Release to ROS Melodic

[davetcoleman]

A checklist of items for the next ROS 1.0 LTS Release:

• branch for Melodic @davetcoleman
• Meet dependencies @130s
  • object_recognition_msgs -> Requested Release into ROS Melodic wg-perception/object_recognition_msgs#6
  • octomap_msgs -> Requested Release into ROS Melodic OctoMap/octomap_msgs#9
  • moveit_msgs -> done moveit_msgs: 0.10.0-0 in 'melodic/distribution.yaml' [bloom] ros/rosdistro#17493
  • warehouse_ros -> done warehouse_ros: 0.9.0-0 in 'melodic/distribution.yaml' [bloom] ros/rosdistro#17319
  • ompl -> Asked Release into ROS Melodic ros-gbp/ompl-release#13
  • moveit_resources -> done moveit_resources: 0.6.3-0 in 'melodic/distribution.yaml' [bloom] ros/rosdistro#17532
  • vision_opencv -> asked Release into Melodic ros-perception/vision_opencv#208 -> Done? Release into Melodic ros-perception/vision_opencv#208 (comment)
  • libfcl-dev -> asked Add libfcl to Artful/Bionic ros/rosdistro#17765
  • graph_msgs @davetcoleman
  • python-pyassimp -> asked Add python-pyassimp ros/rosdistro#17766
  • OMPL release is missing cmake config @mamoll (Release to ROS Melodic #806 (comment))
  • Anything else
• setup moveit_ci buildfarm @davetcoleman
• class_loader headers migration @jrgnicho -> done Release to ROS Melodic #806 (comment)
• pluginlib headers migration @jrgnicho -> done Release to ROS Melodic #806 (comment)
• MoveIt needs adaptions to OMPL 1.4 API #901: adapt to OMPL 1.4 API
• Remove boost shared ptrs #896 (Release to ROS Melodic #806 (comment))
• optional: tf2 migration (required for ROS2) @IanTheEngineer
• optional: python3 migration (required for ROS2) @bmagyar?
• Cleanup, fixes, API changes:
  • remove stuff that was indicated as deprecated in Kinetic
• run bloom prebuild to check for issues @130s

Can be after release

• Make an announcement for "beta" release -> done [blog] Melodic beta release. moveit.ros.org#167
• update README.md with new release badges
• update moveit website install instructions, remove lunar

[awesomebytes]

Hello, I could give a hand with the python3 migration and the Python interface in general with @bmagyar.

[davetcoleman]

moveit/srdfdom#36
Melodic development has begun! 👥

[bmagyar]

#804 should be squeezed in too

[davetcoleman]

I've begun working on the Docker / CI for Melodic task

[130s]

• Maintainers, please hold merges (except critical ones). I'm planning to make a release soon.

• The following 2 seem to be resolved in update include statements to use new pluginlib and class_loader headers #827 (comment), so I checked them.

  • class_loader headers migration @jrgnicho
  • pluginlib headers migration @jrgnicho

• All dependency seems to be cleared so I think I'm ready to bloom but have a few questions:

  • There are still some check items unchecked. Are they a requirement for bloom? Particularly I have no idea if the following is required:

  • Cleanup, fixes, API changes:
    • remove stuff that was indicated as deprecated in Kinetic

  • Is graph_msgs required as it's listed above as a dependency? I do not see any mention in the code.

  $ git branch 
  * melodic-devel
  $ ack-grep -A 1 -B 1 -i graph_msgs .
  $ git log -1
  commit 6cca2555a540be43c085f2024f3cebe33fa670ea
  Author: Robert Haschke <rhaschke@users.noreply.github.com>
  Date:   Wed May 16 16:37:52 2018 +0200
  
      removing moveit_tutorials from moveit.rosinstall (#898)
      
      This partially reverts 068dcc0b82e512c7405cfa51009652516ccc9b2b, which added the tutorials just recently.
  

