Fix/futurize foxy dependency fixes

[hexonxons]

Fix #698

Needs to be refactored after ros2/ros2#1150

How to check if everything goes "OK":

• Build via colcon build --ament-cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DBUILD_ROSBAG2_BENCHMARKS=ON --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DBUILD_ROSBAG2_BENCHMARKS=ON
• Open build/compile_commands.json
• Test against regex -((I)|(isystem))\s*/opt(?!((/ros/foxy/src/gmock)|(/ros/foxy/src/gtest))).*-((I)|(isystem))\s*/home, where /home - first part of absolute path to local workspace

[emersonknapp]

When I tried to build this branch with the following sequence,

apt-get install ros-foxy-ros-base
source /opt/ros/foxy/setup.bash
colcon build --packages-up-to rosbag2

I still get the problem of reading globally installed dependencies before the local ones:

--- stderr: rosbag2_py
/ws/src/rosbag2/rosbag2_py/src/rosbag2_py/_reader.cpp: In member function ‘void rosbag2_py::Reader<T>::open(rosbag2_storage::StorageOptions&, rosbag2_cpp::ConverterOptions&)’:
/ws/src/rosbag2/rosbag2_py/src/rosbag2_py/_reader.cpp:47:19: error: cannot convert ‘rosbag2_storage::StorageOptions’ to ‘const rosbag2_cpp::StorageOptions&’
   47 |     reader_->open(storage_options, converter_options);
      |                   ^~~~~~~~~~~~~~~
      |                   |
      |                   rosbag2_storage::StorageOptions
In file included from /ws/src/rosbag2/rosbag2_py/src/rosbag2_py/_reader.cpp:24:
/opt/ros/foxy/include/rosbag2_cpp/reader.hpp:70:36: note:   initializing argument 1 of ‘void rosbag2_cpp::Reader::open(const rosbag2_cpp::StorageOptions&, const rosbag2_cpp::ConverterOptions&)’
   70 |   void open(const StorageOptions & storage_options, const ConverterOptions & converter_options);
      |             ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/ws/src/rosbag2/rosbag2_py/src/rosbag2_py/_reader.cpp: In function ‘std::unordered_set<std::__cxx11::basic_string<char> > rosbag2_py::get_registered_readers()’:

Note /opt/ros/foxy header for the mismatched function declaration.

Am I missing something?

[hexonxons]

@emersonknapp

Hmm, I can't reproduce on host Ubuntu 20.04 via

mkdir -p ws/src
git clone -b fix/futurize-foxy-dependency-fixes [email protected]:hexonxons/rosbag2.git ws/src/rosbag2
cd ws
source /opt/ros/foxy/setup.bash
colcon build --packages-up-to rosbag2

Also in container:

docker pull ros:foxy
mkdir -p ws/src
git clone -b fix/futurize-foxy-dependency-fixes [email protected]:hexonxons/rosbag2.git ws/src/rosbag2
docker run --pull --rm -it -v $(pwd)/ws:/ws --workdir="/ws" ros:foxy /bin/bash

# Inside container
# Not really needed. ros-foxy-ros-base is already installed
apt update && apt install -y ros-foxy-ros-base
apt update && apt install -y ros-foxy-test-msgs pybind11-dev
source /opt/ros/foxy/setup.bash
colcon build --packages-up-to rosbag2
colcon test --packages-up-to rosbag2

Everything seems okay

Did you checkout fix/futurize-foxy-dependency-fixes branch from my forked repo? Could you post git remote show origin output?

[emersonknapp]

It seems that I ran into the problem because I installed ros-foxy-pybind11-vendor instead of pybind11-dev. rosbag2_py depends on pybind11_vendor, and:

# rosdep resolve pybind11_vendor
#apt
ros-foxy-pybind11-vendor

I'll merge this into the main PR however as it is clearly much closer to the end goal

[emersonknapp]

I'll try to add an automated test case that builds while rosbag2 is installed in the underlay from apt - and we can try to figure out this one remaining issue. A user who does rosdep install --from-paths will hit this problem. It seems that if ros-foxy-pybind11-vendor is installed at all, then the rosbag2_py build picks up the /opt/ros/foxy/include path first.