Reapply "Use system installed yaml-cpp 0.6 if available (#8)" #16

ivanpauno · 2020-08-25T14:04:07Z

Reapplies #8.

I will try to see why it was failing on macOS, by adding some extra debug messages.

…15)" This reverts commit 251be27. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno · 2020-08-25T14:08:59Z

@seanyen FYI

ivanpauno · 2020-08-25T14:10:21Z

CI with the new debug message: https://ci.ros2.org/job/ci_osx/9833/.

ivanpauno · 2020-08-25T16:26:55Z

@seanyen there's something quite weird here, this seems to be finding a previously downloaded version of yaml-cpp in the same workspace:

Found yaml-cpp 0.6.2 in path /Users/osrf/jenkins-agent/workspace/nightly_osx_extra_rmw_release/ws/build/yaml_cpp_vendor/yaml_cpp-0f9a586-prefix/src/yaml_cpp-0f9a586-build/yaml-cpp-config.cmake

Maybe we're not cleaning up the workspace in our macOS machines between builds, that would be pretty weird.

Maybe there's a way to call find_package that avoid this ... (NO_CMAKE_BUILDS_PATH ?)

seanyen · 2020-08-25T20:44:03Z

@ivanpauno Hi, is it possible to turn on CMAKE_FIND_DEBUG_MODE? I think it would be helpful to understand the CMake search order (in macOS).

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno · 2020-08-25T20:57:37Z

@ivanpauno Hi, is it possible to turn on CMAKE_FIND_DEBUG_MODE? I think it would be helpful to understand the CMake search order (in macOS).

Enabled in 46ede7b.
new CI: https://ci.ros2.org/job/ci_osx/9840/

Maybe this behavior is system independent, and we're only running into the bug on macOS because of not pruning the old workspace.
I imagine this can be tested in the following way:

Build without system yaml
Modify something in the CMakelists.txt (e.g. add a debug message), so that cmake does something in next build
Check if find_package founds the previously downloaded version or not

