[workspace] Use VTK built from source (RobotLocomotion#19945)

Drake now uses a custom version of VTK that is compiled from source. Users on macOS (who are not running Drake's unit tests) no longer need the "robotlocomotion/director" tap and may remove it. The following Bazel workspace externals are now deprecated: - double_conversion - glew - liblz4 - liblzma - vtk The repository rules will continue to work during the deprecation window, but Drake no longer installs their Ubuntu packages; if you need the packages, ensure your project setup scripts install them. For CMake users on Ubuntu 20.04 ("Focal"), Drake's source build and pre-compiled binaries no longer provide a copy of VTK 9.1. If you still need Drake's build of VTK 9.1 in your project, you can download it here: - https://drake-packages.csail.mit.edu/vtk/vtk-9.1.0-3-focal-x86_64.tar.gz To avoid ABI/ODR headaches, Drake's VTK build uses a custom namespace and hidden symbols. This is particularly an advantage for wheel builds. During manual testing on macOS, we found that RenderEngineVtk sometimes does not obey show_window=true. It is not clear whether this is a new bug due to the upgrade. Refer to issue 20144 for further discussion.
jwnimmer-tri · Sep 8, 2023 · df39f12 · df39f12
1 parent 050b106
commit df39f12
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Showing 52 changed files with 687 additions and 1,717 deletions.
diff --git a/geometry/proximity/BUILD.bazel b/geometry/proximity/BUILD.bazel
@@ -831,9 +831,9 @@ drake_cc_library(
     ],
     deps = [
         "@fmt",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOLegacy",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOLegacy",
     ],
 )
 

diff --git a/geometry/render_gl/BUILD.bazel b/geometry/render_gl/BUILD.bazel
@@ -192,10 +192,10 @@ drake_cc_library_ubuntu_only(
         ":internal_opengl_context",
     ],
     deps = [
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkImagingCore",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkImagingCore",
     ],
 )
 
@@ -242,9 +242,9 @@ drake_cc_googletest_ubuntu_only(
         "//common/test_utilities:expect_throws_message",
         "//geometry/render:render_label",
         "//systems/sensors:color_palette",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 

diff --git a/geometry/render_gltf_client/BUILD.bazel b/geometry/render_gltf_client/BUILD.bazel
@@ -100,9 +100,9 @@ drake_cc_library(
         "//systems/sensors:image",
         "//systems/sensors:vtk_image_reader_writer",
         "@picosha2_internal//:picosha2",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 
@@ -124,10 +124,10 @@ drake_cc_library(
         "//geometry/render_vtk:internal_render_engine_vtk",
         "//systems/sensors:image",
         "@nlohmann_internal//:nlohmann",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonMath",
-        "@vtk//:vtkIOExport",
-        "@vtk//:vtkRenderingCore",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonMath",
+        "@vtk_internal//:vtkIOExport",
+        "@vtk_internal//:vtkRenderingCore",
     ],
 )
 
@@ -246,8 +246,8 @@ drake_cc_googletest(
         "//common/test_utilities:expect_throws_message",
         "//systems/sensors/test_utilities:image_compare",
         "@nlohmann_internal//:nlohmann",
-        "@vtk//:vtkCommonMath",
-        "@vtk//:vtkRenderingCore",
+        "@vtk_internal//:vtkCommonMath",
+        "@vtk_internal//:vtkRenderingCore",
     ],
 )
 
@@ -273,12 +273,12 @@ drake_cc_binary(
         "//systems/sensors:color_palette",
         "//systems/sensors:image",
         "@gflags",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonMath",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkIOImport",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonMath",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkIOImport",
+        "@vtk_internal//:vtkRenderingCore",
+        "@vtk_internal//:vtkRenderingOpenGL2",
     ],
 )
 

diff --git a/geometry/render_vtk/BUILD.bazel b/geometry/render_vtk/BUILD.bazel
@@ -62,16 +62,16 @@ drake_cc_library(
         "//geometry/render_vtk:render_engine_vtk_params",
         "//systems/sensors:color_palette",
         "@eigen",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonExecutionModel",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersSources",
-        "@vtk//:vtkIOGeometry",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkIOImport",
-        "@vtk//:vtkImagingCore",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonExecutionModel",
+        "@vtk_internal//:vtkCommonTransforms",
+        "@vtk_internal//:vtkFiltersSources",
+        "@vtk_internal//:vtkIOGeometry",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkIOImport",
+        "@vtk_internal//:vtkImagingCore",
+        "@vtk_internal//:vtkRenderingCore",
+        "@vtk_internal//:vtkRenderingOpenGL2",
     ],
 )
 
@@ -87,12 +87,12 @@ drake_cc_library(
         "//geometry:shape_specification",
         "//geometry/render:render_material",
         "//geometry/render:render_mesh",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkCommonExecutionModel",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersGeneral",
-        "@vtk//:vtkFiltersSources",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkCommonExecutionModel",
+        "@vtk_internal//:vtkCommonTransforms",
+        "@vtk_internal//:vtkFiltersGeneral",
+        "@vtk_internal//:vtkFiltersSources",
     ],
 )
 
@@ -106,9 +106,9 @@ drake_cc_library(
         "//common:essential",
         "//math:geometric_transform",
         "@eigen",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersSources",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonTransforms",
+        "@vtk_internal//:vtkFiltersSources",
     ],
 )
 
