We should add the cleanup path action to the generate gha script in vinca, maybe that would help?

Good point, I forgot that. We already do something similar to that in

ros-humble/.github/workflows/win.yml

Lines 47 to 60 in e1cbca3

    
                   :: Remove some directories from PATH 
        
                   set "PATH=%PATH:C:\\ProgramData\\Chocolatey\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Program Files (x86)\\sbt\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Rust\\.cargo\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Program Files\\Git\\usr\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Program Files\\Git\\cmd;=%" 
        
                   set "PATH=%PATH:C:\\Program Files\\Git\\mingw64\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Program Files (x86)\\Subversion\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Program Files\\CMake\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Program Files\\OpenSSL\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Strawberry\\c\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Strawberry\\perl\\bin;=%" 
        
                   set "PATH=%PATH:C:\\Strawberry\\perl\\site\\bin;=%" 
        
                   set "PATH=%PATH:c:\\tools\\php;=%"

, but I can't see how this is related. Something that may be more related is

ros-humble/.github/workflows/win.yml

Line 110 in e1cbca3

rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"

. The logic of CMake (if I recall correctly) is to use the older Windows SDK it founds. Perhaps the Windows SDK that we remove is the one that works? At least for try we can remove the same SDK in the PR and check if we have the same problem.

traversaro · 2024-02-14T09:50:24Z

By the way, now also in the PR we have a similar (but different) failure:

2024-02-14T08:51:35.9409115Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include/ignition/math6\gz/math/Vector3.hh(770): message : see declaration of 'ignition::math::v6::Vector3<double>' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9413840Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/types/hardware_interface_return_values.hpp(25,3): error C2143: syntax error: missing '}' before 'constant' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9417494Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/types/hardware_interface_return_values.hpp(25,3): error C2059: syntax error: 'constant' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9421388Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/types/hardware_interface_return_values.hpp(26,1): error C2143: syntax error: missing ';' before '}' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9425381Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/types/hardware_interface_return_values.hpp(28,1): error C2059: syntax error: '}' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9429271Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/types/hardware_interface_return_values.hpp(28,1): error C2143: syntax error: missing ';' before '}' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9433248Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/types/lifecycle_state_names.hpp(23,1): error C2143: syntax error: missing ';' before '{' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9437230Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/types/lifecycle_state_names.hpp(23,1): error C2447: '{': missing function header (old-style formal list?) [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9441262Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/system_interface.hpp(77,58): error C2653: 'lifecycle_state_names': is not a class or namespace name [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9445065Z C:/Users/runneradmin/micromamba/envs/testpr_env/conda-bld/ros-0_1707899074550/_h_env/Library/include\hardware_interface/system_interface.hpp(77,81): error C2065: 'UNKNOWN': undeclared identifier [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]
2024-02-14T08:51:35.9449324Z %PREFIX%\Library\include\gazebo-11\gazebo/sensors/Sensor.hh(53,5): warning C4251: 'std::enable_shared_from_this<gazebo::sensors::Sensor>::_Wptr': class 'std::weak_ptr<_Ty>' needs to have dll-interface to be used by clients of class 'std::enable_shared_from_this<gazebo::sensors::Sensor>' [%SRC_DIR%\build\gazebo_hardware_plugins.vcxproj]

Tobias-Fischer · 2024-02-14T10:06:51Z

It seems like this is the good old issue of a polluted global namespace, in this case ERROR:
https://github.com/ros-controls/ros2_control/blob/7ea4f4dd0686d3306889c6149430893be5156fec/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp#L25

traversaro added 5 commits February 13, 2024 21:18

testpr GitHub Action Workflow: Fix location of cleanup-path action

9bbf637

Update testpr.yml

8473a8a

Update testpr.yml

3e939ea

Update testpr.yml

f020dc1

Enable more Windows packages

75b0a32

traversaro changed the title ~~Fix Windows build follow up~~ Fix Windows build follow up and enable more Windows packages Feb 13, 2024

Update vinca_win.yaml

aea0d7f

Update vinca_win.yaml

afd440e

traversaro added 2 commits February 14, 2024 09:15

Add back all packages to vinca_win.yaml

ebef21d

Trigger build

5b03f1e

Tobias-Fischer added 8 commits February 15, 2024 05:19

Update ros-humble-hardware-interface.patch

4d5d15c

No need to clean path anymore after RoboStack/vinca@00e93d6

5f65a30

Merge branch 'main' into traversaro-patch-1

131e60d

Update ros-humble-gazebo-ros2-control.patch

01e088f

Update ros-humble-gazebo-ros2-control.patch

1c3e44f

Update ros-humble-gazebo-ros2-control.patch

984c506

Debug: only gazebo-ros2-control

577aaaa

Update ros-humble-gazebo-ros2-control.patch

f874993

Tobias-Fischer closed this Feb 15, 2024

Tobias-Fischer reopened this Feb 15, 2024

Simplify patch

7ddc4d7

More pkgs

b2d4bcf

Tobias-Fischer merged commit b82bc56 into main Feb 15, 2024
5 checks passed

Tobias-Fischer deleted the traversaro-patch-1 branch February 15, 2024 03:57

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Fix Windows build follow up and enable more Windows packages #143

Fix Windows build follow up and enable more Windows packages #143

traversaro commented Feb 13, 2024

traversaro commented Feb 13, 2024

traversaro commented Feb 13, 2024

traversaro commented Feb 13, 2024

Tobias-Fischer commented Feb 14, 2024

traversaro commented Feb 14, 2024

Tobias-Fischer commented Feb 14, 2024

traversaro commented Feb 14, 2024

traversaro commented Feb 14, 2024

Tobias-Fischer commented Feb 14, 2024

Fix Windows build follow up and enable more Windows packages #143

Fix Windows build follow up and enable more Windows packages #143

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