ivanpauno · 2020-08-25T21:30:05Z

find_package debug output

17:54:29   find_package considered the following paths for yaml-cpp.cmake
17:54:29 
17:54:29     /usr/local/Cellar/cmake/3.17.2/share/cmake/Modules/Findyaml-cpp.cmake
17:54:29 
17:54:29   The file was not found.
17:54:29 
17:54:29   <PackageName>_ROOT CMake variable [CMAKE_FIND_USE_PACKAGE_ROOT_PATH].
17:54:29 
17:54:29     none
17:54:29 
17:54:29   CMAKE_PREFIX_PATH variable [CMAKE_FIND_USE_CMAKE_PATH].
17:54:29 
17:54:29     none
17:54:29 
17:54:29   CMAKE_FRAMEWORK_PATH and CMAKE_APPBUNDLE_PATH variables
17:54:29   [CMAKE_FIND_USE_CMAKE_PATH].
17:54:29 
17:54:29     none
17:54:29 
17:54:29   Env variable yaml-cpp_DIR [CMAKE_FIND_USE_CMAKE_ENVIRONMENT_PATH].
17:54:29 
17:54:29     none
17:54:29 
17:54:29   CMAKE_PREFIX_PATH env variable [CMAKE_FIND_USE_CMAKE_ENVIRONMENT_PATH].
17:54:29 
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_test
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_target_dependencies
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_targets
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_interfaces
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_dependencies
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_version
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_python
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_libraries
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_include_directories
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_link_flags
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_libraries
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_include_directories
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_definitions
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_core
17:54:29     /usr/local/opt/qt
17:54:29 
17:54:29   
17:54:29 
17:54:29   CMAKE_FRAMEWORK_PATH and CMAKE_APPBUNDLE_PATH env variables
17:54:29   [CMAKE_FIND_USE_CMAKE_ENVIRONMENT_PATH].
17:54:29 
17:54:29   
17:54:29 
17:54:29   Paths specified by the find_package HINTS option.
17:54:29 
17:54:29     none
17:54:29 
17:54:29   Standard system environment variables
17:54:29   [CMAKE_FIND_USE_SYSTEM_ENVIRONMENT_PATH].
17:54:29 
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/venv
17:54:29     /usr/local/opt/ccache/libexec
17:54:29     /usr/local
17:54:29     /usr
17:54:29     /
17:54:29 
17:54:29   
17:54:29 
17:54:29   CMake User Package Registry [CMAKE_FIND_USE_PACKAGE_REGISTRY].
17:54:29 
17:54:29     /Users/osrf/jenkins-agent/workspace/packaging_osx/ws/build/yaml_cpp_vendor/yaml_cpp-0f9a586-prefix/src/yaml_cpp-0f9a586-build
17:54:29 
17:54:29   
17:54:29 
17:54:29   CMake variables defined in the Platform file
17:54:29   [CMAKE_FIND_USE_CMAKE_SYSTEM_PATH].
17:54:29 
17:54:29     /usr/local/Cellar/cmake/3.17.2
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/yaml_cpp_vendor
17:54:29     /usr/X11R6
17:54:29     /usr/pkg
17:54:29     /opt
17:54:29     /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk/usr
17:54:29     /sw
17:54:29     /opt/local
17:54:29     /Users/osrf/Library/Frameworks
17:54:29     /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk/Library/Frameworks
17:54:29     /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk/Network/Library/Frameworks
17:54:29     /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk/System/Library/Frameworks
17:54:29     /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/Library/Frameworks
17:54:29     /Applications/Xcode.app/Contents/Developer/Library/Frameworks
17:54:29     /Library/Frameworks
17:54:29     /Network/Library/Frameworks
17:54:29     /System/Library/Frameworks
17:54:29     /Applications
17:54:29     /Applications/Xcode.app/Contents/Applications
17:54:29     /Applications/Xcode.app/Contents/Developer/Applications
17:54:29 
17:54:29   
17:54:29 
17:54:29   CMake System Package Registry
17:54:29   [CMAKE_FIND_PACKAGE_NO_SYSTEM_PACKAGE_REGISTRY].
17:54:29 
17:54:29     none
17:54:29 
17:54:29   Paths specified by the find_package PATHS option.
17:54:29 
17:54:29     none
17:54:29 
17:54:29   find_package considered the following locations for the Config module:
17:54:29 
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_test/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_test/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_target_dependencies/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_target_dependencies/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_targets/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_targets/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_interfaces/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_interfaces/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_dependencies/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_dependencies/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_version/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_version/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_python/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_python/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_libraries/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_libraries/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_include_directories/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_include_directories/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_link_flags/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_link_flags/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_libraries/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_libraries/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_include_directories/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_include_directories/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_definitions/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_export_definitions/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_core/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/ws/install/ament_cmake_core/yaml-cpp-config.cmake
17:54:29     /usr/local/opt/qt/yaml-cppConfig.cmake
17:54:29     /usr/local/opt/qt/yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/venv/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/ci_osx/venv/yaml-cpp-config.cmake
17:54:29     /usr/local/opt/ccache/libexec/yaml-cppConfig.cmake
17:54:29     /usr/local/opt/ccache/libexec/yaml-cpp-config.cmake
17:54:29     /usr/local/yaml-cppConfig.cmake
17:54:29     /usr/local/yaml-cpp-config.cmake
17:54:29     /usr/yaml-cppConfig.cmake
17:54:29     /usr/yaml-cpp-config.cmake
17:54:29     /yaml-cppConfig.cmake
17:54:29     /yaml-cpp-config.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/packaging_osx/ws/build/yaml_cpp_vendor/yaml_cpp-0f9a586-prefix/src/yaml_cpp-0f9a586-build/yaml-cppConfig.cmake
17:54:29     /Users/osrf/jenkins-agent/workspace/packaging_osx/ws/build/yaml_cpp_vendor/yaml_cpp-0f9a586-prefix/src/yaml_cpp-0f9a586-build/yaml-cpp-config.cmake
17:54:29 
17:54:29   The file was found at
17:54:29 
17:54:29     /Users/osrf/jenkins-agent/workspace/packaging_osx/ws/build/yaml_cpp_vendor/yaml_cpp-0f9a586-prefix/src/yaml_cpp-0f9a586-build/yaml-cpp-config.cmake
17:54:29 
17:54:29 
17:54:29 
17:54:29 -- Found yaml-cpp 0.6.2 in path /Users/osrf/jenkins-agent/workspace/packaging_osx/ws/build/yaml_cpp_vendor/yaml_cpp-0f9a586-prefix/src/yaml_cpp-0f9a586-build/yaml-cpp-config.cmake

@seanyen FYI

seanyen · 2020-08-25T22:05:24Z

@ivanpauno Thanks for the logs. Ok, the CMake config files are discovered from CMake User Package Registry.

