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2018 Fall Release Kinetic and Melodic #1083

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davetcoleman opened this issue Oct 13, 2018 · 38 comments

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commented Oct 13, 2018

  • Run pre-release test and pass.
    • Kinetic
    • Melodic
  • Update changelog (populate new sections by catkin_generate_changelog then manually modify if necessary)
  • Tag a new version (utilize catkin_prepare_release)
  • Chomp release handling #1127
  • moveit_experimental release #1083 (comment)
  • bloom.
  • bloom again to include chomp fix #1083 (comment)
    • Kinetic
    • Melodic
  • bloom a-again

Our last Kinetic release was May 29th nearly 5 months ago. The changes from the GSoC efforts are in and we have World MoveIt! Day fast approaching. I think we should release all three branches @130s

Indigo-specific discussion: #1000

@IanTheEngineer IanTheEngineer changed the title Release Kinetic and Meldoic Release Kinetic and Melodic Oct 16, 2018

@130s 130s changed the title Release Kinetic and Melodic 2018 Fall Release Kinetic and Melodic Oct 20, 2018

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commented Oct 20, 2018

Sure, I'm planning to make releases to K and M this weekend, unless there's objection (if there is, then please specify ticket numbers that need to be resolved).

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commented Oct 21, 2018

@130s Maybe, you should start with Indigo first. For K and M, there are plenty of open pull requests and regressions open:
Kinetic + Melodic:

Melodic:

Kinetic:

Probably, there is more.

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commented Oct 21, 2018

Thanks @rhaschke for the list.

Just FYI, I don't mind making multiple releases in the short course of period. So make a release now, then keep making patch releases as soon as a patch is accepted (making a release for many changes is the most time-taking part. Release with smaller changes is less costly IMO). Just saying.

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commented Oct 23, 2018

#1098 is irrelevant to a moveit release in my opinion, its just helping prevent future breakages

#1096 is not a bug, its just a performance improvement (that will likely inadvertently introduce new bugs, which is ok) so should hold off until after the next debian release IMHO

#1090 is merged
#1056 is merged

I don't see why we should hold off on the releases, I don't see anything major. Otherwise we'll never get a release out.

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commented Oct 23, 2018

@rhaschke if you agree with Dave's comment #1083 (comment) I can go ahead make a release very soon, so please let us know.

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commented Oct 23, 2018

#1098 is irrelevant to a moveit release in my opinion, its just helping prevent future breakages

Agreed.

#1096 is not a bug, its just a performance improvement

I think we should get this merged in asap, as this is a huge incompatible API change!
It's not easily possible to pass-in Affine3d types to Isometry3d arguments.

Can I go ahead and make a release very soon? Please let us know.

Personally, I don't mind. I'm working on the source tree anyways. Maybe, you should ask people who actually care about API stability, like @v4hn or ROS-industrial folks. But probably they don't want to use the fresh Melodic release yet in any case.

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commented Oct 23, 2018

#1096 is not a bug, its just a performance improvement

I think we should get this merged in asap, as this is a huge incompatible API change!

API change should be discussed carefully IMO. Right now without #1096 merged in yet, API is kept, meaning #1096 shouldn't block the release.

To me all is cleared. I plan to make a release today.

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commented Oct 23, 2018

(@ros-planning/moveit-maintainers Please hold merge. I've already been running the release pipeline locally.)

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commented Oct 24, 2018

  • Update changelog (populate new sections by catkin_generate_changelog then manually modify if necessary)
  • Tag a new version (utilize catkin_prepare_release)
  • Run bloom.

Running bloom is blocked by #1125 as following.

