[bug] failing build on rolling

[JanStaschulat]

CI job fails on rolling because of Events Executor PR (ros2/rmw#286) A new header file has been added to rmw repository, but the rmw package is not cloned in ros-tooling/actions-ros-ci :

ros-tooling/action-ros-ci creates it's own docker container in which the rcl-package is built from scratch but not the rmw package:

  Starting >>> rcl
  --- output: rcl
...
  -- Build files have been written to: /__w/rclc/rclc/ros_ws/build/rcl
  Scanning dependencies of target gtest
  [  0%] Building CXX object gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
  Scanning dependencies of target rcl
  [  1%] Building C object CMakeFiles/rcl.dir/src/rcl/arguments.c.o
  [  1%] Building C object CMakeFiles/rcl.dir/src/rcl/client.c.o
  In file included from /__w/rclc/rclc/ros_ws/src/rcl/rcl/include/rcl/client.h:27,
                   from /__w/rclc/rclc/ros_ws/src/rcl/rcl/src/rcl/client.c:20:
  /__w/rclc/rclc/ros_ws/src/rcl/rcl/include/rcl/event_callback.h:18:10: fatal error: rmw/event_callback_type.h: No such file or directory
     18 | #include "rmw/event_callback_type.h"
        |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~
  compilation terminated.

https://github.com/ros2/rclc/runs/5372614775?check_suite_focus=true

https://github.com/ros2/rclc/runs/5371188010?check_suite_focus=true

A new file (event_callback_type.h) has been added to the repository.
We cannot sudo apt-get install the new rmw package, because rmw has not been released as bloom release lately:

https://github.com/ros/rosdistro/commits/master/rolling

@ralph-lange @pablogs9 Shall we clone the 'rmw' repo in the CI action for now, like here? Any other suggestions?

[ralph-lange]

Hi, @JanStaschulat, I like your idea of cloning the rmw repo in the CI action until it has been released.

[pablogs9]

I'm also ok with cloning it

[JanStaschulat]

But still I am wondering, why the most recent version of the rcl package (with the EventExecutor PR which expects the header file in rmw) is downloaded in the rclc CI action, but the rmw package is not .

[JanStaschulat]

cloning the repo did not solve the problem

   -- Build files have been written to: /__w/rclc/rclc/ros_ws/build/rcl
  Scanning dependencies of target gtest
  [  0%] Building CXX object gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
  Scanning dependencies of target rcl
  [  1%] Building C object CMakeFiles/rcl.dir/src/rcl/arguments.c.o
  [  1%] Building C object CMakeFiles/rcl.dir/src/rcl/client.c.o
  In file included from /__w/rclc/rclc/ros_ws/src/rcl/rcl/include/rcl/client.h:27,
                   from /__w/rclc/rclc/ros_ws/src/rcl/rcl/src/rcl/client.c:20:
  /__w/rclc/rclc/ros_ws/src/rcl/rcl/include/rcl/event_callback.h:18:10: fatal error: rmw/event_callback_type.h: No such file or directory
     18 | #include "rmw/event_callback_type.h"
        |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~
  compilation terminated.
  make[2]: *** [CMakeFiles/rcl.dir/build.make:76: CMakeFiles/rcl.dir/src/rcl/client.c.o] Error 1
  make[1]: *** [CMakeFiles/Makefile2:255: CMakeFiles/rcl.dir/all] Error 2
  make[1]: *** Waiting for unfinished jobs....
  [  2%] Linking CXX static library libgtest.a
  [  2%] Built target gtest
  make: *** [Makefile:141: all] Error 2

https://github.com/ros2/rclc/runs/5372137665?check_suite_focus=true
It still only builds rcl and does not take the local rmw.

I am trying now to add rmw as dependency in package.xml

[JanStaschulat]

unfortunately they have not increased the version of rmw package. It is still
Found rmw: 5.1.0 (/opt/ros/rolling/share/rmw/cmake)
(three month ago)
https://github.com/ros2/rmw/blob/master/rmw/CHANGELOG.rst

So the rmw packge with EventsExecutor PR has the same version as the released rolling package 3 months ago. :(

[JanStaschulat]

cloning the repo in a seperate step (e.g. step before building rclc) did not resolve the error.
ros-tooling/action-ros-ci creates it's own docker container in which it builds rcl-package from scratch but not the rmw package.

  Starting >>> rcl
  --- output: rcl
...
  -- Build files have been written to: /__w/rclc/rclc/ros_ws/build/rcl
  Scanning dependencies of target gtest
  [  0%] Building CXX object gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
  Scanning dependencies of target rcl
  [  1%] Building C object CMakeFiles/rcl.dir/src/rcl/arguments.c.o
  [  1%] Building C object CMakeFiles/rcl.dir/src/rcl/client.c.o
  In file included from /__w/rclc/rclc/ros_ws/src/rcl/rcl/include/rcl/client.h:27,
                   from /__w/rclc/rclc/ros_ws/src/rcl/rcl/src/rcl/client.c:20:
  /__w/rclc/rclc/ros_ws/src/rcl/rcl/include/rcl/event_callback.h:18:10: fatal error: rmw/event_callback_type.h: No such file or directory
     18 | #include "rmw/event_callback_type.h"
        |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~
  compilation terminated.

https://github.com/ros2/rclc/runs/5372614775?check_suite_focus=true

[JanStaschulat]

tried several things, but none of them revolved the issue:

• cloned rmw repository and build one step before building rclc (b5d42db)
• updated ros-tooling/action-ros-ci version to 0.2.4 (064ac1a)
• added rmw to package-name (064ac1a)

@wjwwood @christophebedard any suggestions?

• Do you plan to release a new version of rmw repository?
• Why is only rcl cloned and built in actions-ros-ci and not rmw? Could you include the rmw repository as dependency too?
• What could I add to our rclc-CI actions.yml so that the rmw repo is cloned and locally built before rcl in the actions-ros-ci step?

[christophebedard]

Why is only rcl cloned and built in actions-ros-ci and not rmw? Could you include the rmw repository as dependency too?

This repo has action-ros-ci configured to clone rcl to build it from source:

• rclc/dependencies.repos

  Lines 2 to 4 in 2381ec5

  	local-name: rcl
  	uri: https://github.com/ros2/rcl.git
  	version: master

• rclc/.github/workflows/ci.yml

  Line 42 in 2381ec5

  vcs-repo-file-url: dependencies.repos

As I mentioned over on the PR, if you add rmw to the dependencies.repos file, it should fix this issue.

[JanStaschulat]

@christophebedard thanks a lot for your suggestion. I added the relevant rmw repositories to dependencies.repos.

The PR now builds successfully :)

[JanStaschulat]

Created an issue to remove these dependencies, once these changes in rmw become available as ROS 2 rolling distribution.