failed to do full source build

[fujitatomoya]

Bug report

Required Info:

• Operating System:
  • Ubuntu 24.04
• Computer:
  • Linux tomoyafujita-B760M-Pro-RS-D4 6.17.0-14-generic #14~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Jan 15 15:52:10 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
• ROS2 Version:
  • ros2: ros2/ros2@764c6d4
• Version or commit hash:
  • 9132053
• DDS implementation:
  • Any

Steps to reproduce issue

root@tomoyafujita-B760M-Pro-RS-D4:~/ros2_ws/nav2_ws# colcon build --symlink-install
...
Finished <<< nav2_waypoint_follower [1min 7s]
Finished <<< nav2_planner [1min 12s]                                                                                                   
Finished <<< nav2_behaviors [1min 15s]                                                                                                
--- stderr: nav2_smoother                                                                                                             
/root/ros2_ws/nav2_ws/src/navigation2/nav2_smoother/test/test_smoother_server.cpp:95:43: error: template-id ‘createUniqueInstance<>’ for ‘pluginlib::UniquePtr<nav2_core::Smoother> pluginlib::ClassLoader<nav2_core::Smoother>::createUniqueInstance(const std::string&)’ does not match any template declaration
   95 | pluginlib::UniquePtr<nav2_core::Smoother> pluginlib::ClassLoader<nav2_core::Smoother>::
      |                                           ^~~~~~~~~
/root/ros2_ws/nav2_ws/src/navigation2/nav2_smoother/test/test_smoother_server.cpp:95:43: note: saw 1 ‘template<>’, need 2 for specializing a member function template
In file included from /root/ros2_ws/nav2_ws/src/navigation2/nav2_core/include/nav2_core/smoother.hpp:26,
                 from /root/ros2_ws/nav2_ws/src/navigation2/nav2_smoother/test/test_smoother_server.cpp:25:
/root/ros2_ws/colcon_ws/install/pluginlib/include/pluginlib/pluginlib/class_loader.hpp:112:16: note: candidate is: ‘template<class ... Args, typename std::enable_if<is_interface_constructible_v<nav2_core::Smoother, Args ...>, bool>::type <anonymous> > pluginlib::UniquePtr<T> pluginlib::ClassLoader<T>::createUniqueInstance(const std::string&, Args&& ...) [with Args = {Args ...}; typename std::enable_if<is_interface_constructible_v<T, Args ...>, bool>::type <anonymous> = <anonymous>; T = nav2_core::Smoother]’
  112 |   UniquePtr<T> createUniqueInstance(const std::string & lookup_name, Args && ... args);
      |                ^~~~~~~~~~~~~~~~~~~~
gmake[2]: *** [test/CMakeFiles/test_smoother_server.dir/build.make:76: test/CMakeFiles/test_smoother_server.dir/test_smoother_server.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:341: test/CMakeFiles/test_smoother_server.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< nav2_smoother [1min 16s, exited with code 2]
Aborted  <<< dwb_plugins [25.2s]                                                                                                                 
Aborted  <<< nav2_controller [1min 39s]                                                                                                          
Aborted  <<< dwb_critics [58.2s]                                                                                                            
Aborted  <<< nav2_route [1min 59s]                                                                                                           
Aborted  <<< nav2_collision_monitor [2min 0s]                                                                                                          
Aborted  <<< nav2_mppi_controller [2min 1s]                                                                                                  
Aborted  <<< nav2_smac_planner [2min 4s]                                           

Summary: 31 packages finished [4min 31s]
  1 package failed: nav2_smoother
  7 packages aborted: dwb_critics dwb_plugins nav2_collision_monitor nav2_controller nav2_mppi_controller nav2_route nav2_smac_planner
  3 packages had stderr output: nav2_loopback_sim nav2_simple_commander nav2_smoother
  10 packages not processed

https://docs.nav2.org/development_guides/build_docs/index.html#build

Expected behavior

full source build succeeds.

Actual behavior

failed.

Reproduction instructions

Additional information

[mini-1235]

@fujitatomoya Thanks for reporting this. It looks like the issue is related to the recent updates in pluginlib: ros/pluginlib#291. Since those changes haven't been synced to the released binaries yet, we will likely need to wait until the sync happens before updating the code here accordingly

[pum1k]

Hi, @fujitatomoya, it looks like this error is caused by nav2 depending on the internals of the pluginlib implementation in this specific test. The linked function is trying to replace parts of the implemenation of pluginlib. The changes made in pluginlib are API compatible, but this depends on the exact signature of the functions, which changed. Compilation error in this test would appear even if a private variable's name was changed in pluginlib.

navigation2/nav2_smoother/test/test_smoother_server.cpp

Lines 94 to 111 in 9132053

	template<>
	pluginlib::UniquePtr<nav2_core::Smoother> pluginlib::ClassLoader<nav2_core::Smoother>::
	createUniqueInstance(const std::string & lookup_name)
	{
	if (lookup_name != "DummySmoother") {
	// original method body
	if (!isClassLoaded(lookup_name)) {
	loadLibraryForClass(lookup_name);
	}
	try {
	std::string class_type = getClassType(lookup_name);
	pluginlib::UniquePtr<nav2_core::Smoother> obj =
	lowlevel_class_loader_.createUniqueInstance<nav2_core::Smoother>(class_type);
	return obj;
	} catch (const class_loader::CreateClassException & ex) {
	throw pluginlib::CreateClassException(ex.what());
	}
	}