$ rosdep update
$ bloom-release --rosdistro kinetic --track kinetic moveit
:
Creating tag: 'upstream/0.9.13'
:
==> git-bloom-generate -y rosdebian --prefix release/kinetic kinetic -i 0 --os-name ubuntu
Explicitly ignoring package 'moveit_experimental' because it is in the `kinetic.ignored` file.
Explicitly ignoring package 'chomp_motion_planner' because it is in the `kinetic.ignored` file.
Explicitly ignoring package 'moveit_planners_chomp' because it is in the `kinetic.ignored` file.
Generating source debs for the packages: ['moveit_ros_move_group', 'moveit_core', 'moveit_planners', 'moveit_kinematics', 'moveit_simple_controller_manager', 'moveit_controller_manager_example', 'moveit_planners_ompl', 'moveit_ros_planning', 'moveit_ros_manipulation', 'moveit_ros_control_interface', 'moveit_ros_warehouse', 'moveit', 'moveit_fake_controller_manager', 'moveit_plugins', 'moveit_ros_robot_interaction', 'moveit_ros_benchmarks', 'moveit_ros_visualization', 'moveit_ros_planning_interface', 'moveit_commander', 'moveit_ros_perception', 'moveit_setup_assistant', 'moveit_runtime', 'moveit_ros']
Debian Incremental Version: 0
Debian Distributions: ['xenial']
Releasing for rosdistro: kinetic

Pre-verifying Debian dependency keys...
Running 'rosdep update'...
Could not resolve rosdep key 'chomp_motion_planner'
Failed to resolve chomp_motion_planner on ubuntu:xenial with: Error running generator: Failed to resolve rosdep key 'chomp_motion_planner', aborting.
chomp_motion_planner is depended on by these packages: ['moveit_ros_planning']
<== Failed
Some of the dependencies for packages in this repository could not be resolved by rosdep.
You can try to address the issues which appear above and try again if you wish.

@130s 130s referenced this issue Oct 24, 2018

Closed

chomp_motion_planner binary not found #1125

0 of 2 tasks complete

130s added a commit to 130s/moveit-release that referenced this issue Oct 24, 2018

[IKM] Remove chomp_motion_planner (following ros-planning/moveit#1086…
… (comment))

Hopefully this fixes the issue during bloom ros-planning/moveit#1083 (comment)

As far as `chomp` goes, I'm not sure if we still ignore `moveit_planners_chomp`. Looks like it's not depended from `package.xml`, so it might be ok.

```
$ git log -1 kinetic-devel
commit 2903081c904602ffeca8d71592688c93ca8adc90
Author: Isaac I.Y. Saito <130s@2000.jukuin.keio.ac.jp>
Date:   Wed Oct 24 04:23:04 2018 -0700

    0.9.13

$ ack-grep -i moveit_planners_chomp .
moveit_planners/chomp/chomp_interface/test/chomp_moveit.test
3:  <include file="$(find moveit_planners_chomp)/test/rrbot_move_group.launch"/>
5:  <test test-name="chomp_test" pkg="moveit_planners_chomp" type="chomp_moveit_test" time-limit="80.0"/>

moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml
12:     <rosparam command="load" file="$(find moveit_planners_chomp)/test/chomp_planning.yaml"/>

moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
9:  <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find moveit_planners_chomp)/test/rrbot.xacro'"/>
12:  <param name="$(arg robot_description)_semantic" textfile="$(find moveit_planners_chomp)/test/rrbot.srdf" />
16:    <rosparam command="load" file="$(find moveit_planners_chomp)/test/joint_limits.yaml"/>
35:  <include file="$(find moveit_planners_chomp)/test/rrbot_chomp_planning_pipeline.launch.xml" />
46:  <!--include file="$(find moveit_planners_chomp)/test/moveit_rviz.launch">

moveit_planners/chomp/chomp_interface/CMakeLists.txt
2:project(moveit_planners_chomp)

moveit_planners/chomp/chomp_interface/package.xml
2:  <name>moveit_planners_chomp</name>
```
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commented Oct 24, 2018

Once ros-gbp/moveit-release#5 is cleared/merged, I can resume releasing @davetcoleman @v4hn @rhaschke

130s added a commit to 130s/moveit-release that referenced this issue Oct 24, 2018

[IKM] Remove chomp_motion_planner from ignore list (following ros-pla…
…nning/moveit#1086 (comment))

Hopefully this fixes the issue during bloom ros-planning/moveit#1083 (comment)

