Enable use of ign gazebo -s on Windows #1574

traversaro · 2022-07-05T19:12:42Z

🎉 New feature

This PR enable the use of ign gazebo -s on Windows. Similarly to what is done in macOS, as ign gazebo and ign gazebo -g are not supported, those options are explicitly disabled to give a nice error to the users.

Summary

Summary of changes:

Add src/cmd directory also on Windows
Correctly mark export visibility in ign.hh and ModelCommandAPI.hh
Ensure that the correct directory if used in cmdgazebo.rb.in to load the gazebo plugin
Fix the logic to copy the unversion versions of the plugins
Fix UNIT_ign_TEST to work correctly on Windows
Disable generation of test-only ruby scripts for ign-tools when using multiple config CMake generators, and consequently disable UNIT_ign_TEST and UNIT_ModelCommandAPI_TEST` when using multiple config CMake generators.
As only ign gazebo -s is working, explicitly disable ign gazebo -g and ign gazebo as done on macOS .

Test it

Note, the following instructions are not complete as a version of libignition-common4 with gazebosim/gz-common#389 needs to be released before the tests work again.

Personally, I tested it with conda-forge provided depedencies. I created an environment with:

mamba create -n igngaz vs2019_win-64 cmake ninja pkg-config libignition-cmake2 libsdformat12 libignition-plugin1 libignition-transport11 libignition-msgs8 libignition-common4 libignition-fuel-tools7 libignition-gui6 libignition-physics5 libignition-sensors6 libignition-rendering6 libignition-math6 libignition-tools1 libprotobuf qt-main tinyxml2

Then, I compiled ign-gazebo with:

mamba activate igngaz
git clone https://github.com/traversaro/ign-gazebo
cd ign-gazebo
git checkout fixigngazeboserveronwin
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library-DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP:BOOL=ON ..

After that, I was able to run correctly the server:

mamba activate igngaz
ign gazebo --verbose -s shapes.sdf

To verify the server was running correctly, I run in another terminal:

(igngaz) C:\Users\STraversaro>ign model --list

Requesting state for world [shapes]...

Available models:
    - ground_plane
    - box
    - cylinder
    - sphere
    - capsule
    - ellipsoid

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

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ahcorde

linters and update branch with ign-gazebo6

codecov · 2022-07-05T21:40:06Z

Codecov Report

Merging #1574 (d00c62b) into ign-gazebo6 (25bdef6) will decrease coverage by 0.66%.
The diff coverage is n/a.

❗ Current head d00c62b differs from pull request most recent head bacff19. Consider uploading reports for the commit bacff19 to get more accurate results

@@               Coverage Diff               @@
##           ign-gazebo6    #1574      +/-   ##
===============================================
- Coverage        64.69%   64.02%   -0.67%     
===============================================
  Files              321      317       -4     
  Lines            26055    25649     -406     
===============================================
- Hits             16855    16422     -433     
- Misses            9200     9227      +27

Impacted Files	Coverage Δ
src/gui/Gui.cc	`61.97% <0.00%> (-10.17%)`	⬇️
src/systems/user_commands/UserCommands.cc	`53.33% <0.00%> (-4.77%)`	⬇️
src/systems/physics/Physics.cc	`70.37% <0.00%> (-1.07%)`	⬇️
src/systems/log/LogRecord.cc	`78.13% <0.00%> (-1.02%)`	⬇️
src/Util.cc	`92.53% <0.00%> (-0.58%)`	⬇️
src/ServerConfig.cc	`90.69% <0.00%> (-0.31%)`	⬇️
.../plugins/component_inspector/ComponentInspector.cc	`5.33% <0.00%> (-0.29%)`	⬇️
src/Model.cc	`95.77% <0.00%> (-0.23%)`	⬇️
src/ServerPrivate.cc	`82.81% <0.00%> (-0.16%)`	⬇️
src/EntityComponentManager.cc	`89.36% <0.00%> (-0.03%)`	⬇️
... and 19 more

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chapulina · 2022-07-06T16:57:06Z

src/cmd/CMakeLists.txt

+  set(plugin_location ${CMAKE_INSTALL_LIBDIR})
+endif()
+
+set(library_location "../../../${plugin_location}/$<TARGET_FILE_NAME:${ign_lib_target}>")



Windows CI is failing on this file:

[12.204s] CMake Error in src/cmd/CMakeLists.txt: [12.204s] Evaluation file to be written multiple times with different content. This [12.204s] is generally caused by the content evaluating the configuration type, [12.204s] language, or location of object files: [12.204s] [12.204s] C:/Jenkins/workspace/ign_gazebo-pr-win/ws/build/ignition-gazebo6/test/lib/ruby/ignition/cmdgazebo6.rb

Thanks. For reference, I was developing using Ninja cmake generator, while this error appears with Visual Studio 16 2019.

