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Release with Bloom #6

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ymd-stella opened this issue Jan 30, 2021 · 24 comments
Open
4 of 5 tasks

Release with Bloom #6

ymd-stella opened this issue Jan 30, 2021 · 24 comments
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@ymd-stella
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enhancement New feature or request

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@ymd-stella
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ymd-stella commented Jan 30, 2021 •
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  • Create openvslam_ros
  • Make it possible to install dependent packages with submodule or rosdep.
  • Update the documentation for use with openvslam_ros
  • Update openvslam for release with Bloom
  • Update openvslam_ros for release with Bloom

ref. https://index.ros.org/doc/ros2/Tutorials/Releasing-a-ROS-2-package-with-bloom/
@ymd-stella ymd-stella added the enhancement New feature or request label Feb 12, 2021
@SteveMacenski
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I can help with this too if you have questions

@ymd-stella
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ymd-stella commented Feb 13, 2021 •
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My plan is as follows.

@ymd-stella
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ymd-stella commented Feb 13, 2021 •
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https://github.com/introlab/rtabmap and https://github.com/introlab/rtabmap_ros is a good reference to do it.

@SteveMacenski
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SteveMacenski commented Feb 13, 2021 •
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Makes sense - sounds like you've worked with bloom before. Not everyone has and I know it can be a real pain to get up to speed on for your first few times.

In case its helpful, I'll just leave this here. This is my tl;dr Bloom guide as requested by others in the past that gives a plain-english step-by-step guide without all the options listed up front. Sometimes its useful just to have a "here's best practices, if you do this, things will be streamlined" https://gist.github.com/SteveMacenski/1c321d1c9edca096ae4d763d8327c2ee

Feel free to ask any questions of me if you run into issues

@ymd-stella
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I' m considering how to resolve the dependency on the modified DBoW2.

@ymd-stella
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It seems that in order to release it for Ubuntu 18.04 it needs to be modified to work with OpenCV 3.2.

@ymd-stella
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ymd-stella commented Feb 21, 2021 •
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I'm considering adding DBoW2 as a submodule like darknet_ros is doing for darknet.

@ymd-stella
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It seems that in order to release it for Ubuntu 18.04 it needs to be modified to work with OpenCV 3.2.

In order to use the new versions of OpenCV and libg2o, I have decided to release openvslam for noetic/foxy.

@SteveMacenski
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I'm not sure - anything openCV related if the wrong version is used turns into a complete nightmare

@ymd-stella
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OpenVSLAM requires OpenCV 3.3.1 or later. (4 or later is also available.)
Ubuntu 18.04 does not meet this requirement as OpenCV 3.2 is used, but Ubuntu 20.04 meets this requirement as OpenCV 4.2 is used.

@SteveMacenski
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SteveMacenski commented Feb 24, 2021 •
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Ah ok, and you want 18.04 to support Melodic? My uses (for Nav2) is all in 20.04 (since all ROS2 distributions I believe are on 20.04 now as well as Noetic).

Maybe for Melodic docker is the right way to go to containerize OpenCV 3.3.1+ with openVSLAM so it doesn't contaminate the version shipping with 18.04

@ymd-stella ymd-stella self-assigned this Mar 2, 2021
@ymd-stella
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ymd-stella commented Mar 14, 2021 •
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@SteveMacenski May I ask you a question?
I have run bloom-release. The tags has been pushed to https://github.com/OpenVSLAM-Community/openvslam-release.

However, the automatic creation of the pull request failed.
Failed to open pull request: KeyError - 'url'

What is the pull request in the last step of bloom-release?
If I want to do this step manually, where and what kind of pull request should I create?
(Or should I modify some settings and let bloom handle it? Is there a problem with rerunning bloom-release?)

