Various fixes to build MoveIt with clang #1196

rhaschke · 2018-11-12T17:17:47Z

S-Fichtl

For what it's worth, this looks like an appropriate fix to me. Thank you @rhaschke.
There is an identical error in planning_scene.h with the CollisionDetector struct:

/opt/ros/kinetic/include/moveit/planning_scene/planning_scene.h:967:3: error: 'CollisionDetector' defined as a struct here but previously declared as a class [-Werror,-Wmismatched-tags]
struct CollisionDetector
^
/opt/ros/kinetic/include/moveit/planning_scene/planning_scene.h:964:3: note: did you mean struct here?
class CollisionDetector; typedef std::shared_ptr CollisionDetectorPtr; typedef std::shared_ptr CollisionDetectorConstPtr;;;
^~~~~
struct
2 errors generated.

rhaschke · 2018-11-13T11:29:46Z

Thanks for pointing this out. I also added a Travis test to compile with clang. However, this test (using clang 5.0) doesn't complain. There aren't even warnings.
So, could you please provide more details about your environment? Which version of clang do you use?

S-Fichtl · 2018-11-13T13:41:36Z

I am using clang 6.0.0 on Ubuntu 16.04 and ROS Kinetic Kame in the standard PPA binary release and the moveit version that comes with it.

$ clang --version
clang version 6.0.0-1ubuntu2~16.04.1 (tags/RELEASE_600/final)
Target: x86_64-pc-linux-gnu
Thread model: posix
InstalledDir: /usr/bin

S-Fichtl · 2018-11-13T13:53:49Z

Speaking of the PPA binary release, is this fix even likely to make it into there?
Either into Kinetic Kame or Melodic Morenia PPA binary release?
Would you have an time estimate for when that might happen?

rhaschke · 2018-11-13T14:00:26Z

We just recently did a release into Kinetic. So there will not be a new release very soon.
For Melodic, we have a release pending. So this fix might be seen in the next two weeks...

rhaschke · 2018-11-13T23:24:41Z

Hm, clang can successfully compile the melodic branch on Melodic/Bionic but not on Kinetic/Xenial.
gcc doesn't have issues.
@S-Fichtl The errors you originally reported, are only warnings for me. Can you confirm?

S-Fichtl · 2018-11-14T07:02:01Z

That is possible, I didn't check that, sorry. I have the -Werror flag set, so to me it looks like a error. There may be many clang issues hidden away from me on kinetic/xenial, because I only get affected by issues in headers I include.
Hence, at least the headers of libraries should be as warning free as possible to not affect users negatively.
Anyway, I would try to fix warnings instead of switching them off, wherever possible. And where impossible I would add an exception in code around the piece of code that triggers the warning/error, not in the CMakeLists.txt for the whole project. That way a developer has to consciously decide to ignore a warning each time he does.

rhaschke · 2018-11-14T07:09:57Z

Fully agree. Just wanted to confirm that this is an error only. There are dozens of these struct vs. class declaration errors and I don't have cycles to work more on this issue now.
So could you check, whether this minimal set of changes already fixes all your issues?

S-Fichtl · 2018-11-14T10:14:18Z

I have built moveit from source using your PR branch, but still get the error.
I don't know what I am doing wrong, but I do believe it is on my side as your fix looks like it should fix it.
So I vote for merging since it passes all tests and in the very least doesn't break anything but in my opinion is an improvement.

v4hn

+1 to clang. I'll use this occasion to change my local build to clang too.
Checking the backward compatibility support with clang seems a bit random though.
I would propose to use melodic-melodic-shadow-fixed (latest and greatest) instead.

The clang test fails at the moment though because it can't find the compiler.
You recently added that to the melodic-devel branch directly.
I guess rebasing should resolve this?

v4hn · 2018-11-16T16:03:59Z

moveit_core/CMakeLists.txt

+  add_compile_options(-Wno-maybe-uninitialized)
+elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  add_compile_options(-Wno-inconsistent-missing-override -Wno-potentially-evaluated-expression)
+endif()


It would be good to have comments in here on why these -Wno-* flags were added.
Are these warnings something we should improve in our code base?

These flags improve our code style by throwing warnings for common issues. See my PR #971

I'd like to add this to all the packages in moveit

No they don't -Wno-* actually disables specific warnings. Probably because @rhaschke either decided they are not important for us, or because some package we rely on throws lots of warnings we can't fix ourselves.