[mini-1235]

navigation2/nav2_smoother/test/test_smoother_server.cpp

Lines 94 to 111 in 9132053

	template<>
	pluginlib::UniquePtr<nav2_core::Smoother> pluginlib::ClassLoader<nav2_core::Smoother>::
	createUniqueInstance(const std::string & lookup_name)
	{
	if (lookup_name != "DummySmoother") {
	// original method body
	if (!isClassLoaded(lookup_name)) {
	loadLibraryForClass(lookup_name);
	}
	try {
	std::string class_type = getClassType(lookup_name);
	pluginlib::UniquePtr<nav2_core::Smoother> obj =
	lowlevel_class_loader_.createUniqueInstance<nav2_core::Smoother>(class_type);
	return obj;
	} catch (const class_loader::CreateClassException & ex) {
	throw pluginlib::CreateClassException(ex.what());
	}
	}

That looks like dead code to me. Does removing it fix the issue for you @fujitatomoya?

[fujitatomoya]

@mini-1235 @pum1k thanks for commenting on this thread.

those changes haven't been synced to the released binaries yet, we will likely need to wait until the sync happens before updating the code here accordingly

this actually brings me the CI status of Nav2.
i believe there should be 2 CI/CD pipeline,

1. full source build against main:head of https://github.com/ros2/ros2/blob/rolling/ros2.repos. this is source code level CI/CD that verifies and tracks the latest source code between Nav2 and ROS 2. according to https://docs.nav2.org/development_guides/build_docs/index.html#rolling-development-source, i expected this should be supported. (this allows us to detect any build break once Nav2 mainline loses the compatibility with ROS 2 mainline source code.)
2. build Nav2 against released ROS 2 rolling. this means that Nav2 mainline keeps the compatibility with ROS 2 released rolling (or distro), not the source code level.

i thought that option-1 is supported, but actually no? in that case, probably we would not want to suggest https://docs.nav2.org/development_guides/build_docs/index.html#rolling-development-source? (which is exactly what i did.)

[SteveMacenski]

build Nav2 against released ROS 2 rolling. this means that Nav2 mainline keeps the compatibility with ROS 2 released rolling (or distro), not the source code level.

This is what we do and support :-)

full source build against main:head of https://github.com/ros2/ros2/blob/rolling/ros2.repos. this is source code level CI/CD that verifies and tracks the latest source code between Nav2 and ROS 2. according to https://docs.nav2.org/development_guides/build_docs/index.html#rolling-development-source, i expected this should be supported. (this allows us to detect any build break once Nav2 mainline loses the compatibility with ROS 2 mainline source code.)

This has alot of overhead that in general hasn't been necessary since the earlier days of ROS 2 development. We could enable Jenkins builders in rosdistro but I don't think the rolling version of that uses the nightlies, right? Is there a suggested way we do that which doesn't involve crunching even more CI time in our nightlies/PR compute?

We're right at the edge of what CircleCI allows us to do and they've given us some special permissions to use the sheer amount of resources we already do. If there's a ROS build farm solution (given this sounds like something you / ROS development team may be interested in), that would be dandy.

[fujitatomoya]

@SteveMacenski thanks for the explanation.

Is there a suggested way we do that which doesn't involve crunching even more CI time in our nightlies/PR compute?

not as far as i know ... 😓 it would be nice if there is a build env docker container based on rolling source, so that all the downstream projects and packages can use it to build and run the CI/CD pipeline nightly or everyday with latest ros2 source without building ros2 core packages.

in that case, probably we would not want to suggest https://docs.nav2.org/development_guides/build_docs/index.html#rolling-development-source? (which is exactly what i did.)

after all, i guess we could add note or remove full source build with ros2 rolling main:head source to close this issue. any objections? if that is clear, this is not an issue.

[SteveMacenski]

The workflow is correct (I believe?) for building nav2 from ROS 2 source -- even though we don't have CI setup for it, I don't think that means these instructions aren't generally true? Its broken right now, but its typically not broken, as you have probably used before 😉

not as far as i know ... 😓 it would be nice if there is a build env docker container based on rolling source, so that all the downstream projects and packages can use it to build and run the CI/CD pipeline nightly or everyday with latest ros2 source without building ros2 core packages.

I think the nightlies generate binaries that can be grabbed in some way... I don't recall off hand but I remember running into that.

Edit: I found something like it? https://github.com/ros2/ros2/releases/tag/release-rolling-nightlies

[fujitatomoya]

I found something like it? https://github.com/ros2/ros2/releases/tag/release-rolling-nightlies

yeah it looks like what we need here.

even though we don't have CI setup for it, I don't think that means these instructions aren't generally true? Its broken right now, but its typically not broken

that is true. i maybe come up with some note for that, so that users do not get surprised.

[pum1k]

I feel like this discussion is overlooking the current issue. The build error does not look like it is caused by the releases not being synced and likely needs to still be fixed here (removing the dependency on pluginlib internals and only calling its public interface in the test).

[SteveMacenski]

That is indeed the issue, though documentation and clarity are also part of the issue I think.

@fujitatomoya on #5982 (comment) -- if it can be removed without consequence, can you open that PR?