abencz's profile - activity

Hi,

I'm trying to release the clearpath_husky package on electric. The pre-release builds pass (see here and here, but the source debian build fails on oneiric. I receive the following email:

Stack [clearpath_husky-0.2.1] in distro [electric] succeeded on the following OS platforms:
['lucid', 'maverick', 'natty']

================================================================================
ERRORS
================================================================================
Stack [clearpath_husky-0.2.1] in distro [electric] failed to build on the following OS platforms:
['oneiric']

[oneiric]: stack [clearpath_husky] does not have valid debian package dependencies for release [oneiric]
================================================================================

Using rosmake and rosdep on an oneiric machine seems to resolve all dependencies correctly and build this package without issue. I'm not sure where to go from here in terms of troubleshooting. Can I simulate the ROS build pipeline locally to see what the source of the error is?

Edit: To clarify, everything works fine on my machine the error only occurs when the release has been submitted to the ROS servers. The create.py script also runs just fine and produces no error output.

Answered my own question by looking at the code :P

No it's not possible at the moment to do this from a script/launch file, rqt_rviz initializes the RViz frame with no configuration file argument at all. However, if you're willing to modify the rqt_rviz C++ code, it's a trivial matter of adding a filename (or better yet a ros parameter) as an argument to _widget->initialize() in RViz::initPlugin. Likewise the menu bar can be removed by deleting the call to _widget->setMenuBar().

void RViz::initPlugin(qt_gui_cpp::PluginContext& context)
{
  context_ = &context;

  // prevent output of Ogre stuff to console
  Ogre::LogManager* log_manager = Ogre::LogManager::getSingletonPtr();
  if (!log_manager)
  {
    log_manager = new Ogre::LogManager();
  }
  QString filename = QString("rqt_rviz_ogre") + (context.serialNumber() > 1 ? QString::number(context.serialNumber()) : QString("")) + QString(".log");
  log_ = log_manager->createLog(filename.toStdString().c_str(), false, false);

  widget_ = new rviz::VisualizationFrame();

  // create own menu bar to disable native menu bars on Unity and Mac
  QMenuBar* menu_bar = new QMenuBar();
  menu_bar->setNativeMenuBar(false);
  //widget_->setMenuBar(menu_bar);

  widget_->initialize("my_config.rviz");

  ...

We’re planning to use rqt_rviz as part of a laymen-facing robot GUI. The current plan is to create a .rviz configuration for RViz that limits what ROS stuff the user sees and then use rqt_rviz with additional rqt plugins to provide an integrated UI. Ideally the RViz menu bar would not be visible to the user either.

Is it possible to load the rqt_rviz plugin with an RViz config file? Also, is there an easy way to remove the menu bar from the rqt_rviz plugin?

Seeing the same as well when compiling husky_simulator in fuerte on 12.04. The same package on the same machine works fine in groovy.

Besides launching Gazebo and robot.launch at the same time I've found two (very hacky) solutions to the problem of an incomplete Turtlebot model in Fuerte.

Solution 1

After launching turtlebot_world.launch and adding the turtlebot, close the GUI. This should not close the Gazebo server, just the GUI component.

Now you can re-open the GUI from another terminal window by typing rosrun gazebo gui. This will not work every time, but I find that after relaunching the GUI window a few times the entire turtlebot appears.

Solution 2

Find the Turtlebot URDF file

roscd turtlebot_description/urdf

Now modify the turtlebot urdf to remove the "hardware" (supports and such).

vim turtlebot.urdf.xarcro

Comment out the line that includes the hardware urdf file - the result should look something like this:

<?xml version="1.0"?>

<robot name="turtlebot"
       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://ros.org/wiki/xacro">
    <!--
    <include filename="$(find turtlebot_description)/urdf/turtlebot_hardware.urdf.xacro" />
    -->
    <include filename="$(find turtlebot_description)/urdf/turtlebot_body.urdf.xacro" />
    <include filename="$(find turtlebot_description)/urdf/turtlebot_calibration.xacro" />
    <include filename="$(find turtlebot_description)/urdf/turtlebot_kinect.urdf.xacro" />

    <property name="M_PI" value="3.14159"/>  <property name="SCALE" value="0.0254"/>

    <!-- Body of TurtleBot, with plates, standoffs and Create (including sim sensors) -->
    <turtlebot_body/>

    <!-- Kinect frames and mounting (includes simulation) -->
    <turtlebot_kinect/>
</robot>

Note that this will result in the turtlebot being rendered without standoffs between the plates, however the simulation seems to work just fine without these.

The repository is at <https://code.google.com/p/clearpath-ros-pkg/source/browse/#svn%2Ftrunk%2Fclearpath_common>. If you look at stack.xml, one of the dependencies is indeed, "ros" <https://code.google.com/p/clearpath-ros-pkg/source/browse/trunk/clearpath_common/stack.xml>.

When submitting my stack for pre-release builds, I'm getting similar errors for all packages in the stack.

  [rosbuild] Cached build flags older than manifests; calling rospack to get flags
  Failed to invoke /opt/ros/fuerte/bin/rospack cflags-only-I;--deps-only clearpath_sensors
  sh: pkg-config: not found

  CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:129 (message):

    Failed to invoke rospack to get compile flags for package
    'clearpath_sensors'.  Look above for errors from rospack itself.  Aborting.
    Please fix the broken dependency!

  Call Stack (most recent call first):
    /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:227 (rosbuild_invoke_rospack)
    CMakeLists.txt:12 (rosbuild_init)

Rospack fails, and from what I gather it's caused by an error in pkg-config. I've tried running the displayed rospack command (/opt/ros/fuerte/bin/rospack cflags-only-I --deps-only clearpath_sensors) against these packages on my own machine and this works fine. Running rosmake locally also works correctly. What am I missing?

The console log for this pre-release run can be found on the Hudson server.

Frustratingly, everything works fine on devel_fuerte. It's only the pre-release build that's failing.

Any insight would be appreciated.