Update galactic branch

[Yadunund]

This PR

1. Merges in latest main into galactic
2. Updates the rmf.repos file to checkout galactic-devel branches of the Open-RMF repos which has recently been created.

Moving forward main will be supported on humble. See #165
We can add instructions to that PR to inform users to use the galactic version of the rmf.repos file if the would like to build Open-RMF from source + galactic

[luca-della-vedova]

Nightly fails for some issue with Python3 requests, unrelated to this PR, stack trace here for reference:

2022-09-08T02:25:54.4520766Z Traceback (most recent call last):
2022-09-08T02:25:54.4521136Z   File "/__w/rmf/rmf/ros_ws/install/rmf_building_map_tools/lib/rmf_building_map_tools/building_map_generator", line 33, in <module>
2022-09-08T02:25:54.4521718Z     sys.exit(load_entry_point('rmf-building-map-tools', 'console_scripts', 'building_map_generator')())
2022-09-08T02:25:54.4522202Z   File "/__w/rmf/rmf/ros_ws/install/rmf_building_map_tools/lib/rmf_building_map_tools/building_map_generator", line 25, in importlib_load_entry_point
2022-09-08T02:25:54.4522566Z     return next(matches).load()
2022-09-08T02:25:54.4522862Z   File "/usr/lib/python3.8/importlib/metadata.py", line 77, in load
2022-09-08T02:25:54.4523232Z     module = import_module(match.group('module'))
2022-09-08T02:25:54.4523549Z   File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
2022-09-08T02:25:54.4523951Z     return _bootstrap._gcd_import(name[level:], package, level)
2022-09-08T02:25:54.4524259Z   File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
2022-09-08T02:25:54.4524580Z   File "<frozen importlib._bootstrap>", line 991, in _find_and_load
2022-09-08T02:25:54.4524912Z   File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
2022-09-08T02:25:54.4525336Z   File "<frozen importlib._bootstrap>", line 671, in _load_unlocked
2022-09-08T02:25:54.4525656Z   File "<frozen importlib._bootstrap_external>", line 848, in exec_module
2022-09-08T02:25:54.4526003Z   File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
2022-09-08T02:25:54.4526417Z   File "/__w/rmf/rmf/ros_ws/build/rmf_building_map_tools/building_map_generator/building_map_generator.py", line 3, in <module>
2022-09-08T02:25:54.4526780Z     from building_map.generator import Generator
2022-09-08T02:25:54.4527141Z   File "/__w/rmf/rmf/ros_ws/build/rmf_building_map_tools/building_map/generator.py", line 4, in <module>
2022-09-08T02:25:54.4527463Z     from .building import Building
2022-09-08T02:25:54.4527799Z   File "/__w/rmf/rmf/ros_ws/build/rmf_building_map_tools/building_map/building.py", line 20, in <module>
2022-09-08T02:25:54.4528099Z     from .level import Level
2022-09-08T02:25:54.4528429Z   File "/__w/rmf/rmf/ros_ws/build/rmf_building_map_tools/building_map/level.py", line 15, in <module>
2022-09-08T02:25:54.4528736Z     from .floor import Floor
2022-09-08T02:25:54.4529036Z   File "/__w/rmf/rmf/ros_ws/build/rmf_building_map_tools/building_map/floor.py", line 9, in <module>
2022-09-08T02:25:54.4529401Z     from .material_utils import (add_pbr_material, get_pbr_textures,
2022-09-08T02:25:54.4529782Z   File "/__w/rmf/rmf/ros_ws/build/rmf_building_map_tools/building_map/material_utils.py", line 2, in <module>
2022-09-08T02:25:54.4530071Z     import requests
2022-09-08T02:25:54.4530471Z   File "/usr/lib/python3/dist-packages/requests/__init__.py", line 95, in <module>
2022-09-08T02:25:54.4530795Z     from urllib3.contrib import pyopenssl
2022-09-08T02:25:54.4531233Z   File "/usr/lib/python3/dist-packages/urllib3/contrib/pyopenssl.py", line 46, in <module>
2022-09-08T02:25:54.4531519Z     import OpenSSL.SSL
2022-09-08T02:25:54.4531907Z   File "/usr/lib/python3/dist-packages/OpenSSL/__init__.py", line 8, in <module>
2022-09-08T02:25:54.4532209Z     from OpenSSL import crypto, SSL
2022-09-08T02:25:54.4532606Z   File "/usr/lib/python3/dist-packages/OpenSSL/crypto.py", line 1553, in <module>
2022-09-08T02:25:54.4532905Z     class X509StoreFlags(object):
2022-09-08T02:25:54.4533323Z   File "/usr/lib/python3/dist-packages/OpenSSL/crypto.py", line 1573, in X509StoreFlags
2022-09-08T02:25:54.4533645Z     CB_ISSUER_CHECK = _lib.X509_V_FLAG_CB_ISSUER_CHECK
2022-09-08T02:25:54.4534060Z AttributeError: module 'lib' has no attribute 'X509_V_FLAG_CB_ISSUER_CHECK'

[orensbruli]

With the new commits, I think we have progressed a little bit.
@Yadunund can you double check that the packages removed in c0769bf are not needed in galactic.

https://github.com/open-rmf/rmf/runs/8254192916?check_suite_focus=true#step:7:43856

Can some of you take a look into those failing tests or ping someone who can know about it?

