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How to make rosdep resolve both official ros and cpr binary package names #1107

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kbrameld opened this issue Jul 1, 2024 · 9 comments
Open

How to make rosdep resolve both official ros and cpr binary package names #1107

kbrameld opened this issue Jul 1, 2024 · 9 comments
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@tonybaltovski

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@kbrameld
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kbrameld commented Jul 1, 2024 •
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We have a dingo robot, and we're trying to set up a CI system using custom forks of some dingo-related packages. During the rosdep install step, it is not resolving binary packages provided by cpr. I have followed instructions on APT and rosdep configuration to set up sources.

Running rosdep resolve puma_motor_driver on the robot returns

ERROR: no rosdep rule for 'puma_motor_driver'

If I set the ROSDISTRO_INDEX_URL, I am able to resolve clearpath's packages, but then I'm unable to resolve core ros packages.

export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/index.yaml
rosdep resolve puma_motor_driver   # resolves correctly
rosdep resolve roscpp  # doesn't resolve

How can i set up rosdep such that both core ros packages and clearpath packages can be resolved by rosdep?

Here is a dockerfile to illustrate my issue

FROM osrf/ros:noetic-desktop-full

RUN apt update
RUN apt install python3-rosdep wget -y
RUN wget https://packages.clearpathrobotics.com/public.key -O - | apt-key add -
RUN sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
RUN apt update
RUN wget https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/50-clearpath.list -O /etc/ros/rosdep/sources.list.d/50-clearpath.list
RUN rosdep update
RUN rosdep resolve puma_motor_driver  # Returns "ERROR: no rosdep rule for 'puma_motor_driver'"
@tonybaltovski
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Can you try adding it using this https://wiki.ros.org/ClearpathRobotics/Packages?

@tonybaltovski tonybaltovski self-assigned this Jul 30, 2024
@kbrameld
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The steps provided in that link are identical to the steps in the dockerfile i posted above.

@tonybaltovski
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Does RUN rosdep update show it is accessing /etc/ros/rosdep/sources.list.d/50-clearpath.list?

@kbrameld
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kbrameld commented Aug 2, 2024

Yes, here's the output from rosdep update:

root@61ee6ad0ab6a:/#  rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Warning: running 'rosdep update' as root is not recommended.
  You should run 'sudo rosdep fix-permissions' and invoke 'rosdep update' again without sudo.
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/hydro.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/indigo.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/kinetic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/melodic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/noetic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/foxy.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/galactic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/humble.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/extras.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Add distro "iron"
Skip end-of-life distro "jade"
Add distro "jazzy"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /root/.ros/rosdep/sources.cache

followed by the output of rosdep resolve puma_motor_driver

root@61ee6ad0ab6a:/# rosdep resolve puma_motor_driver:
ERROR: no rosdep rule for 'puma_motor_driver'

@tonybaltovski
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Sorry for the delay, I tried this today and it worked as expect:

user@laptop:~$ docker run -it osrf/ros:humble-desktop bash
root@6571ecb4d28b:/# apt update
Get:1 http://security.ubuntu.com/ubuntu jammy-security InRelease [129 kB]
Get:2 http://packages.ros.org/ros2/ubuntu jammy InRelease [4682 B]                                      
Get:3 http://archive.ubuntu.com/ubuntu jammy InRelease [270 kB]                                         
Get:4 http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages [1605 kB]
Get:5 http://security.ubuntu.com/ubuntu jammy-security/restricted amd64 Packages [3097 kB]
Get:6 http://archive.ubuntu.com/ubuntu jammy-updates InRelease [128 kB]                             
Get:7 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages [1150 kB]                
Get:8 http://archive.ubuntu.com/ubuntu jammy-backports InRelease [127 kB]                               
Get:9 http://security.ubuntu.com/ubuntu jammy-security/multiverse amd64 Packages [44.7 kB]       
Get:10 http://security.ubuntu.com/ubuntu jammy-security/main amd64 Packages [2308 kB]                   
Get:11 http://archive.ubuntu.com/ubuntu jammy/main amd64 Packages [1792 kB]                             
Get:12 http://archive.ubuntu.com/ubuntu jammy/restricted amd64 Packages [164 kB]                      
Get:13 http://archive.ubuntu.com/ubuntu jammy/universe amd64 Packages [17.5 MB]            
Get:14 http://archive.ubuntu.com/ubuntu jammy/multiverse amd64 Packages [266 kB]                        
Get:15 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 Packages [1440 kB]                 
Get:16 http://archive.ubuntu.com/ubuntu jammy-updates/main amd64 Packages [2585 kB]                     
Get:17 http://archive.ubuntu.com/ubuntu jammy-updates/restricted amd64 Packages [3181 kB]               
Get:18 http://archive.ubuntu.com/ubuntu jammy-updates/multiverse amd64 Packages [51.8 kB]               
Get:19 http://archive.ubuntu.com/ubuntu jammy-backports/main amd64 Packages [81.4 kB]                   
Get:20 http://archive.ubuntu.com/ubuntu jammy-backports/universe amd64 Packages [33.7 kB]               
Fetched 35.9 MB in 12s (2971 kB/s)                                                                      
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
2 packages can be upgraded. Run 'apt list --upgradable' to see them.
root@6571ecb4d28b:/# apt install python3-rosdep wget -y
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
python3-rosdep is already the newest version (0.25.1-1).
The following NEW packages will be installed:
  wget
0 upgraded, 1 newly installed, 0 to remove and 2 not upgraded.
Need to get 339 kB of archives.
After this operation, 950 kB of additional disk space will be used.
Get:1 http://archive.ubuntu.com/ubuntu jammy-updates/main amd64 wget amd64 1.21.2-2ubuntu1.1 [339 kB]
Fetched 339 kB in 1s (464 kB/s)
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package wget.
(Reading database ... 114339 files and directories currently installed.)
Preparing to unpack .../wget_1.21.2-2ubuntu1.1_amd64.deb ...
Unpacking wget (1.21.2-2ubuntu1.1) ...
Setting up wget (1.21.2-2ubuntu1.1) ...
root@6571ecb4d28b:/# sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
root@6571ecb4d28b:/# apt update
Hit:1 http://archive.ubuntu.com/ubuntu jammy InRelease
Hit:2 http://archive.ubuntu.com/ubuntu jammy-updates InRelease                                          
Get:3 https://packages.clearpathrobotics.com/stable/ubuntu jammy InRelease [3614 B]                     
Hit:4 http://archive.ubuntu.com/ubuntu jammy-backports InRelease                                        
Hit:5 http://packages.ros.org/ros2/ubuntu jammy InRelease                                      
Hit:6 http://security.ubuntu.com/ubuntu jammy-security InRelease         
Err:3 https://packages.clearpathrobotics.com/stable/ubuntu jammy InRelease
  The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 340FE45F8E6AFF3D
Reading package lists... Done
W: GPG error: https://packages.clearpathrobotics.com/stable/ubuntu jammy InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 340FE45F8E6AFF3D
E: The repository 'https://packages.clearpathrobotics.com/stable/ubuntu jammy InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.
root@6571ecb4d28b:/# wget https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/50-clearpath.list -O /etc/ros/rosdep/sources.list.d/50-clearpath.list
--2024-09-19 14:27:24--  https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/50-clearpath.list
Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 185.199.111.133, 185.199.108.133, 185.199.109.133, ...
Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|185.199.111.133|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1064 (1.0K) [text/plain]
Saving to: ‘/etc/ros/rosdep/sources.list.d/50-clearpath.list’

/etc/ros/rosdep/sources.li 100%[=====================================>]   1.04K  --.-KB/s    in 0s      

2024-09-19 14:27:24 (13.4 MB/s) - ‘/etc/ros/rosdep/sources.list.d/50-clearpath.list’ saved [1064/1064]

root@6571ecb4d28b:/# rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Warning: running 'rosdep update' as root is not recommended.
  You should run 'sudo rosdep fix-permissions' and invoke 'rosdep update' again without sudo.
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/hydro.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/indigo.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/kinetic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/melodic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/noetic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/foxy.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/galactic.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/humble.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/jazzy.yaml
Hit https://raw.githubusercontent.com/clearpathrobotics/public-rosdistro/master/rosdep/extras.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Add distro "iron"
Skip end-of-life distro "jade"
Add distro "jazzy"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /root/.ros/rosdep/sources.cache
root@6571ecb4d28b:/# rosdep resolve puma_motor_driver
#apt
ros-humble-puma-motor-driver

Anything else specific to your setup that could be causing this?

@kbrameld
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Thanks for getting back - the difference is that you are using a humble image. (this won't work on noetic, iron and rolling)

Clearpath has made a public release of puma_motor_driver, just for humble only. In your example, rosdep is resolving puma_motor_driver using the official rosdistro lookup, not the clearpath specific one.

@tonybaltovski
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@kbrameld it should work now, I think!

@kbrameld
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kbrameld commented Dec 2, 2024

Just tested across different distros, here's the results.

Noetic - "ERROR: no rosdep rule for 'puma_motor_driver'". Same error as before.

Humble - works fine.

Jazzy, Rolling - error during apt update:

0.625 Ign:5 https://packages.clearpathrobotics.com/stable/ubuntu noble InRelease
0.680 Err:6 https://packages.clearpathrobotics.com/stable/ubuntu noble Release
0.680   404  Not Found [IP: 24.114.195.222 443]

@tonybaltovski
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Did you need Noetic? We don't support Rolling and and are working on Jazzy.

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