This turned out to be quite a can of worms. Basically, all the logic that is generating .yaml files and ruby scripts for testing was written strictly assuming the use of a single-config CMake generator. So everything was working fine when using make, single-config Ninja or NMake Makefiles, but it was going to fail as soon as Visual Studio, XCode or multiple config Ninja was used.

Initially, I tried to make the CMake code support also multiple config generator, but that was going to make that code quite difficult to mantain. For this reason, I switched the PR to explicitly disable the UNIT_ign_TEST and UNIT_ModelCommandAPI_TEST test when a multiple-config CMake generator is used. Note that this test can be run on Windows using any of the available single-config CMake generators, such as Ninja or NMake Makefiles.

By the way, while working on this I also got UNIT_ign_TEST to work on Windows.

traversaro · 2022-07-18T17:32:33Z

@ahcorde I worked on this locally, I still need to push the local version in the repo, sorry!

traversaro · 2022-07-19T21:42:04Z

@ahcorde I worked on this locally, I still need to push the local version in the repo, sorry!

The PR is now updated. I update the original post to reflect the changes, note that the unreleased change gazebosim/gz-common#389 is required to actually get the UNIT_ign_TEST test to pass.

traversaro · 2022-07-20T07:52:52Z

It seems that there is some not intentional interaction with INTEGRATION_log_system.

traversaro · 2022-07-20T21:43:41Z

It seems that there is some not intentional interaction with INTEGRATION_log_system.

I tried to reproduce the problem locally, but in my case that test fails also when I am on the master branch (commit 8c66ef3):

197: Running command [IGN_GAZEBO_SYSTEM_PLUGIN_PATH=/home/straversaro/gz-sim/build3/lib LD_LIBRARY_PATH=/home/straversaro/gz-sim/build3/lib:/usr/local/lib:${LD_LIBRARY_PATH} ign gazebo -s  -r -v 4 --iterations 5 --record /home/straversaro/gz-sim/test/worlds/log_record_dbl_pendulum.sdf]
197: The 'ign' command provides a command line interface to the ignition tools.
197:
197:   ign <command> [options]
197:
197: List of available commands:
197:
197:   help:          Print this help text.
197:   fuel:          Manage simulation resources.
197:   gui:           Launch graphical interfaces.
197:   msg:           Print information about messages.
197:   plugin:        Print information about plugins.
197:   sdf:           Utilities for SDF files.
197:   topic:         Print information about topics.
197:   service:       Print information about services.
197:   log:           Record or playback topics.
197:
197: Options:
197:
197:   --force-version <VERSION>  Use a specific library version.
197:   --versions                 Show the available versions.
197:   --commands                 Show the available commands.
197: Use 'ign help <command>' to print help for a command.
197:
197: /home/straversaro/gz-sim/test/integration/log_system.cc:397: Failure
197: Expected equality of these values:
197:   nEntries + 1
197:     Which is: 1
197:   entryCount(logPath)
197:     Which is: 0
197: /home/straversaro/gz-sim/test/integration/log_system.cc:402: Failure
197: Expected equality of these values:
197:   1ul
197:     Which is: 1
197:   entriesDiff.size()
197:     Which is: 0
1/2 Test #197: INTEGRATION_log_system ...........***Exception: SegFault  1.48 sec

traversaro · 2022-07-21T07:46:39Z

It seems that there is some not intentional interaction with INTEGRATION_log_system.

I tried to reproduce the problem locally, but in my case that test fails also when I am on the master branch (commit 8c66ef3):

Ah, I think I know the problem here. I am using WSLg, so the problems:

When OpenGL ogre2 rendering is happening via mesa's llvmpipe 21 or 22 with Ignition Fortress a black area is displayed instead of the 3D rendering #1116
No camera/render on ubuntu (WSLg + vGPU) #920

Are still presents. In theory #1116 was fixed, but thre is still not release of gz-rendering that contains the fix.

traversaro · 2022-08-28T17:40:15Z

@ahcorde I worked on this locally, I still need to push the local version in the repo, sorry!

The PR is now updated. I update the original post to reflect the changes, note that the unreleased change gazebosim/gz-common#389 is required to actually get the UNIT_ign_TEST test to pass.

gz-common4 4.5.2 was released some days ago, containing this change: https://github.com/gazebosim/gz-common/releases/tag/ignition-common4_4.5.2 .

ahcorde

a minor style issue

src/CMakeLists.txt

traversaro · 2022-08-29T06:55:49Z

Still some failureso on Linux/macOS, and some new warnings on Windows.

errors

scpeters · 2022-10-17T20:41:21Z

@osrf-jenkins run tests please

nkoenig · 2022-10-18T17:59:42Z

@traversaro , I have a windows build setup from these instructions. I'm using powershell on windows 11. When I run ign gazebo -s shapes.sdf the command exits immediately. Alternatively, when I run ign model --list, the command does run.