[130s]

ROS Melodic release seems to be set in stone on May 23rd and I assume new release needs to be made prior to that date (asked exact hold day). I'll try my best to make the official release this time (would it be the first time for MoveIt! to make it?), so let me know anything holds up blooming.

[IanTheEngineer]

@130s I would advocate for TF2 Migration #830 and boost::shared_ptr removal #896 to be merged into melodic-devel prior to a Melodic release. They are important for ROS2 efforts, and break API. I will try to make sure they're merged soon to unblock the release.

[rhaschke]

@mamoll The release of OMPL into Melodic is missing the ompl-config.cmake file. This blocks source builds.

> ls /opt/ros/melodic/share/ompl/
demos  ompl.conf

ls /opt/ros/kinetic/share/ompl/
demos  ompl.conf  ompl-config.cmake

[mamoll]

The release of OMPL into Melodic is missing the ompl-config.cmake file. This blocks source builds.

It is not missing, it's installed in ${prefix}/lib/cmake/ompl/omplConfig.cmake. This is one of the standard locations that cmake's find_package checks (see https://cmake.org/cmake/help/v3.11/command/find_package.html). Unfortunately, catkin overrides this and hardcodes a subset of these locations. I can change it.

[130s]

@IanTheEngineer I see #830 being closed 🎆

@rhaschke Can I ask you to give a "go" for OMPL issue #806 (comment)? I can't make a judgement for that.

There are still several unchecked items. I think the last possible day I can bloom to make into Melodic official release is probably 21th Monday (based on the response from Melodic manager), which sounds a bit unrealistic. So, no pressure folks.

[rhaschke]

@130s MoveIt will not build on Melodic until OMPL is re-released by @mamoll.
For now, I added a quick hack into our Travis docker container to see remaining issues at least.
By the way, is there anybody actually using the Melodic branch?

[rhaschke]

@130s, @mamoll Having changed find_package(OMPL) -> find_package(ompl) as suggested here, solves the issue for Melodic too. No need to do another release.

[mamoll]

Does that OMPL is treated as a pure cmake package and this is not necessary?:
https://github.com/ompl/ompl/blob/0f4f2ef283d5390a118d9bec3fbbe92efd0fe988/CMakeLists.txt#L245-L249
If so, can this file be deleted?:
https://github.com/ros-gbp/ompl-release/blob/master/melodic/package.xml

[130s]

AFAIU all blocking items are checked, thanks to some of you particularly @rhaschke. If I hear no objection I'll bloom in a few hours.

[130s]

Sorry for taking me awhile, but I bloomed ros/rosdistro#17942

I couldn't finish organizing changelog...I've started editing changelog that was generated from catkin_generate_changelog, then I got called in for urgent work stuff. I'd rather just make a release with unorganized set of changelog than delaying the release. In the future release I'll try sorting them out.

[rhaschke]

Does that OMPL is treated as a pure cmake package and this is not necessary?:
https://github.com/ompl/ompl/blob/0f4f2ef283d5390a118d9bec3fbbe92efd0fe988/CMakeLists.txt#L245-L249
If so, can this file be deleted?:
https://github.com/ros-gbp/ompl-release/blob/master/melodic/package.xml

@mamoll At least, MoveIt uses OMPL as a cmake-only package and the package.xml could be removed.

[jspricke]

@rhaschke as far as I see OMPL is still build using bloom (see ros-gbp/ompl-release#13) and that needs the package.xml.

[rhaschke]

That's a valid point. But, @mamoll could decide to release OMPL through a different mechanism instead.

[mamoll]

I'll stick with bloom for now. It makes releasing packages for the different ROS versions easy. Thanks, @jspricke and @rhaschke for helping me understand what's necessary and sufficient for ROS releases ;-).

[130s]

• Make an announcement

This was suggested in today's mtg.

• We should announce that MoveIt! binary is available on Melodic
• It should NOT be expected to be stable yet. Maybe calling it "beta"?
• Mention about Lunar situation Continue ROS Lunar release? #889

I can go down for this rabbit hole.