As far as `chomp` goes, I'm not sure if we still ignore `moveit_planners_chomp`. Looks like it's not depended from `package.xml`, so it might be ok.

```
$ git log -1 kinetic-devel
commit 2903081c904602ffeca8d71592688c93ca8adc90
Author: Isaac I.Y. Saito <130s@2000.jukuin.keio.ac.jp>
Date:   Wed Oct 24 04:23:04 2018 -0700

    0.9.13

$ ack-grep -i moveit_planners_chomp .
moveit_planners/chomp/chomp_interface/test/chomp_moveit.test
3:  <include file="$(find moveit_planners_chomp)/test/rrbot_move_group.launch"/>
5:  <test test-name="chomp_test" pkg="moveit_planners_chomp" type="chomp_moveit_test" time-limit="80.0"/>

moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml
12:     <rosparam command="load" file="$(find moveit_planners_chomp)/test/chomp_planning.yaml"/>

moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
9:  <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find moveit_planners_chomp)/test/rrbot.xacro'"/>
12:  <param name="$(arg robot_description)_semantic" textfile="$(find moveit_planners_chomp)/test/rrbot.srdf" />
16:    <rosparam command="load" file="$(find moveit_planners_chomp)/test/joint_limits.yaml"/>
35:  <include file="$(find moveit_planners_chomp)/test/rrbot_chomp_planning_pipeline.launch.xml" />
46:  <!--include file="$(find moveit_planners_chomp)/test/moveit_rviz.launch">

moveit_planners/chomp/chomp_interface/CMakeLists.txt
2:project(moveit_planners_chomp)

moveit_planners/chomp/chomp_interface/package.xml
2:  <name>moveit_planners_chomp</name>
```
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commented Oct 24, 2018

TLDR; I'll include moveit_planners_chomp to be released out for the first time (in addition to chomp_motion_planner).

At ros-gbp/moveit-release#5 (comment), Robert suggested to do so. Although I haven't found anywhere else so far where its release is discussed, AFAICT no other package depends on it so less harm even if there's an issue with the pkg.

$ cd moveit && git log -1
commit b6beb0027c733ad007b2326b15b143e46063903a
Author: David Watkins <DavidWatkins@users.noreply.github.com>
Date:   Tue Oct 23 05:59:13 2018 -0400

    Added plan_only flags to pick and place (#862)
    
    Added optional plan_only flags to pick and place
    
    Added plan_only flag to planGraspsAndPick

$ ack-grep -i moveit_planners_chomp .
moveit_planners/chomp/chomp_interface/test/chomp_moveit.test
3:  <include file="$(find moveit_planners_chomp)/test/rrbot_move_group.launch"/>
5:  <test test-name="chomp_test" pkg="moveit_planners_chomp" type="chomp_moveit_test" time-limit="80.0"/>

moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml
12:     <rosparam command="load" file="$(find moveit_planners_chomp)/test/chomp_planning.yaml"/>

moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch
9:  <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find moveit_planners_chomp)/test/rrbot.xacro'"/>
12:  <param name="$(arg robot_description)_semantic" textfile="$(find moveit_planners_chomp)/test/rrbot.srdf" />
16:    <rosparam command="load" file="$(find moveit_planners_chomp)/test/joint_limits.yaml"/>
35:  <include file="$(find moveit_planners_chomp)/test/rrbot_chomp_planning_pipeline.launch.xml" />
46:  <!--include file="$(find moveit_planners_chomp)/test/moveit_rviz.launch">

moveit_planners/chomp/chomp_interface/CMakeLists.txt
2:project(moveit_planners_chomp)

moveit_planners/chomp/chomp_interface/package.xml
2:  <name>moveit_planners_chomp</name>
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commented Oct 24, 2018

Now release is blocked by #1127

130s added a commit to 130s/moveit-release that referenced this issue Oct 24, 2018

[KM] Remove ignore list.
To make a release for Kinetic ros-planning/moveit#1083 (comment), I still faced an error upon `bloom` (*1) that complains `moveit_experimental` is not available as a .deb.