CMake User Package Registry [CMAKE_FIND_USE_PACKAGE_REGISTRY].
/Users/osrf/jenkins-agent/workspace/packaging_osx/ws/build/yaml_cpp_vendor/yaml_cpp-0f9a586-prefix/src/yaml_cpp-0f9a586-build

There is a NO_CMAKE_PACKAGE_REGISTRY option to skip the discovery, but I think for CI service, it makes more sense to nuke ~/.cmake/packages/ for reproducible builds.

ivanpauno · 2020-08-26T17:04:53Z

There is a NO_CMAKE_PACKAGE_REGISTRY option to skip the discovery, but I think for CI service, it makes more sense to nuke ~/.cmake/packages/ for reproducible builds.

Doing that would make builds more reproducible, but we still need NO_CMAKE_PACKAGE_REGISTRY (and maybe some of the other restrictions).
Without that, workspace A can find the library downloaded in workspace B, and people will run into this same issue.

That could be fixed by always installing the environment hook, but I think it's better to only look for the "system installed" yaml-cpp version.

I will reread find_package docs and commit a fix.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno · 2020-08-26T17:17:05Z

New CI, testing rosbag2_tests:

macOS

@seanyen does this make sense to you?

CMakeLists.txt

seanyen · 2020-08-26T18:45:27Z

Doing that would make builds more reproducible, but we still need NO_CMAKE_PACKAGE_REGISTRY (and maybe some of the other restrictions).
Without that, workspace A can find the library downloaded in workspace B, and people will run into this same issue.

I don't have any objections adding NO_CMAKE_PACKAGE_REGISTRY (Personally I am not a fan for CMake package registry). As a user building ROS from sources heavily, I think it would be helpful to mention this problem in the ROS2 docs and point people to Disabling the Package Registry, in case he/she wants a isolated build.

seanyen · 2020-09-03T19:13:34Z

@ivanpauno @dirk-thomas Just a friendly ping. Do we have any plans for the macOS build breaks?

ivanpauno · 2020-09-03T19:32:24Z

@ivanpauno @dirk-thomas Just a friendly ping. Do we have any plans for the macOS build breaks?

I think the current patch is fine, as it is an improvement over how it used to work and it doesn't introduce any new problems.
@dirk-thomas can give you feedback of what's missing.

dirk-thomas · 2020-09-03T19:40:49Z

I don't see how applying this patch to this single package can be the right thing to do. Imo it either needs to be applied globally or to all affected packages individually (in this case this patch if fine but the other packages needing the same flag should be identified as part of this ticket).

ivanpauno · 2020-09-03T20:41:08Z

I don't see how applying this patch to this single package can be the right thing to do

The focus of the PR isn't adding the usage of NO_CMAKE_PACKAGE_REGISTRY, it is to avoid building yaml_cpp_vendor if you already have a system installed version or if you have already downloaded it in an underlay workspace.
IMHO we shouldn't block a PR because of an unrelated detail.

Imo it either needs to be applied globally or to all affected packages individually

Though we could force colcon to use NO_CMAKE_PACKAGE_REGISTRY globally by default, there might be some people that want to use the package registry. Adding NO_CMAKE_PACKAGE_REGISTRY in the find_package calls where using the package registry is a problem seems appropriate to me.
Particularly, I think that all vendor packages using the "try find_package, build if it doesn't succeed" approach should be using that option.

Here's a complete list of packages that would need a similar change:

All other vendor packages aren't using the "try find_package then build" approach.

I will create a ticket with this list in ros2/ros2 after this gets merged.

dirk-thomas · 2020-09-03T20:55:02Z

IMHO we shouldn't block a PR because of an unrelated detail.

I wouldn't call this an "unrelated detail" if the whole point about NO_CMAKE_PACKAGE_REGISTRY is that without it this patch doesn't work as intended since it shows cross talk between unrelated workspaces.