[luca-della-vedova]

With the new commits, I think we have progressed a little bit. @Yadunund can you double check that the packages removed in c0769bf are not needed in galactic.

I think the simulation plugins listed there would indeed be needed in galactic, otherwise simulation wouldn't work.

https://github.com/open-rmf/rmf/runs/8254192916?check_suite_focus=true#step:7:43856

Can some of you take a look into those failing tests or ping someone who can know about it?

I believe the rmf_utils issue is due to the exclusion for catch.hpp not working in the ament_uncrustify. That file is so long that uncrustify times out. I guess I would suggest going in that direction to investigate it.
For rmf_traffic it seems a bit more sketchy, I can reproduce locally failing tests that seem due to an fcl unit test, specifically with this failing testcase:

     <testcase classname="test_rmf_traffic.global" name="Verify that FCL can handle continuous collisions" time="0.004" status="run">
       <failure message="result.is_collide" type="CHECK">
 FAILED:
   CHECK( result.is_collide )
 with expansion:
   false
 at /home/luca/rmf_ws/src/rmf/rmf_traffic/rmf_traffic/test/unit/fcl_test.cpp:98
       </failure>
     </testcase>

I'm not sure what we can do about it, since it seems to be due to a test on a third party library

[orensbruli]

I think the simulation plugins listed there would indeed be needed in galactic, otherwise simulation wouldn't work.

https://github.com/open-rmf/rmf/runs/8254192916?check_suite_focus=true#step:7:43856
Can some of you take a look into those failing tests or ping someone who can know about it?

You are right. My fault, thank you.

I believe the rmf_utils issue is due to the exclusion for catch.hpp not working in the ament_uncrustify. That file is so long that uncrustify times out. I guess I would suggest going in that direction to investigate it.

I'm gonna try looking into this.

For rmf_traffic it seems a bit more sketchy, I can reproduce locally failing tests that seem due to an fcl unit test, specifically with this failing testcase:

     <testcase classname="test_rmf_traffic.global" name="Verify that FCL can handle continuous collisions" time="0.004" status="run">
       <failure message="result.is_collide" type="CHECK">
 FAILED:
   CHECK( result.is_collide )
 with expansion:
   false
 at /home/luca/rmf_ws/src/rmf/rmf_traffic/rmf_traffic/test/unit/fcl_test.cpp:98
       </failure>
     </testcase>

I'm not sure what we can do about it, since it seems to be due to a test on a third party library

It's a third-party library but I think the test that is failing is ours, right? https://github.com/open-rmf/rmf_traffic/blame/main/rmf_traffic/test/unit/fcl_test.cpp
I think @mxgrey created this test, may be you can take a look into this?

[orensbruli]

I believe the rmf_utils issue is due to the exclusion for catch.hpp not working in the ament_uncrustify. That file is so long that uncrustify times out. I guess I would suggest going in that direction to investigate it.

Investigating this. Notes for myself and anyone who want to follow this.

This is the call that @luca-della-vedova suggested to be failing https://github.com/open-rmf/rmf_utils/blob/main/rmf_utils/CMakeLists.txt#L95 and the EXCLUDE argument that is probably not working https://github.com/open-rmf/rmf_utils/blob/main/rmf_utils/CMakeLists.txt#L99

The code of ament_uncrustify command itself:
https://github.com/ament/ament_lint/blob/galactic/ament_uncrustify/ament_uncrustify/main.py

OPTION 1:
About the exclude, it looks like it's different between galactic version and rolling:
Rolling https://github.com/ament/ament_lint/blob/rolling/ament_uncrustify/ament_uncrustify/main.py#L222
Galactic https://github.com/ament/ament_lint/blob/galactic/ament_uncrustify/ament_uncrustify/main.py#L234

As we are working on Galactic I'm debugging and I see that it only looks to exclude names of subdirectories in the current directory.
We are passing include/rmf_utils/catch.hpp and this does not match the name of any of the subdirectories.
It looks like this behavior is fixed in rolling with this commit: ament/ament_lint@0a7c40f
Made a PR to backport this fix: ament/ament_lint#409

Any ideas on how to get through this as it is released?

OPTION 2:
I have also found this pull request related to ament_add_test and TIMEOUT. I think we could add TIMEOUT argument to the ament_uncrustify call to ament_add_test (https://github.com/ament/ament_lint/blame/rolling/ament_cmake_uncrustify/cmake/ament_uncrustify.cmake#L70)
Added a PR for this: https://github.com/ament/ament_lint/pull/408/commits

[luca-della-vedova]

Thanks @orensbruli for the investigation!
With Galactic going EOL in November I don't know how likely it is that upstream fixes will be given a high priority. It seems that both fixes (timeout and exclude logic) are upstream so there isn't much we can do about them other than possibly commenting failing tests.

I think we can go ahead and merge this in and accept that galactic nightlies will only become green if the upstream PR is merged (and the rmf_traffic failure investigated).