"Futurize" foxy-future branch #687

emersonknapp · 2021-03-19T19:39:15Z

Resolves #777
Part of #657

Notes:

Some copy-pasted code from the Galactic core that is not present in Foxy for the utilities in here.
Some minor API tweaks for things that changed since Foxy
Add information to the README about this special branch
Add a notice to the ros2bag CLI that informs you that you're using this version

See https://discourse.ros.org/t/fast-forward-merging-rosbag2-master-api-to-foxy/18927/38 for more context

emersonknapp · 2021-03-22T21:46:51Z

It builds all the way through right now, but still having test failures - I think mostly related to plugins

zmichaels11

LGTM with green CI.

ros-discourse · 2021-03-25T18:28:38Z

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

https://discourse.ros.org/t/fast-forward-merging-rosbag2-master-api-to-foxy/18927/43

hexonxons · 2021-03-28T09:57:10Z

Change all package names to *_future and add <conflict> tag for original package name

Won't <conflict> tag brake packages which depends on rosbag2 already? Like

root@df084f762237:/# apt-cache depends ros-foxy-ros-base
ros-foxy-ros-base
  Depends: ros-foxy-geometry2
  Depends: ros-foxy-kdl-parser
  Depends: ros-foxy-robot-state-publisher
  Depends: ros-foxy-ros-core
  Depends: ros-foxy-rosbag2
  Depends: ros-foxy-urdf
  Depends: ros-foxy-ros-workspace

JWhitleyWork · 2021-04-15T22:43:07Z

Any updates to this? There are lots of requests for this to be available in Foxy and there is a sync coming up tomorrow (I know we won't make this).

jfinken · 2021-05-05T14:50:00Z

End-user questions if I may.

I believe I am directly impacted by this (dropped messages in Foxy rosbags)
I have no scripts written around ros2 bag *
I have no code written around a current or future rosbag2 API

So, is it is possible for me to just run the emersonknapp/futurize-foxy branch? E.g. ros2 bag-future *? If so, how? I've built the branch but am unclear how to cleanly run the (new?) verb via the ros2cli.

I've built ROS2-foxy from source, could I set aside /opt/ros/foxy/install/rosbag2* and/or symlink in the shared libs from my dedicated rosbag2-future overlay workspace?

Thanks in advance.

emersonknapp · 2021-05-05T18:25:54Z

This branch currently still registers the verb as ros2 bag. I'm not 100% certain, but i think the last-loaded one takes priority, so your overlay workspace should be the thing that gets called after you build and source it.

emersonknapp · 2021-06-04T20:39:56Z

I'll be taking another pass at this in the next week, to make it an officially supported Foxy-compatible source branch for users to build if they want more improvements than can be backported.

emersonknapp · 2021-06-10T01:30:58Z

Hello rosbag2 developers! I have updated the description, and this branch - to the final effect that we discussed. I could use a re-review so we can put the official branch in front of people to use for their Foxy projects.

@Karsten1987 @mjeronimo @MichaelOrlov @jhdcs @zmichaels11 much obliged for any eyes on this!

jhdcs

Looks good to me. Only some style issues that I could notice.

rosbag2_transport/src/rosbag2_transport/qos.cpp

rosbag2_transport/test/rosbag2_transport/test_qos.cpp

emersonknapp · 2021-06-10T15:36:28Z

@jhdcs thanks for being thorough - but these are literal copy-pastes for compatibility, from C code - introduced to RMW in ros2/rmw#301. I won't be modifying them for style

README.md

ros2bag/ros2bag/command/bag.py

rosbag2_transport/src/rosbag2_transport/qos.cpp

Karsten1987 · 2021-06-10T15:59:10Z

Can you trigger a full Foxy CI on the future branch?

rosbag2_transport/src/rosbag2_transport/qos.cpp

…tool Signed-off-by: Emerson Knapp <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

Signed-off-by: Emerson Knapp <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

* Kludge: add transitive dependencies for rosbag2_cpp * Kludge: add transitive dependencies for rosbag2_compression_zstd * Kludge: add transitive dependencies for rosbag2_compression * Kludge: add transitive dependencies for rosbag2_transport * Kludge: add transitive dependencies for rosbag2_tests Signed-off-by: Aleksandr Rozhdestvenskii <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp · 2021-06-16T00:51:02Z

OK - I've set up the Action CI to build with rosbag2 Foxy in the global underlay. You can see the rosbag2_py failure there now in build_and_test - this will help us validate the CMake fixes before sending off to the Jenkins farm.