I just raised the concern that the actual question how we should handle this hasn't been answered yet. Please feel free to merge before that is the case if you think that is fine.

ivanpauno · 2020-09-03T22:19:29Z

I wouldn't call this an "unrelated detail" if the whole point about NO_CMAKE_PACKAGE_REGISTRY is that without it this patch doesn't work as intended since it shows cross talk between unrelated workspaces.

I have created a ticket to follow-up in the discussion ros2/ros2#1021.
One of the subitems of that ticket is revisiting the usage of NO_CMAKE_PACKAGE_REGISTRY here if we later decide to do something different.

I just raised the concern that the actual question how we should handle this hasn't been answered yet

I think I have answered how I think it should be handled in #16 (comment), #16 (comment).
I think that globally disabling the package registry might not be an option to everybody, and locally disabling it in the places it's known to cause problem seems correct.

I understand that we would like to solve the problem everywhere, but I think that a clear action item for the original author was missing.
I think that asking a contributor to check every vendor package in the project when they are proposing an enhancement in one is a bit to much (though I opened this PR, @seanyen is the author).

Please feel free to merge before that is the case if you think that is fine.

I think I have satisfied the only missing request of opening a ticket to follow-up in the NO_CMAKE_PACKAGE_REGISTRY discussion and listing every package where this is a problem, so I would like to either get an approval or a comment stating what else is missing.

dirk-thomas

Repeating my previous comment:

I just raised the concern that the actual question how we should handle this hasn't been answered yet. Please feel free to merge before that is the case if you think that is fine.

ivanpauno · 2020-09-17T17:43:05Z

I just raised the concern that the actual question how we should handle this hasn't been answered yet. Please feel free to merge before that is the case if you think that is fine.

👍 we can follow-up in how we want to handle this in ros2/ros2#1021.

ivanpauno · 2020-09-17T17:43:43Z

Thanks @seanyen !

jacobperron · 2020-11-10T20:45:31Z

@ivanpauno This ticket is on the Foxy and Dashing release boards, can you take care of backporting this change (if applicable). Thanks!

ivanpauno · 2020-11-11T18:13:44Z

@ivanpauno This ticket is on the Foxy and Dashing release boards, can you take care of backporting this change (if applicable). Thanks!

I don't think we need to backport this.
It was only an improvement to use the system yaml-cpp if available.

ivanpauno added the enhancement New feature or request label Aug 25, 2020

ivanpauno added 2 commits August 25, 2020 11:08

Revert "Revert "Use system installed yaml-cpp 0.6 if available (#8)" (#…

8301962

…15)" This reverts commit 251be27. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Print location

ec8e73b

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno force-pushed the reapply/use-system-installed-version branch from c192a7d to ec8e73b Compare August 25, 2020 14:08

ivanpauno added the help wanted Extra attention is needed label Aug 25, 2020

Enable cmake find debug mode

46ede7b

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Use NO_CMAKE_PACKAGE_REGISTRY

389e2f4

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno self-assigned this Aug 26, 2020

ivanpauno removed the help wanted Extra attention is needed label Aug 26, 2020

ivanpauno requested a review from dirk-thomas August 26, 2020 17:37

dirk-thomas reviewed Aug 26, 2020

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Using the cmake package registry creates crosstalk between vendor packages on different workspaces ros2/ros2#1021

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ivanpauno merged commit 40ad34b into master Sep 17, 2020

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Check for installation before building for dashing and foxy #18

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clalancette mentioned this pull request Dec 14, 2021

NO_CMAKE_PACKAGE_REGISTRY causes problems with package managers #28

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hellantos mentioned this pull request Apr 28, 2022

find_package not working correctly #33

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mikaelarguedas mentioned this pull request Feb 26, 2023

Use system libyaml-cpp if version >=0.6.0 ros2/rviz#269

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Reapply "Use system installed yaml-cpp 0.6 if available (#8)" #16

Reapply "Use system installed yaml-cpp 0.6 if available (#8)" #16

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Reapply "Use system installed yaml-cpp 0.6 if available (#8)" #16

Reapply "Use system installed yaml-cpp 0.6 if available (#8)" #16

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