Jazzy migration #628
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Jazzy migration #628
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TODO: Fix cppformat in Jazzy |
Flova
commented
Nov 24, 2024
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The CI seems to fail due to floating point errors in the team_communication. |
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I've adjusted the |
starting from `~` instead of using the whole path
to prevent issues when interacting with the repository both from within the container and outside the container, due to permissions not being correct
in `Dockerfile`, because the `updateRemoteUserUID` setting of the devcontainer does not change the `GID` of the `containerUser` dynamically to the one of the host user if the group exists in the container already microsoft/vscode-remote-release#2402. In our case the `containerUser` is set to `bitbots`, because it automatically uses the last `USER` instruction from the `Dockerfile` and the `remoteUser` inherits from `containerUser`. For reference see: microsoft/vscode-remote-release#1155
as with upgrade to jazzy or packages floating point handling seems to have changed slightly
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TODO after merge: Revert #634 |
to ensure that the CI `colcon test` run works, because with a change to python 3.12 the `unittest` standard library used by default with colcon now exits with an error code of 5 for an empty test suite. See: colcon/colcon-core#678 See: python/cpython#102051
When using the colcon `--symlink-install` flag (as we usually do),
one gets shown the following huge warning for every Python-package:
```
/usr/lib/python3/dist-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated.
!!
********************************************************************************
Please avoid running ``setup.py`` and ``easy_install``.
Instead, use pypa/build, pypa/installer or other
standards-based tools.
See pypa/setuptools#917 for details.
********************************************************************************
!!
easy_install.initialize_options(self)
---
```
Has been solved by: ros2/ros2#1577 (comment)
This resolves the following cmake warning, that seems to appear when pybind is in use: ``` lto-wrapper: warning: using serial compilation of 2 LTRANS jobs lto-wrapper: note: see the ‘-flto’ option documentation for more information ```
``` --- stderr: bitbots_webots_sim CMake Warning at /opt/ros/jazzy/share/gazebo_msgs/cmake/gazebo_msgs-extras.cmake:6 (message): This gazebo_msgs package hosts messages designed initially for Gazebo Classic which is not available on ROS 2 Jazzy which is unavailable on ROS 2 Jazzy. The new Gazebo uses the ros_gz bridge message vailable at:https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge#bridge-communication-between-ros-and-gazebo To avoid this warning and use this Gazebo Classic messages anyway you can use flag -DIGNORE_GAZEBO_MSGS_WARNING Call Stack (most recent call first): /opt/ros/jazzy/share/gazebo_msgs/cmake/gazebo_msgsConfig.cmake:41 (include) CMakeLists.txt:18 (find_package) ```
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Uff, why was this pyi stuff in cmakelists necessary? |
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Protobuf generates Python code. That Python code makes mypy unhappy. But we can not exclude it, because ros2 fucked up it's mypy configuration by adding another layer on top of it. So we need to generate stubs for the protobuf messages, which is better either way, as you also get better ide support with it. These are the .pyi files. And because ament_mypy is broken in another way it does not recognize stub files. This was fixed last week in rolling, but it is not available yet. We therefore need to manually discover all necessary files in our cmake and pass them to ament_mypy |
with https://github.com/bit-bots/hlvs_webots to run simulated games in containers either locally or distributed over multiple machines
which is required for correct typing with jaxtypes and ndarrays (see: astral-sh/ruff#13121). This is done, by disabling ruff rule [UP037]. [UP037]: https://docs.astral.sh/ruff/rules/quoted-annotation/
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This reverts commit 5d1cad1.
which was not held consistent with the `robot.urdf` joint limits
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Flova
commented
Apr 10, 2025
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Could we separate this into a different PR? This is a new feature and needs to be tested differently performance wise. Also things like catching might need to be implemented.
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