@SteveMacenski
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SteveMacenski commented Mar 15, 2021 •
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I haven't seen that particular error before, it really would depend when that error appeared in the process to know for sure. The last step is that it forks rosdistro and adds the entry with all of the information (and a few more questions about PR testing and documentation statuses) to a branch submitted against rosdistro which will trigger the build farm binary building process on the release repo / versions (amongst other stuff)

For example: ros/rosdistro#28524

I would recommend rerunning bloom until you get it to work - it will save you a ton of time if you learn it upfront + manually editing rosdistro is error prone

@ymd-stella
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ros/rosdistro#28651

It worked. It seems that I tried to enter the document and source information halfway, which was a bad idea.

@SteveMacenski
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SteveMacenski commented Mar 15, 2021 •
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Once it gets in, make sure to check in on https://build.ros2.org/ for the build status so you can make sure it built correctly / fix any issues. Usually on a first release to a new distro, I expect there to be an issue or two. Like missing dependencies in your package.xml or what have you

@ymd-stella
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ymd-stella commented Mar 15, 2021 •
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Once it gets in, make sure to check in on https://build.ros2.org/ for the build status so you can make sure it built correctly / fix any issues.

I'm at a loss as to where to find related information.

I noticed that a search on openvslam seemed to be a good idea.

@SteveMacenski
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Yes, I use search :-)

@ymd-stella
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ymd-stella commented Mar 20, 2021 •
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The build is currently failing. There are three reasons

  • fbow library file is not found in the second build.
  • Unable to build fbow with -DCMAKE_BUILD_TYPE=None
  • Unable to build fbow with aarch64

Items that have been fixed are checked.

@ymd-stella
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ymd-stella commented Mar 20, 2021 •
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build.ros2.org builds with -DCMAKE_BUILD_TYPE=None, which causes performance problems. There are four approaches to solve this problem. Which is best?

  • Add optimization options when -DCMAKE_BUILD_TYPE=None is specified.
  • Specify -DCMAKE_BUILD_TYPE=Release.
  • Overwrite CMAKE_BUILD_TYPE with Release if -DCMAKE_BUILD_TYPE=None.
  • Always put the optimization option on. (like nav2_smac_planner/CMakeLists.txt#L34)

@ymd-stella
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ymd-stella commented Mar 20, 2021 •
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I took the first approach.

The performance appears to be worse in the release build, and I'm investigating the cause.

@ymd-stella
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The performance appears to be worse in the release build, and I'm investigating the cause.

It was caused by -ffast-math.

@SteveMacenski
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The build farm should be using Release builds when none is specifically specified or overrided

@ymd-stella
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There are four different build logs, but I don't know what each one does.

  • Fdev__openvslam__ubuntu_focal_amd64
  • Fsrc_uF__openvslam__ubuntu_focal__source
  • Fbin_uF64__openvslam__ubuntu_focal_amd64__binary
  • Fbin_ubv8_uFv8__openvslam__ubuntu_focal_arm64__binary

The following log was included, so it seems that the build type is set to None in Fbin*.

cd obj-aarch64-linux-gnu && cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_SYSCONFDIR=/etc -DCMAKE_INSTALL_LOCALSTATEDIR=/var -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_PACKAGE_NO_PACKAGE_REGISTRY=ON "-GUnix Makefiles" -DCMAKE_VERBOSE_MAKEFILE=ON -DCMAKE_AUTOGEN_VERBOSE=ON -DCMAKE_INSTALL_LIBDIR=lib/aarch64-linux-gnu -DCMAKE_INSTALL_PREFIX=/opt/ros/foxy -DCMAKE_PREFIX_PATH=/opt/ros/foxy ..

@SteveMacenski
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dev is the master branch of your repo, source is the source build of the code for packaging, and the bin builds are the binary builds for deployment to apt

ymd-stella pushed a commit that referenced this issue May 25, 2021
@ShivamPR21
RGB-D support ROS2 (#6)
41e5b7e 
* RGBD support process init, some fixes with deprecated header and methods.

Signed-off-by: ShivamPR21 <[email protected]>

* Reduce redundant code.

Signed-off-by: ShivamPR21 <[email protected]>

* Header fixes for sensor_msgs.

Signed-off-by: ShivamPR21 <[email protected]>
@Jlim01 Jlim01 mentioned this issue Mar 9, 2023
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