Any thoughts, or extra information I should provide?

traversaro · 2022-10-18T18:11:16Z

I would expect everything to work also on Powershell, but just to check: can you try if the commands are working fine on Command Prompt?

traversaro · 2022-10-19T17:48:46Z

Note, the following instructions are not complete as a version of libignition-common4 with gazebosim/gz-common#389 needs to be released before the tests work again.

I think I understood the problem: this PR was merged and a new release of ign-common4 was released (i.e. 4.5.2, see #1574 (comment)), but the related package of conda-forge was not updated and is still stick to 4.5.1 (probably due to conda-forge/libignition-gazebo-feedstock#24). We can manually bump ign-common4, also to simplify the test of conda-forge/libignition-gazebo-feedstock#49 .

traversaro · 2022-10-19T17:53:47Z

We can manually bump ign-common4, also to simplify the test of conda-forge/libignition-gazebo-feedstock#49 .

Related PR: conda-forge/libignition-common-feedstock#54 .

nkoenig · 2022-10-19T20:10:17Z

I found that the installed cmdmodel6.rb and cmdgazebo6.rb files were identical. Both files contained the model command code. Will the conda-forge PR you linked to fix this?

traversaro · 2022-10-19T21:22:56Z

I found that the installed cmdmodel6.rb and cmdgazebo6.rb files were identical. Both files contained the model command code. Will the conda-forge PR you linked to fix this?

No, that seems a different issue, hopefully fixed by 124c13d .

Signed-off-by: Silvio <[email protected]>

Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Silvio <[email protected]>

Adding some API docs for changes from gazebosim#1076 Signed-off-by: Kenji Brameld <[email protected]> Signed-off-by: Silvio <[email protected]>

* Add topic parameter. Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Silvio <[email protected]>

* bumped minor and updated changelog Signed-off-by: Dharini Dutia <[email protected]> * fixed changelog as per feedback and updated migration guide Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Silvio <[email protected]>

Signed-off-by: Kenji Brameld <[email protected]> Signed-off-by: Silvio <[email protected]>

Signed-off-by: Silvio Traversaro <[email protected]> Signed-off-by: Silvio <[email protected]>

* initial commit to allow plugin to call a service Signed-off-by: Liam Han <[email protected]> * adding tutorial and modifying the world sdf Signed-off-by: Liam Han <[email protected]> * added test for single input and single service output Signed-off-by: Liam Han <[email protected]> * added test for single input and multiple service output Signed-off-by: Liam Han <[email protected]> * added test for invalid matching service name => timeout Signed-off-by: Liam Han <[email protected]> * modified variables the camelCase Signed-off-by: Liam Han <[email protected]> * fixed typo, indentation, grammar, lines that exceeded 80 char Signed-off-by: Liam Han <[email protected]> * fixing ubuntu bionic ci issue Signed-off-by: Liam Han <[email protected]> * silly syntax mistake on expect_eq Signed-off-by: Liam Han <[email protected]> * added three more test cases that addesses incorrect response type, incorrect request type and false result Signed-off-by: Liam Han <[email protected]> * WIP: major restructuring and currently working. Requires more cleanup and test Signed-off-by: Liam Han <[email protected]> * WIP: fixed preprocessor define bug Signed-off-by: Liam Han <[email protected]> * WIP: working but extremely convoluted Signed-off-by: Liam Han <[email protected]> * WIP major modification but a lot of errors and tests failed Signed-off-by: Liam Han <[email protected]> * stable version: had to revert back to previous work. all tests passed Signed-off-by: Liam Han <[email protected]> * modified to use blocking Request method as well as reduce a service worker thread to just one thread with the publisher. all tests passed Signed-off-by: Liam Han <[email protected]> * stable version: had to revert back to previous work. all tests passed Signed-off-by: Liam Han <[email protected]> * successfully reverted and tested Signed-off-by: Liam Han <[email protected]> * fixing PR suggestions Signed-off-by: Liam Han <[email protected]> * changed string with 'serv' to 'srv' and included <mutex> to the header Signed-off-by: Liam Han <[email protected]> * fixed indentation and removed rep.set_data since it's unused on the client service Signed-off-by: Liam Han <[email protected]> * getting rid of the id Signed-off-by: Liam Han <[email protected]> * fixed race condition resulting seldom test failure Signed-off-by: Liam Han <[email protected]> * changed from triggerSrv to serviceCount. This compensates for the two threads running at different rate Signed-off-by: Liam Han <[email protected]> * braces indentation Signed-off-by: Mabel Zhang <[email protected]> * addressing gnu c compiler (gcc) warnings Signed-off-by: Liam Han <[email protected]> Signed-off-by: Liam Han <[email protected]> Signed-off-by: Mabel Zhang <[email protected]> Co-authored-by: Mabel Zhang <[email protected]> Signed-off-by: Silvio <[email protected]>

Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Silvio <[email protected]>

Signed-off-by: Silvio <[email protected]>

traversaro · 2022-10-19T21:33:13Z

Sorry, it seems I did something wrong while trying to fix the DCO checks. Probably it is easier for me to open a new PR.

traversaro · 2022-10-19T21:38:14Z

I opened #1764 to have a PR with a clean history. I think we can close this one and continue the discussion on #1764 .

traversaro requested a review from chapulina as a code owner July 5, 2022 19:12

traversaro force-pushed the fixigngazeboserveronwin branch from d0d939c to 7bca2d0 Compare July 5, 2022 19:13

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traversaro force-pushed the fixigngazeboserveronwin branch from 7bca2d0 to ee57695 Compare July 5, 2022 19:50

chapulina added Windows Windows support 🏯 fortress Ignition Fortress labels Jul 5, 2022

traversaro force-pushed the fixigngazeboserveronwin branch from ee57695 to b170a72 Compare July 5, 2022 20:23

chapulina suggested changes Jul 6, 2022

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traversaro mentioned this pull request Jul 9, 2022

Support absolute Windows paths with forward slashes in common::FindFile gazebosim/gz-common#389

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traversaro force-pushed the fixigngazeboserveronwin branch 2 times, most recently from 8427a9d to 0ea9426 Compare July 19, 2022 21:30

ahcorde added the needs upstream release Blocked by a release of an upstream library label Jul 20, 2022

chapulina added the bug Something isn't working label Jul 23, 2022

traversaro mentioned this pull request Aug 21, 2022

ignition-tools-backward.dll and ignition-gazebo6-ign.dll not installed in Windows conda-forge/libignition-gazebo-feedstock#47

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nkoenig requested a review from mjcarroll August 22, 2022 18:50

traversaro force-pushed the fixigngazeboserveronwin branch from 0ea9426 to 579addc Compare August 28, 2022 17:45

ahcorde previously approved these changes Aug 29, 2022

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azeey requested a review from nkoenig October 3, 2022 18:13

traversaro mentioned this pull request Oct 19, 2022

Fix ign server -s on Windows conda-forge/libignition-gazebo-feedstock#49

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traversaro mentioned this pull request Oct 19, 2022

Manually bump version to 4.6.1 conda-forge/libignition-common-feedstock#54

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This was referenced Oct 19, 2022

Fix autotick bot conda-forge/libignition-gazebo-feedstock#24

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Fix ign server -s on Windows (take two) conda-forge/libignition-gazebo-feedstock#52

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traversaro force-pushed the fixigngazeboserveronwin branch from 124c13d to bb924ea Compare October 19, 2022 21:31

traversaro and others added 10 commits October 19, 2022 23:31

Enable use of ign gazebo -s on Windows

cac78d9

Signed-off-by: Silvio <[email protected]>

Update src/CMakeLists.txt

0a47703

Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Silvio <[email protected]>

Add information about <topic> system paramter (gazebosim#1671)

df42865

Adding some API docs for changes from gazebosim#1076 Signed-off-by: Kenji Brameld <[email protected]> Signed-off-by: Silvio <[email protected]>

Add topic parameter to thrust plugin (gazebosim#1681)

e7f8b80

* Add topic parameter. Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Silvio <[email protected]>

Fix reference link in ackermann steering (gazebosim#1683)

0aa66b2

Signed-off-by: Kenji Brameld <[email protected]> Signed-off-by: Silvio <[email protected]>

Fix installation instructions on Ubuntu 22.04 (gazebosim#1686)

70aa84c

Signed-off-by: Silvio Traversaro <[email protected]> Signed-off-by: Silvio <[email protected]>

Fix loading render engine plugins in GUI (gazebosim#1694)

35ce83a

Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Silvio <[email protected]>

Fix cmdmodel6.rb and cmdgazebo6.rb contining the same code

bacff19

Signed-off-by: Silvio <[email protected]>

traversaro force-pushed the fixigngazeboserveronwin branch from bb924ea to bacff19 Compare October 19, 2022 21:31

traversaro requested a review from iche033 as a code owner October 19, 2022 21:31

traversaro mentioned this pull request Oct 19, 2022

Enable use of ign gazebo -s on Windows (take two) #1764

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Enable use of ign gazebo -s on Windows #1574

Enable use of ign gazebo -s on Windows #1574

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traversaro commented Jul 5, 2022 • edited Loading

🎉 New feature

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Test it

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