[WIP] [unitree/cross] Fix unitree system build #1793
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…is needed by geometric_shapes
|
Can you find the version of zope.interface installed on the working
unitree robot?
--
◉ Kei Okada
2023年4月26日(水) 13:01 Naoto Tsukamoto ***@***.***>:
… Currently, unitree system build (build_ros1_dependencies.sh and
build_ros1.sh) fails to some point.
This PR includes
- Fix app_manager url and version (772dc9a
<772dc9a>
)
- Install python-typing to avoid import typing error (772dc9a
<772dc9a>
)
- Add libfcl-dev and libccd-dev to dependencies because
geometric_shapes package needs them (0ec465c
<0ec465c>
)
- Avoid setuptools version error caused by spidev==3.6 (af35715
<af35715>
)
But, this PR cannot fix the following issue
- Unable to install python-twisted in build_ros1_dependencies.sh
because of the following error.
Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Twisted-17.9.0-py2.7-linux-aarch64.egg
Processing dependencies for Twisted==17.9.0
Searching for zope.interface>=3.6.0
Reading https://pypi.python.org/simple/zope.interface/
Downloading https://files.pythonhosted.org/packages/1f/ef/cae21b6295cb2960429f463e6e99daf3623a0c4ced7242a809a0c94c9605/zope.interface-6.1a2.tar.gz#sha256=167ea1a5c28aad2fa7fb0ca8761229bf54766ab6e696c80e592ee8c936ab1776
Best match: zope.interface 6.1a2
Processing zope.interface-6.1a2.tar.gz
Writing /tmp/easy_install-ur5jc9/zope.interface-6.1a2/setup.cfg
Running zope.interface-6.1a2/setup.py -q bdist_egg --dist-dir /tmp/easy_install-ur5jc9/zope.interface-6.1a2/egg-dist-tmp-3dtby3
warning: no files found matching '*.txt' under directory 'docs'
src/zope/interface/_zope_interface_coptimizations.c:765:5: error: unknown type name ‘Py_hash_t’
Py_hash_t _v_cached_hash;
^~~~~~~~~
src/zope/interface/_zope_interface_coptimizations.c:907:8: error: unknown type name ‘Py_hash_t’
static Py_hash_t
^~~~~~~~~
********************************************************************************
WARNING:
An optional code optimization (C extension) could not be compiled.
Optimizations for this package will not be available!
command 'aarch64-linux-gnu-gcc' failed with exit status 1
********************************************************************************
File "build/bdist.linux-aarch64/egg/zope/interface/tests/test_advice.py", line 117
class Meta(type, metaclass=Metameta):
^
SyntaxError: invalid syntax
File "build/bdist.linux-aarch64/egg/zope/interface/adapter.py", line 336
yield from cls._allKeys(v, i - 1, new_parent_k)
^
SyntaxError: invalid syntax
File "build/bdist.linux-aarch64/egg/zope/interface/registry.py", line 294
yield from self.utilities.lookupAll((), interface)
^
SyntaxError: invalid syntax
creating /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg
Extracting zope.interface-6.1a2-py2.7-linux-aarch64.egg to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages
File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/adapter.py", line 336
yield from cls._allKeys(v, i - 1, new_parent_k)
^
SyntaxError: invalid syntax
File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/registry.py", line 294
yield from self.utilities.lookupAll((), interface)
^
SyntaxError: invalid syntax
File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg/zope/interface/tests/test_advice.py", line 117
class Meta(type, metaclass=Metameta):
^
SyntaxError: invalid syntax
Adding zope.interface 6.1a2 to easy-install.pth file
Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/zope.interface-6.1a2-py2.7-linux-aarch64.egg
Searching for constantly>=15.1
Reading https://pypi.python.org/simple/constantly/
Downloading https://files.pythonhosted.org/packages/b9/65/48c1909d0c0aeae6c10213340ce682db01b48ea900a7d9fce7a7910ff318/constantly-15.1.0-py2.py3-none-any.whl#sha256=dd2fa9d6b1a51a83f0d7dd76293d734046aa176e384bf6e33b7e44880eb37c5d
Best match: constantly 15.1.0
Processing constantly-15.1.0-py2.py3-none-any.whl
Installing constantly-15.1.0-py2.py3-none-any.whl to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages
Adding constantly 15.1.0 to easy-install.pth file
Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/constantly-15.1.0-py2.7.egg
Searching for Automat>=0.3.0
Reading https://pypi.python.org/simple/Automat/
Downloading https://files.pythonhosted.org/packages/29/90/64aabce6c1b820395452cc5472b8f11cd98320f40941795b8069aef4e0e0/Automat-22.10.0-py2.py3-none-any.whl#sha256=c3164f8742b9dc440f3682482d32aaff7bb53f71740dd018533f9de286b64180
Best match: Automat 22.10.0
Processing Automat-22.10.0-py2.py3-none-any.whl
Installing Automat-22.10.0-py2.py3-none-any.whl to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages
writing requirements to /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Automat-22.10.0-py2.7.egg/EGG-INFO/requires.txt
Adding Automat 22.10.0 to easy-install.pth file
Installing automat-visualize script to /opt/jsk/System/ros1_dependencies/bin
Installed /opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/Automat-22.10.0-py2.7.egg
Searching for attrs>=19.2.0
Reading https://pypi.python.org/simple/attrs/
Downloading https://files.pythonhosted.org/packages/97/90/81f95d5f705be17872843536b1868f351805acf6971251ff07c1b8334dbb/attrs-23.1.0.tar.gz#sha256=6279836d581513a26f1bf235f9acd333bc9115683f14f7e8fae46c98fc50e015
Best match: attrs 23.1.0
Processing attrs-23.1.0.tar.gz
error: Couldn't find a setup script in /tmp/easy_install-_r9Nfn/attrs-23.1.0.tar.gz
------------------------------
You can view, comment on, or merge this pull request online at:
#1793
Commit Summary
- 772dc9a
<772dc9a>
[unitree/cross] Fix app_manager url and version in unitree.repos
- 879c9d9
<879c9d9>
[unitree/cross] Install python-typing to avoid import error in python2.7
- 0ec465c
<0ec465c>
[unitree/cross] Add libfcl-dev and libccd-dev to dependencies, which is
needed by geometric_shapes
- af35715
<af35715>
[unitree/cross] Avoid setuptools version error caused by spidev==3.6
File Changes
(6 files <https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files>)
- *M* jsk_unitree_robot/cross/build_ros1_dependencies.sh
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-8eaecf736887c64aa35bb9c052a4b81e238122112d00ffe276eba726bd6c275b>
(1)
- *M* jsk_unitree_robot/cross/docker/Dockerfile_ros1
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-409890951891def2ae0c045ba4e57694bd3e0b396470ce56b76b01a921295bd6>
(4)
- *M* jsk_unitree_robot/cross/repos/ros1_dependencies.repos
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-05781ec4c4b1fc5e3f870ea742dc7e99b59d55b3240870064e0857781201a0e2>
(14)
- *M* jsk_unitree_robot/cross/repos/unitree.repos
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-50a562ed8e5fc848325533bbdc70675da37e7a1f214daa9b220f28356621edd2>
(7)
- *A*
jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1043-libccd-dev
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-4e1787b063449b4893927916dac9996bce2e101ad6b6a3850e8893dcafda12dc>
(32)
- *A*
jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1044-libfcl-dev
<https://github.com/jsk-ros-pkg/jsk_robot/pull/1793/files#diff-99761156f2c85c5437f75cc02c462f7f2d80f42d180b80e0c2e7e467f4430e19>
(29)
Patch Links:
- https://github.com/jsk-ros-pkg/jsk_robot/pull/1793.patch
- https://github.com/jsk-ros-pkg/jsk_robot/pull/1793.diff
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It seems that |
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Memo: Twisted==17.9.0's requirements Python libraries in arm64v8_System (昨年までビルドに成功していたもの) tsukamoto@tsukamoto-desktop-ryzen ~/ros/unitree_ws/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross/arm64v8_System/ros1_dependencies/lib/python2.7/site-packages (PR-fix-unitree-system-build *%=)
$ ls
Automat-20.2.0-py2.7.egg constantly-15.1.0-py2.7.egg incremental-16.10.1-py2.7.egg sip.pyi tornado-4.5.3-py2.7-linux-aarch64.egg
PyAudio-0.2.11-py2.7-linux-aarch64.egg cv2.so lcm sip.so trollius-2.0.1-py2.7.egg
Twisted-17.9.0-py2.7-linux-aarch64.egg easy-install.pth mailutils sipconfig.py txaio-2.8.1-py2.7.egg
