Release plan

[andy9a9]

Dear community!

I would like to ask you a question about release plan. On the https://docs.ros.org/en/rolling/Releases.html I can see, that Jazzy has EOL set to 2029, which seems to me the LTS version.

If I look at the Release table I don't see such a combination. Yocto's Scarthgap branch is a LTS and I would like to use it with Jazzy I see here a meta-ros2-jazzy layer but not in a table. So is it possible to use such a combination? Would it be possible to update the table and mark a Jazzy as a LTS as well?

Thank you

[robwoolley]

Hi @andy9a9,

Yes, it is possible to use meta-ros2-jazzy with Scarthgap, Kirkstone, and with Styhead (ie "master"). You can see the kas configurations here: https://github.com/ros/meta-ros/tree/build/kas

I will update the table to reflect that soon. Most of my testing lately has been on Rolling while I have been working to set up CI/CD builds. If you encounter any problems with Jazzy let me know and I can backport any fixes you need.

Regards,
Rob

[andy9a9]

Hello @robwoolley ,

That's a great news, thanks!

• I tried to migrate my layer the iron branch to jazzy, here are my changes which I had to do (I'm not at the end yet):
  • missing commit ea5be5a
  • extend some recipes for native variant
    • rqt-runtime-monitor -> python3-pyqt5-sip -> python3-pyqt5 -> qtquickcontrols2
    • this is little bit funny, while python3-pyqt5-native recipe doesn't exist since kirkstone
  • unable to build liblz4-vendor
    • stacked at the failing chain ros-base, rosbag2, rosbag2-storage-default-plugins, rosbag2-storage-mcap, mcap-vendor, liblz4-vendor, ROS_UNRESOLVED_DEP-liblz4-dev

More info will come once I move forward...

[robwoolley]

Hi @andy9a9 ,

The sip tool jumped several major releases between kirkstone and scarthgap.

Some major fixes were required. I need to upstream them to oe-core and meta-qt5.

Details can be found in the working group minutes: https://docs.google.com/document/d/1LqUjcu6vdlqVJO62SreCyjzddNDZhfO2n-7qYghY_cQ/edit?usp=drivesdk

Let me know if there's anything I can help with.

Regards,
Rob

[andy9a9]

Good to know :).
But have can I proceed with the liblz4-vendor error? I see there an options:

• remove depends liblz4-vendor from mcap-vendor
• create something like SKIP_RECIPE[liblz4-vendor] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'liblz4-vendor', 'Depends on unavailable ROS_UNRESOLVED_DEP-liblz4-dev', '', d)}"
• downgrade mcap-vendor to get rid of liblz4-vendor dependency just for now
• or ?

[robwoolley]

As a temporary measure, I set the variable in ros-distro.inc (in master-next meta-ros2-rolling) ROS_UNRESOLVED_DEP-liblz4 = "lz4"

The correct long-term fix is to add an entry for OpenEmbedded under liblz4 in the rosdep metadata files.

[andy9a9]

Hi @robwoolley ,

thanks for ROS_UNRESOLVED_DEP-liblz4 = "lz4" hint. I made a little progress here:

• some packages are failing on [buildpaths] in final
  • there is a class ros2_distro.bbclass which is dealing with that, but not fully, while is not handling paths under ros_prefix
    • I suggest to extend the class a little bit like:

      • +ROS_PREFIX_PATH ?= "${datadir}"
          do_install:append:class-target() {
        -    if [ -d ${D}${datadir}/ament_index/resource_index/parent_prefix_path ]; then
        -        find ${D}${datadir}/ament_index/resource_index/parent_prefix_path -type f \
        +    if [ -d ${D}${ROS_PREFIX_PATH}/ament_index/resource_index/parent_prefix_path ]; then
        +        find ${D}${ROS_PREFIX_PATH}/ament_index/resource_index/parent_prefix_path -type f \
                         | xargs --no-run-if-empty sed -i -e 's@${STAGING_DIR_HOST}/@/@g' -e 's@${STAGING_DIR_NATIVE}/@/@g'
              else
                    true

    • default behavior is untouched, but recipes could override the path via ROS_PREFIX_PATH = "${ros_datadir}"`
      • required changes
        • eigen3-cmake-module
        • orocos-kdl-vendor
        • shared-queues-vendor
• shared-queues-vendor_0.26.1-2
  • this component will never be build from dc17fed08353f30a7e20676df7c8fc5e842ed011
    • previous branch release/jazzy/shared_queues_vendor doesn't exist anymore and release/rolling/shared_queues_vendor/0.24.0-1 is not a tag
      • so ROS_BRANCH = "nobranch=1" has to be set
• orocos-kdl-vendor_0.5.0-3
  • same problem with building as with shared-queues-vendor_0.26.1-2
    • nobranch
  • 0001-CMakeLists.txt-use-system-orocos-kdl.patch
    • never used
  • 0001-CMakeLists.txt-fetch-orocos-kdl-with-bitbake-fetcher.patch
    • can't be applied
  • requires python-orocos-kdl as a build-dep, but this component requires orocos-kdl-vendor
    • circular loop
  • has to be fixed somehow!
    • maybe...