`moveit_experimental` seems to be depended on only by chomp pkgs (*2), so hopefully getting it released is less harmful even if there's an issue (I can't think of any better way to confirm that, other than releasing them and cross fingers :O).

*1
```
$ bloom-release --rosdistro kinetic --track kinetic moveit
:
==> git-bloom-generate -y rosdebian --prefix release/kinetic kinetic -i 0 --os-name ubuntu
Explicitly ignoring package 'moveit_experimental' because it is in the `kinetic.ignored` file.
Generating source debs for the packages: ['moveit_ros_move_group', 'moveit_core', 'moveit_planners', 'moveit_kinematics', 'moveit_simple_controller_manager', 'moveit_controller_manager_example', 'moveit_planners_ompl', 'moveit_ros_planning', 'moveit_ros_manipulation', 'moveit_ros_control_interface', 'moveit_planners_chomp', 'moveit_ros_warehouse', 'moveit', 'moveit_fake_controller_manager', 'chomp_motion_planner', 'moveit_plugins', 'moveit_ros_robot_interaction', 'moveit_ros_benchmarks', 'moveit_ros_visualization', 'moveit_ros_planning_interface', 'moveit_commander', 'moveit_ros_perception', 'moveit_setup_assistant', 'moveit_runtime', 'moveit_ros']
Debian Incremental Version: 0
Debian Distributions: ['xenial']
Releasing for rosdistro: kinetic

Pre-verifying Debian dependency keys...
Running 'rosdep update'...
Could not resolve rosdep key 'moveit_experimental'
Failed to resolve moveit_experimental on ubuntu:xenial with: Error running generator: Failed to resolve rosdep key 'moveit_experimental', aborting.
moveit_experimental is depended on by these packages: ['chomp_motion_planner', 'moveit_planners_chomp']
<== Failed
Some of the dependencies for packages in this repository could not be resolved by rosdep.
You can try to address the issues which appear above and try again if you wish.
Would you like to try again? [Y/n]? n
User aborted after rosdep keys were not resolved.
<== The following generator action reported that it is missing one or more
    rosdep keys, but that the key exists in other platforms:
'['/usr/bin/git-bloom-generate', '-y', 'rosdebian', '--prefix', 'release/kinetic', 'kinetic', '-i', '0', '--os-name', 'ubuntu']'

If you are absolutely sure that this key is unavailable for the platform in
question, the generator can be skipped and you can proceed with the release.
```

*2
```
$ ack-grep -i "moveit_experimental" .
moveit/CHANGELOG.rst
74:* [fix][moveit_experimental] remove explicit fcl depends `#632 <https://github.com/ros-planning/moveit/pull/632>`_

moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt
27:  ../../../moveit_experimental/collision_distance_field/include/)

moveit_experimental/CMakeLists.txt
2:project(moveit_experimental)

moveit_experimental/package.xml
2:  <name>moveit_experimental</name>

moveit_experimental/CHANGELOG.rst
2:Changelog for package moveit_experimental
70:* [moveit_experimental] Fix incorrect dependency on FCL in kinetic
71:  [moveit_experimental] Fix Eigen3 warning
89:  * Add install targets in moveit_experimental and chomp

moveit_planners/chomp/chomp_interface/CMakeLists.txt
12:  moveit_experimental

moveit_planners/chomp/chomp_interface/package.xml
22:  <build_depend>moveit_experimental</build_depend>

moveit_planners/chomp/chomp_interface/CHANGELOG.rst
83:  * Add install targets in moveit_experimental and chomp

moveit_planners/chomp/chomp_motion_planner/CMakeLists.txt
6:find_package(catkin REQUIRED COMPONENTS roscpp moveit_experimental moveit_core)

moveit_planners/chomp/chomp_motion_planner/package.xml
18:  <build_depend>moveit_experimental</build_depend>

moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
74:  * Add install targets in moveit_experimental and chomp
```
```
$ git log -1
commit 95050e3a1a873f2a3a12af1eb3c7b96efc43ec8d
Merge: 2903081 89ed372
Author: Isaac I.Y. Saito <130s@users.noreply.github.com>
Date:   Wed Oct 24 10:54:30 2018 -0700

    Merge pull request #1127 from 130s/release_chompif/k

    Include chomp packages in a dependency chain starting from moveit metapkg
```
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commented Oct 24, 2018

Still blocked by ros-gbp/moveit-release#6; To release chomp packages we also need moveit_experimental to be released.