attrs-22.1.0-py2.7.egg future-0.15.2-py2.7.egg pymongo-3.6.1-py2.7-linux-aarch64.egg sipdistutils.py websocket_client-0.44.0-py2.7.egg
autobahn-17.10.1-py2.7.egg futures-3.2.0-py2.7.egg setuptools.pth site.py zope.interface-4.3.2-py2.7-linux-aarch64.egg
backports_abc-0.5-py2.7.egg futures-3.3.0-py2.7.egg singledispatch-3.4.0.3-py2.7.egg site.pyc zope.interface-5.5.0.dev0-py2.7.egg
成功していないものの途中経過 |
k-okada
reviewed
Apr 27, 2023
| @@ -45,5 +45,6 @@ docker run -it --rm \ | |||
| pip install -U --user pip && \ | |||
| export PYTHONPATH=\"/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages\" && \ | |||
| export PKG_CONFIG_PATH=\"/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig\" && \ | |||
| pip install spidev==3.5 pixel-ring==0.1.0 && \ | |||
There was a problem hiding this comment.
We try to separate ‘data’ and ‘processing’, so we will write which modules to install in go_requirements.txt and try to build_ros_dependencies.sh without depending on installed modules or even unitree robot. This way, we can integrate this file with Pepper cross-environment near future.
k-okada
reviewed
Apr 27, 2023
There was a problem hiding this comment.
@tkmtnt7000 good try, but I think it is too hard to keep update with latest python modules. Since we had able to run the system before, we try to install the software version of that time.
| @@ -29,7 +29,9 @@ RUN apt install -y --no-install-recommends $(cat ros-packages.txt | grep -v ^#) | |||
| RUN apt install -y python-pip | |||
| RUN git clone https://github.com/k-okada/rosinstall_generator /tmp/rosinstall_generator -b add_depend_type | |||
| RUN pip install /tmp/rosinstall_generator | |||
| RUN apt install -y python3-vcstool | |||
| RUN apt install -y python3-vcstool python-typing | |||
| # python-typing is necessary to avoid import error in build_ros1_dependencies.sh | |||
There was a problem hiding this comment.
The basic idea of this Docker files is to build same environment as a real Unitree robot, except for development tools that are only needed to build theenvronment, such as rosintall or vcstool. Therefore, installing python-typing here will not work on a real environment unless they alredy have one.
| @@ -230,3 +230,17 @@ repositories: | |||
| postfix: | |||
| type: tar | |||
| url: http://mirror.postfix.jp/postfix-release/official/postfix-3.4.3.tar.gz | |||
| libfcl-dev: | |||
There was a problem hiding this comment.
I adopted this idea, but on the ohter hand, you can install an old version of geometric_shape, Currently we do not have clearner way of doing this, because the list of repositories are generated with rosinstall_generator (
may be we added something like https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_unitree_robot/cross/build_ros1.sh#L34
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||
| mkdir -p /home/user/ros1_dependencies_sources/build/libfcl-dev | ||
| cd /home/user/ros1_dependencies_sources/build/libfcl-dev | ||
| LD_LIBRARY_PATH=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib:${LD_LIBRARY_PATH} |
There was a problem hiding this comment.
it did not find libccd , when building test code, so I just skip it. I haven't tested if fcl works in running environmnet (in a real robot)
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Thank you very much for reviewing. Sorry for late reply.
I agree. When I worked my way through the process of trying to keep update with the latest python version, I found it much more difficult, too. |
|
Moved to #1794 |
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Currently, unitree system build (
build_ros1_dependencies.shandbuild_ros1.sh) fails at several points.This PR includes
app_managerurl and version (772dc9a)geometric_shapespackage needs them (0ec465c, 929ae6e)spidev==3.6(af35715)But, this PR do not fix the following issue
python-twistedinbuild_ros1_dependencies.shbecause of the following error.I installed
attrs<23.0manually and then tried to installpython-twisted, but almost same error occurs. I think easy_install cannnot findattrs<23.0.in local.