The dependencies are not well fulfilled.

[elector102]

Environment

• OS Version: ubuntu 22, ros humble
• Source, humble branch

Description

We are having some dependencies issues using humble branch on a CI. You can see the current dependencies on that image:

The problem is that andino Gazebo and andino description depend on andino control, and this dependency is fulfilled indirectly.
on the CI we run to compile and then run the test the following:
colcon build --packages-up-to andino_gazebo aws_robomaker_small_warehouse_world andino_master --event-handlers console_cohesion+
and then:
colcon test --packages-select andino_gazebo aws_robomaker_small_warehouse_world andino_master --event-handlers console_cohesion+
where andino_master are gazebo tests.
With that the dependency of andino gazebo is not fulfilled and CI fail

[francocipollone]

Thanks for filling up the issue @elector102 : Check #118

[francocipollone]

CI fail

What is the issue?

Now I am realizing that it is ok that andino_control is not a dependency to andino_gazebo. I think that the dependency that is missing is controller_manager

[francocipollone]

CI fail

What is the issue?

Now I am realizing that it is ok that andino_control is not a dependency to andino_gazebo. I think that the dependency that is missing is controller_manager

Oh yeat it is being used when finding the controller's parameters

andino/andino_gazebo/urdf/andino.gazebo.xacro

Line 48 in 5236b11

<parameters>$(find andino_control)/config/andino_controllers.yaml</parameters>

[agalbachicar]

There is another occurency:

https://github.com/Ekumen-OS/andino/blob/humble/andino_description/urdf/andino.urdf.xacro#L84-L87

That imports files from andino_control and if andino_description includes andino_control as a dependency, then you have a circle one.

#118 deals with the issue, but the urdf files need to be ordered to solve this problem.

[francocipollone]

There is another occurency:

https://github.com/Ekumen-OS/andino/blob/humble/andino_description/urdf/andino.urdf.xacro#L84-L87

That imports files from andino_control and if andino_description includes andino_control as a dependency, then you have a circle one.

#118 deals with the issue, but the urdf files need to be ordered to solve this problem.

<xacro:include filename="$(find ${package_name})/urdf/include/andino_control.urdf.xacro" />

Here package_name unpacks to andino_description so it isn't looking for stuff in andino_control package.
So I don't see the cycling dependency.

It is true though that if we are strict we could move the andino_control.xacro.urdf to andino_control package in order to extend the base description to ros control if needed.

However, based on taking a look at other robots descriptions, in general they add the ros control stuff within the base urdf description and it is quite accepted.

[francocipollone]

Pinging @agalbachicar to define the bug if any. I will close this otherwise