The last remaining problem, as discussed on #780 is that if ros-foxy-pybind11-vendor is installed, then rosbag2_py picks up the /opt/ros/foxy/include directories first.

emersonknapp · 2021-06-17T16:05:17Z

@hexonxons do you have any ideas about the pybind11-vendor issue, none of my attempts (so far) has yielded a solution

ros-discourse · 2021-06-17T18:48:13Z

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

https://discourse.ros.org/t/fast-forward-merging-rosbag2-master-api-to-foxy/18927/48

hexonxons · 2021-06-17T19:37:17Z

@emersonknapp
Seems fixed in #783, could you check it please?

Signed-off-by: Aleksandr Rozhdestvenskii <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp · 2021-06-17T20:15:57Z

Action CI green and ready to rumble! Thanks @hexonxons very much for the help

Running Foxy CI now (@Karsten1987 did you have any specific arguments in mind other than the ones I did here?)

Linux
Linux-aarch64
macOS
Windows

emersonknapp · 2021-06-17T20:38:29Z

Retry, had to add pybind11_vendor to the .repos list, since it's not part of the default Foxy list

Linux
Linux-aarch64
macOS
Windows

emersonknapp · 2021-06-18T18:24:36Z

Windows CMake warnings are not a concern - one is unrelated and the other is harmless. Since this is not build on ci.ros2.org, it'll only be witnessed as a single CMake warning by people building this branch on Windows.

ros-discourse · 2021-06-21T21:14:51Z

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

https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2021-06-17/21017/1

JWhitleyWork · 2021-06-21T21:29:58Z

Does this now require a PR to ros/rosdistro to release it as rosbag2-future?

emersonknapp · 2021-06-21T23:06:22Z

No. This branch will not be released as a binary, you need to build it from source if you want to use it. See the README for more information.

emersonknapp requested a review from a team as a code owner March 19, 2021 19:39

emersonknapp requested review from mjeronimo and Karsten1987 and removed request for a team March 19, 2021 19:39

emersonknapp changed the base branch from master to foxy-future March 19, 2021 19:39

emersonknapp requested review from prajakta-gokhale and zmichaels11 March 19, 2021 20:39

emersonknapp marked this pull request as draft March 22, 2021 21:46

emersonknapp force-pushed the emersonknapp/futurize-foxy branch from fc59964 to 5717e63 Compare March 22, 2021 21:47

emersonknapp marked this pull request as ready for review March 23, 2021 00:27

zmichaels11 approved these changes Mar 23, 2021

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prajakta-gokhale approved these changes Mar 23, 2021

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emersonknapp mentioned this pull request Mar 24, 2021

Backport performance improvements to Foxy #657

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7 tasks

hexonxons mentioned this pull request Mar 28, 2021

Wrong include directories order #698

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This was referenced Apr 1, 2021

Unable to build rosbag2_storage #706

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Add pybind11_vendor to ros2.repos for Foxy ros2/ros2#1088

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emersonknapp force-pushed the foxy-future branch from e1571b5 to 1aba66f Compare June 10, 2021 01:25

emersonknapp force-pushed the emersonknapp/futurize-foxy branch from d03be40 to 94798b4 Compare June 10, 2021 01:25

emersonknapp requested review from prajakta-gokhale and zmichaels11 June 10, 2021 01:27

jhdcs requested changes Jun 10, 2021

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Karsten1987 approved these changes Jun 10, 2021

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jhdcs approved these changes Jun 10, 2021

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zmichaels11 approved these changes Jun 10, 2021

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hexonxons mentioned this pull request Jun 11, 2021

Overlaying packages using CMake export targets can fail with merge install underlay ros2/ros2#1150

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emersonknapp and others added 5 commits June 15, 2021 17:41

Foxy compatibility - README update for usage - and notice in the CLI …

c8607a3

…tool Signed-off-by: Emerson Knapp <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

Add note of C code origin

94655a0

Signed-off-by: Emerson Knapp <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

Address some review comments

e4f67c2

Signed-off-by: Emerson Knapp <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

try to run the build overlayed on Foxy rosbag2 binaries

dec7bde

Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp force-pushed the emersonknapp/futurize-foxy branch from 24f2e21 to dec7bde Compare June 16, 2021 00:41

Kludge: fix pybind include path for rosbag2_py (#783)

d4f31d8

Signed-off-by: Aleksandr Rozhdestvenskii <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

emersonknapp force-pushed the emersonknapp/futurize-foxy branch from 4223336 to d4f31d8 Compare June 17, 2021 20:02

emersonknapp merged commit b7c3b21 into foxy-future Jun 18, 2021

delete-merged-branch bot deleted the emersonknapp/futurize-foxy branch June 18, 2021 18:25

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"Futurize" foxy-future branch #687

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"Futurize" foxy-future branch #687

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