Used keys for Orocos

[ahcorde]

With this PR https://github.com/ros/rosdistro/pull/23841/files Orokos could be installed via rosdep

[ahcorde]

Maybe for this changes we need to target noetic-devel branch. Because this keys are not availables for bionic

[ahcorde]

@ros-pull-request-builder retest this please

[ahcorde]

this error has appeared. is the python3-pykdl working fine?

15:38:46 [ROSUNIT] Outputting test results to /tmp/ws/test_results/kdl_parser_py/rostest-test_test_kdl_parser.xml
15:38:46 python: /build/orocos-kdl-mPkyII/orocos-kdl-1.4.0/python_orocos_kdl/PyKDL/std_string.sip:52: int convertTo_std_string(PyObject*, void**, int*, PyObject*): Assertion `PyUnicode_Check(s)' failed.

[ahcorde]

Maybe is this the issue orocos/orocos_kinematics_dynamics#229 ?

[sloretz]

Mind deleting this line? It doesn't look like a <build_export_depend> is necessary; the <exec_depend> below should be enough.

[sloretz]

Retargeted at noetic-devel since melodic should keep using ros packages.

[sloretz]

[sloretz]

this error has appeared. is the python3-pykdl working fine?

Investigating, minimal reproducible example:

import urdf_parser_py.urdf as urdf
import kdl_parser_py.urdf

xml = """<?xml version="1.0"?>
<robot name="physics">
  <link name="base_link"/>
</robot>
"""

model = urdf.URDF.from_xml_string(xml)
(ok, tree) = kdl_parser_py.urdf.treeFromUrdfModel(model)

[sloretz]

Even smaller example:

$ python3 -c "import PyKDL; PyKDL.Tree('foobar')"
python3: /build/orocos-kdl-mPkyII/orocos-kdl-1.4.0/python_orocos_kdl/PyKDL/std_string.sip:52: int convertTo_std_string(PyObject*, void**, int*, PyObject*): Assertion `PyUnicode_Check(s)' failed.
Aborted (core dumped)

[sloretz]

Another user encountered same bug: orocos/orocos_kinematics_dynamics#59 (comment)

[ahcorde]

I was able to remove the error with this branch orocos/orocos_kinematics_dynamics#229

[sloretz]

I was able to remove the error with this branch orocos/orocos_kinematics_dynamics#229

Since we're using python3-pykdl from upstream, we'll need to get it fixed in Debian Buster and Ubuntu Focal. I opened bugs upstream.

• https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=956254
• https://bugs.launchpad.net/ubuntu/+source/orocos-kdl/+bug/1871725

In the meantime, maybe we can workaround the issue by avoiding any KDL api's that use strings?

[sloretz]

Avoid APIs that cause KDL to crash in 80b0918

[sloretz]

LGTM

@clalancette mind checking if the workaround looks ok? I don't see any packages that depend on kdl_parser_py directly (besides the robot metapackage), so I'm not sure what we'll break by not naming things.

Ooops, must have missed something; same failure in CI

[sloretz]

It seems there's no way to avoid the string APIs, at least I can't avoid addSegment() :( . This will need to wait for the bug to be fixed upstream.

now exiting InteractiveConsole...
Traceback (most recent call last):
  File "mre.py", line 241, in <module>
    (ok, tree) = kdl_parser_py.urdf.treeFromUrdfModel(model)
  File "/home/sloretz/ws/noetic/src/kdl_parser/kdl_parser_py/kdl_parser_py/urdf.py", line 130, in treeFromUrdfModel
    if not _add_children_to_tree(robot_model, robot_model.link_map[child], tree):
  File "/home/sloretz/ws/noetic/src/kdl_parser/kdl_parser_py/kdl_parser_py/urdf.py", line 96, in _add_children_to_tree
    if not tree.addSegment(sgm):
TypeError: addSegment(self, segment: Segment, hook_name: object): not enough arguments
[Inferior 1 (process 17992) exited with code 01]

[sloretz]

LGTM!

I added a CATKIN_IGNORE to kdl_parser_py for now. This enables releasing to unblock robot_state_publisher. Hopefully the python3-pykdl fixes make it upstream before it's time to release metapackages since the robot package depends on kdl_parser_py.