Ah right. I think I might have done this because otherwise some of moveit's dependencies (TF I believe) cause warnings that are hard to fix because they are from some of TF's dependencies outside of ROS.

moveit_core/robot_model/src/robot_model.cpp

davetcoleman · 2018-11-17T01:04:27Z

.travis.yml

@@ -16,9 +16,13 @@ env:
    - TEST_BLACKLIST=moveit,moveit_ros,moveit_runtime,moveit_ros_perception  # mesh_filter_test fails due to broken Mesa OpenGL
  matrix:
    - ROS_DISTRO=kinetic ROS_REPO=ros              TEST=clang-format
-    - ROS_DISTRO=melodic ROS_REPO=ros              UPSTREAM_WORKSPACE=moveit.rosinstall
    - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=moveit.rosinstall
    - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=moveit.rosinstall


can we unify these two matrix: sections into one? if not, please add comment explaining why they are different.

seems like we could move all the tests to the below section with compiler: gcc

could you please still address this question? im curious if this can be improved

This cannot be merged. As we want to use a different compiler (clang), we need to use the include/matrix section, which allows to add individual entries to the matrix.

davetcoleman · 2018-11-17T01:06:07Z

moveit_core/CMakeLists.txt

+  add_compile_options(-Wno-maybe-uninitialized)
+elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  add_compile_options(-Wno-inconsistent-missing-override -Wno-potentially-evaluated-expression)
+endif()


These flags improve our code style by throwing warnings for common issues. See my PR #971

I'd like to add this to all the packages in moveit

moveit_core/robot_model/src/robot_model.cpp

- use MOVEIT_STRUCT_FORWARD for structs - fix initialization of dynamic-size array - fix implicit conversion for SortableDisabledCollision -> srdf::Model::DisabledCollision - virtual destructors for classes with virtual methods - use delete[] for memory allocated with new[]

simple assignment does the job

This function is only available in KDL >= 1.4.0 (i.e. in Melodic). For backwards-compatibility with Kinetic, provide compile-time switch.

- use existing moveit::planning_interface::getSharedTF(); - switch based on rviz version (instead of roscpp version)

rhaschke · 2018-11-17T20:10:26Z

Ready for merging.

v4hn

looks good.

Merging.

v4hn · 2018-11-19T14:56:31Z

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp

-#ifdef ROS_KINETIC
-      std::shared_ptr<tf2_ros::Buffer> tf_buffer = PlanningSceneDisplay::getTF2BufferPtr();
+#ifdef RVIZ_TF1
+      std::shared_ptr<tf2_ros::Buffer> tf_buffer = moveit::planning_interface::getSharedTF();


nice simplification!

S-Fichtl approved these changes Nov 13, 2018

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rhaschke force-pushed the fix-#1195 branch from 926096f to bfec8cc Compare November 13, 2018 11:26

rhaschke force-pushed the fix-#1195 branch from bfec8cc to ca7f009 Compare November 13, 2018 13:58

rhaschke force-pushed the fix-#1195 branch 4 times, most recently from 25fe37a to 44cb603 Compare November 13, 2018 21:16

rhaschke changed the title ~~Consistent type declaration of collision_detection::Object as class~~ Various fixes to build MoveIt with clang Nov 13, 2018

rhaschke force-pushed the fix-#1195 branch from eb1534f to b8d4f5e Compare November 16, 2018 12:36

v4hn mentioned this pull request Nov 16, 2018

Set Continuous Integration to Build With Strict Mode #890

Open

S-Fichtl mentioned this pull request Nov 16, 2018

Class vs Struct definition #1195

Closed

v4hn reviewed Nov 16, 2018

View reviewed changes

rhaschke force-pushed the fix-#1195 branch 2 times, most recently from e3120af to 553c799 Compare November 16, 2018 22:32

davetcoleman reviewed Nov 17, 2018

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rhaschke force-pushed the fix-#1195 branch 2 times, most recently from 4aa1c17 to 207f992 Compare November 17, 2018 06:54

rhaschke added 3 commits November 17, 2018 08:22

remove ChompParameters::getNonConstParams()

c21f615

simple assignment does the job

clang-tidy modernize-use-override

5880ec7

rhaschke force-pushed the fix-#1195 branch 2 times, most recently from 4c8d442 to 5532fbd Compare November 17, 2018 08:40

rhaschke force-pushed the fix-#1195 branch from 5532fbd to 1d96b14 Compare November 17, 2018 08:46

rhaschke added 4 commits November 17, 2018 10:27

kdl::updateInternalDataStructures(): handle override specifier

564d9bf

This function is only available in KDL >= 1.4.0 (i.e. in Melodic). For backwards-compatibility with Kinetic, provide compile-time switch.

fix compile-options for warnings

7092dc8

simplify tf2 buffer usage

84b5a4a

- use existing moveit::planning_interface::getSharedTF(); - switch based on rviz version (instead of roscpp version)

remove Eigen-workaround for Wily

4801427

rhaschke force-pushed the fix-#1195 branch from 3134b43 to a99bab0 Compare November 17, 2018 09:27

Travis: add clang build

c33ee1a

rhaschke force-pushed the fix-#1195 branch from a99bab0 to c33ee1a Compare November 17, 2018 10:07

v4hn approved these changes Nov 19, 2018

View reviewed changes

v4hn merged commit f805328 into moveit:melodic-devel Nov 19, 2018

rhaschke deleted the fix-#1195 branch November 19, 2018 15:25

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Various fixes to build MoveIt with clang #1196

Various fixes to build MoveIt with clang #1196

rhaschke commented Nov 12, 2018

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rhaschke commented Nov 13, 2018

S-Fichtl commented Nov 13, 2018

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rhaschke commented Nov 14, 2018 •

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Various fixes to build MoveIt with clang #1196

Various fixes to build MoveIt with clang #1196

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