Change Dart from 6.12.x to 6.13.x in Debian packaging for Ubuntu Jammy #541
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There was a discussion in #274 about |
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A possible workaround: We really don’t want to make 6.13 and 6.12 to conflict. Period. Use case A) Using the dartsim plugin (load it when launching Gazebo): we would need to get the DART 6.13 code (binary code) without touching the 6.12 files/packages. How to get 6.13 binaries without conflicting with 6.12:
Use case B) For developing on top of the dartsim plugin: I’m going to consider this use case “infrequent” since it is not usual to use a plugin to build things on top. If we are going to compile the gz-dartsim-plugin with dart 6.13 we would need 6.13 development files, otherwise problems with the ABI will arise. For going forward, the question to answer is: how to keep 6.12 dart-dev packages in a system while having the gz-dartsim-plugin compiled with 6.13? A possible answer is: we can maintain the divergence of having gz-dartsim-plugin with 6.13 and dart-dev 6.12 as far as we block the user from building (compiling/developing) things on top of this mix. For that we could use the build system (adding some CMake code to gz-physics7-dartsim-plugin-config.cmake) to stop the user from building on top of the plugin. We would consider this case not supported: if anyone wants to develop on top of the gz-physics7-dartsim-plugin she/he should uninstall dart-6.12 packages and install dart-6.13 and build from source. For allowing the divergence in the package manager, the gz-physics7 packages can declare a dependency on any of the both versions: Summarizing of changes needed:
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For case A, I like the option 1.b approach, directly shipping them inside the dartsim plugin themselves. Option 2 is also doable, the static linking should be okay (and this is actually how bazel rules do it), but I agree, still more unknowns.
Another alternative is to use DART from the colcon workspace. I find this works pretty well in that it overlays the system install of DART and already gets picked up by Edit: Thanks for summarizing all of this, a lot of moving pieces. |
1.b of including dart libs inside the
That is a great use of the overlaying provided by colcon. Not easy to understand for non advanced users but a powerful setup for experts. |
Removed in #551 . That opens the question: is there a valid use for developers that would generate code from the dartsim plugin that has no public headers? Because we are generating the buildsystem helpers (CMake + pkgconfig) to facilitate that use case. If there is no use case, we either don't package the helpers and remove the |
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Continuing from #551 (comment)
Without any public headers, I don't see a way downstream users can build on top of this. And I don't think that's really a use case we have in mind for the gz-physics plugins anyway. @scpeters ? |
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In the Gazebo weekly meeting we decide to support the Option 1) version 1.a that builds gz-physics7 on top of DART 6.13 and package the DART 6.13 libraries separated:
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I think there is a use case for 3rd parties to supply header files with the API definitions of custom features, though they shouldn't use engine-specific types like we had in the dartsim World.hh file. We haven't yet finished the user story for custom features, but that's the one thing that comes to mind |
Per discussion in gazebosim/gz-physics#541 (comment) Signed-off-by: Jose Luis Rivero <[email protected]>
Per discussion in gazebosim/gz-physics#541 (comment) Signed-off-by: Jose Luis Rivero <[email protected]>
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So we can probably ignore the CMake/pkg-config files by now and remove the |
Move the -dev files to the libgz-phsyics-dev packages since they does not allow to develop on top of the dartsim plugin but to check if the dartsim plugin is installed. Per discussion in gazebosim/gz-physics#541 (comment) Signed-off-by: Jose Luis Rivero <[email protected]>
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I tried to build gz-physics (with tests) after installing Manually installing |
Makes sense your expectations. Looking at the code of the Debian official package: Are the ones lincluded in the -dev-all package, skipping |
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Okay, then maybe the fix for now is to not include |
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We can close the issue since the change to 6.13.x was done. |
Current situation
The different package managers that use gz-physics to install the DART dependency have different versions available.
At the time of writting:
The developer team would prefer to get rid of the 6.12.x version and move the Debian packages to the 6.13.x for the Ubuntu Jammy distribution. This has several problems:
Source code using DART
After checking links (
ldd $lib) and binary symbols (nm -D $lib) in the gazebo libs, I'm think that the gz-physics source code that users DART is limited to the generation of the gz-physics dart plugin. The plugin is not linked against any other lib or being used in other compilation unit.gz-physics dart packages
libgz-physics7-dartsim-dev: mainly CMake/pkg-config stuff and symlinks of the plugins (the .so files are no more than symlinks). The real file interesting here is
/usr/include/gz/physics7/gz/physics/dartsim/World.hhlibgz-physics7-dartsim: real binary plugins and two symblinks
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