      • ROS_BRANCH = "nobranch=1"
        
        LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=557f7c2686192731d23aed84d2eebcb9"
        
        S = "${WORKDIR}/git/orocos-kdl/orocos_kdl"
        

• yaml-cpp-vendor_9.0.0-2
  • requires similar changes as here https://github.com/ros/meta-ros/commit/ad82ae26c7d098ab8d9bccf59de971e089e862f2 but for different version

    • --- a/CMakeLists.txt
      +++ b/CMakeLists.txt
       @@ -9,26 +9,18 @@ ament_add_default_options()
       # NO_CMAKE_PACKAGE_REGISTRY used to avoid finding the library downloaded in WORKSPACE B
       # when building workspace A.
       # This should only find a system installed yaml-cpp and thus the environment hook isn't needed.
      -find_package(yaml-cpp 0.8.0 QUIET NO_CMAKE_PACKAGE_REGISTRY)
      -
      +find_package(yaml-cpp 0.8.0 QUIET NO_CMAKE_PACKAGE_REGISTRY)
      +if(yaml-cpp_FOUND)
      +  message(STATUS "Found yaml-cpp ${yaml-cpp_VERSION}")
      +else()
      +  message(FATAL_ERROR "yaml-cpp not found -- missing from DEPENDS?")
      +endif()
      + 
       set(YAML_CPP_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
       if(MSVC)
         set(YAML_CPP_CXX_FLAGS "/wd4251 /wd4275 ${YAML_CPP_CXX_FLAGS}")
       endif()
       
      -ament_vendor(yaml_cpp_vendor
      -  SATISFIED ${yaml-cpp_FOUND}
      -  VCS_URL https://github.com/jbeder/yaml-cpp.git
      -  VCS_VERSION 0.8.0
      -  GLOBAL_HOOK
      -  CMAKE_ARGS
      -    "-DCMAKE_CXX_FLAGS=${YAML_CPP_CXX_FLAGS}"
      -    -DYAML_CPP_BUILD_CONTRIB:BOOL=OFF
      -    -DYAML_CPP_BUILD_TESTS:BOOL=OFF
      -    -DYAML_CPP_BUILD_TOOLS:BOOL=OFF
      -    -DYAML_BUILD_SHARED_LIBS:BOOL=${BUILD_SHARED_LIBS}
      -)
      -
       ament_package(
         CONFIG_EXTRAS "yaml_cpp_vendor-extras.cmake.in"
       )

I'm still not at the end :)

[andy9a9]

Hello again,

so I went into end of compilation. Here are the latest changes which I had to made:

• python-qt-binding

  • # python3-pyqt5-native dependency which wasn't needed
    DEPENDS:remove = "sip3-native python3-pyqt5-native"
    DEPENDS:append = "sip-native "

• ros2_distro.bbclass
  • this 90d0996 change the prefix, but didn't change everything

  •  do_install:append:class-target() {
    -    if [ -d ${D}${ros_datadir}/ament_index/resource_index/parent_prefix_path ]; then
    -        find ${D}${ros_datadir}/ament_index/resource_index/parent_prefix_path -type f \
    +    if [ -d ${D}${ROS_PREFIX_PATH}/ament_index/resource_index/parent_prefix_path ]; then
    +        find ${D}${ROS_PREFIX_PATH}/ament_index/resource_index/parent_prefix_path -type f \
                 | xargs --no-run-if-empty sed -i -e 's@${STAGING_DIR_HOST}/@/@g' -e 's@${STAGING_DIR_NATIVE}/@/@g'
     else
         true

• ament-cmake-gen-version-h
  • reflect changes from Add ALL target for ament_generate_version_header target. ament/ament_cmake#526

    • diff --git a/cmake/ament_generate_version_header.cmake b/cmake/ament_generate_version_header.cmake
      index d9470b40..5d2a2795 100644
      --- a/cmake/ament_generate_version_header.cmake
      +++ b/cmake/ament_generate_version_header.cmake
      @@ -147,7 +147,7 @@ function(ament_generate_version_header target)
             "${SCRIPT_TEMPLATE_FILE}"
           COMMENT "Generating ${ARG_HEADER_PATH}")
      
      -  add_custom_target("ament_generate_version_header__${target}"
      +  add_custom_target("ament_generate_version_header__${target}" ALL
           DEPENDS "${GENERATED_HEADER_FILE}")
         add_dependencies("${target}" "ament_generate_version_header__${target}")

• control-toolbox
  • ROS_BUILDTOOL_DEPENDS += "generate-parameter-library-py-native"
• orocos-kdl-vendor
  • f1bbaed1b5190dbfefd08ca445e53d20d1a0066e has a problem with compilation, switching back to original version
    • SRCREV_release = "92eb6e580958a6834df2c1c1ecee92cdbac2f363"
  • refresh 0001-CMakeLists.txt-fetch-orocos-kdl-with-bitbake-fetcher

  • # remove ros_prefix from pkconfig files
    do_install:append:class-target() {
        for f in ${D}${ros_libdir}/pkgconfig/* ; do
            sed -i $f -e 's@${STAGING_DIR_HOST}${includedir}@\$\{includedir}@g' -e 's@${STAGING_DIR_NATIVE}${includedir}@\$\{includedir}@g'
        done
    }

• create/apply disable-compiler-warnings patch
  • controller-interface
  • controller-manager
  • hardware-interface
  • forward-command-controller
  • imu-sensor-broadcaster
  • joint-state-broadcaster
  • joint-trajectory-controller
  • pid-controller
    • ROS_BUILDTOOL_DEPENDS += "generate-parameter-library-py-native"
  • position-controllers
  • range-sensor-broadcaster
  • velocity-controllers
• rosbag2-compression-zstd
  • refresh 0001-CMakeLists.txt-drop-dependency-on-zstd_vendor
• rsl
  • ROS_BUILDTOOL_DEPENDS += "rosidl-default-runtime-native"
• fix license issues

Basically that it! :) I didn't try to run it yet, so lets see... .

[andy9a9]

@robwoolley Are there any news? :)