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commented Oct 24, 2018

Kinetic done ros/rosdistro#19344

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commented Oct 24, 2018

Melodic done ros/rosdistro#19345

@130s 130s closed this Oct 24, 2018

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commented Oct 25, 2018

Will fix this.

#1134 is merged. pre-release test succeeded on my side.

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commented Oct 26, 2018

Thanks @rhaschke for the quick fix. I can run another release session this weekend if it's desirable.

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commented Oct 27, 2018

@130s I have done (successful) prerelease tests for Kinetic (702c46b) and Melodic (ab1273f). Do you have time to finish the releases?
If not, I could jump in tomorrow.

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commented Oct 28, 2018

@rhaschke I'm planning to make releases by Monday morning Pacific. In case it doesn't happen by then please take this over.

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commented Oct 29, 2018

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commented Oct 29, 2018

Kinetico ros/rosdistro#19372

@130s 130s closed this Oct 29, 2018

@130s 130s referenced this issue Oct 29, 2018

Closed

Add tf dependency to package.xml #1169

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commented Oct 29, 2018

@rhaschke or @ros-planning/moveit-maintainers I'd appreciate if you could keep the status posted for new release need.

@130s 130s reopened this Oct 29, 2018

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commented Oct 29, 2018

Sorry, I mentioned you in #1170 only.

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commented Oct 29, 2018

@tfoote I want to make one more release to fix the persistent regression. It'd be great if you could hold the sync for a few more hours...

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commented Oct 29, 2018

ok, Kinetic is still rebuilding the last release(moveit and downstream takes several hours to rebuild) so we can get this in if you can get it released before the end of today. The sync will have to go out tomorrow morning.

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commented Oct 29, 2018

@130s I merged #1170 after it built. We should be ready to release

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commented Oct 29, 2018

@tfoote AFAIS the build page http://repositories.ros.org/status_page/ros_kinetic_default.html?q=moveit, MoveIt! seems to be building without re-release. I might have misunderstood something about the regression (#1170 seems to address issue that's happening only for Melodic). So, green light from me.

@rhaschke @IanTheEngineer Thanks for the quick fix. I'll make Melodic release in a few hours.

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commented Oct 30, 2018

Ok thanks @130s I'll sync when this rebuild finishes. There's going to be a long tail due to the many layers of moveit downstream dependencies needing to rebuild.

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commented Oct 30, 2018

@130s 130s closed this Oct 30, 2018

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commented Oct 30, 2018

Reopening, due to: #1160 (review)

@rhaschke rhaschke reopened this Oct 30, 2018

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commented Oct 30, 2018

#1174 fixed this and is merged. @130s You could retrigger a release (once again - sorry).

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commented Oct 30, 2018

I'll be able to get to it today I think.
(Meanwhile if someone can open a ticket to look into why any of our infrastructure doesn't pick up those that'll be great. I'd like to join there).

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commented Oct 30, 2018

Meanwhile if someone can open a ticket to look into why any of our infrastructure doesn't pick up those

See here: #1174 (comment)

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commented Nov 1, 2018

@130s 130s closed this Nov 1, 2018

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commented Nov 1, 2018

@clalancette Could you have a look at http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__moveit_ros_perception__ubuntu_bionic_amd64__binary/23/console? I think this time, the build farm failed for a reason unrelated to MoveIt.

@rhaschke rhaschke reopened this Nov 1, 2018

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commented Nov 2, 2018

Yeah, there's been a bunch of timeouts on the buildfarm recently; I re-kicked the job, looks like it passed now.

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commented Nov 2, 2018

Thanks a lot. Looks like the Melodic release finally made it as well.

@rhaschke rhaschke closed this Nov 2, 2018

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