@@ -138,6 +138,7 @@ drake_cc_googletest(
                 "RenderEngineVtkTest.PreservePropertyTexturesOverClone",
                 "RenderEngineVtkTest.RemoveVisual",
                 "RenderEngineVtkTest.SimpleClone",
+                "RenderEngineVtkTest.SingleLight",
                 "RenderEngineVtkTest.SphereTest",
                 "RenderEngineVtkTest.TerrainTest",
             ]),
@@ -155,19 +156,19 @@ drake_cc_googletest(
         "//geometry/test_utilities:dummy_render_engine",
         "//math:geometric_transform",
         "//systems/sensors/test_utilities:image_compare",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkRenderingCore",
+        "@vtk_internal//:vtkRenderingOpenGL2",
     ],
 )
 
 drake_cc_googletest(
     name = "internal_vtk_util_test",
     deps = [
         ":internal_vtk_util",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkFiltersSources",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkFiltersSources",
     ],
 )
 

diff --git a/geometry/render_vtk/factory.h b/geometry/render_vtk/factory.h
@@ -15,6 +15,11 @@ namespace geometry {
 /** Constructs a RenderEngine implementation which uses a VTK-based OpenGL
  renderer.
 
+ @warning On macOS, we've observed that RenderEngineVtk sometimes does not obey
+ render::ColorRenderCamera::show_window when it's set to `true`. Refer to issue
+ <a href="https://github.com/RobotLocomotion/drake/issues/20144">#20144</a>
+ for further discussion.
+
  @anchor render_engine_vtk_properties
  <h2>Geometry perception properties</h2>
 

diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile
@@ -6,23 +6,21 @@ tap 'robotlocomotion/director'
 cask 'adoptopenjdk' unless system '/usr/libexec/java_home --version 1.8+ --failfast &> /dev/null'
 
 brew 'cmake'
-brew 'double-conversion'
 brew 'eigen'
 brew 'gcc'
 brew 'fmt'
-brew 'glew'
 brew 'glib'
 brew 'graphviz'
 brew 'ipopt'
+brew 'jpeg'
 brew 'libpng'
-brew 'lz4'
+brew 'libtiff'
 brew 'numpy'
 brew 'openblas'
 brew 'pkg-config'
 brew '[email protected]'
 brew 'spdlog'
 brew 'tinyxml'
-brew 'robotlocomotion/director/[email protected]'
 brew 'xz'
 brew 'yaml-cpp'
 brew 'zeromq'

diff --git a/setup/ubuntu/binary_distribution/packages-focal.txt b/setup/ubuntu/binary_distribution/packages-focal.txt
@@ -18,8 +18,6 @@ libjchart2d-java
 libjpeg-turbo8
 libjsoncpp1
 liblapack3
-liblz4-1
-liblzma5
 libmumps-seq-5.2.1
 libnetcdf15
 libogg0

diff --git a/setup/ubuntu/binary_distribution/packages-jammy.txt b/setup/ubuntu/binary_distribution/packages-jammy.txt
@@ -3,12 +3,9 @@ default-jre
 jupyter-notebook
 libblas-dev
 libbz2-1.0
-libdouble-conversion3
 libeigen3-dev
 libexpat1
-libfreetype6
 libgfortran5
-libglew2.2
 libglib2.0-0
 libglu1-mesa
 libglx0
@@ -18,8 +15,6 @@ libjchart2d-java
 libjpeg-turbo8
 libjsoncpp25
 liblapack3
-liblz4-1
-liblzma5
 libmumps-seq-5.4
 libnetcdf19
 libogg0
@@ -34,7 +29,6 @@ libspdlog-dev
 libsqlite3-0
 libtheora0
 libtiff5
-libvtk9.1
 libx11-6
 libxml2
 libxt6

diff --git a/setup/ubuntu/source_distribution/packages-focal.txt b/setup/ubuntu/source_distribution/packages-focal.txt
@@ -6,16 +6,12 @@ git
 libblas-dev
 libbz2-dev
 libclang-12-dev
-libdouble-conversion-dev
 libexpat1-dev
 libgl-dev
-libglew-dev
 libglib2.0-dev
 libglx-dev
 libjpeg-turbo8-dev
 liblapack-dev
-liblz4-dev
-liblzma-dev
 libmumps-seq-dev
 libopengl-dev
 libpng-dev

diff --git a/setup/ubuntu/source_distribution/packages-jammy.txt b/setup/ubuntu/source_distribution/packages-jammy.txt
@@ -5,23 +5,18 @@ gfortran
 git
 libbz2-dev
 libclang-12-dev
-libdouble-conversion-dev
 libexpat1-dev
 libgl-dev
-libglew-dev
 libglib2.0-dev
 libglx-dev
 libjpeg-turbo8-dev
 liblapack-dev
-liblz4-dev
-liblzma-dev
 libmumps-seq-dev
 libopengl-dev
 libpng-dev
 libtiff-dev
 libtinyxml-dev
 libtool
-libvtk9-dev
 libx11-dev
 ocl-icd-opencl-dev
 opencl-headers

diff --git a/systems/sensors/BUILD.bazel b/systems/sensors/BUILD.bazel
@@ -216,8 +216,8 @@ drake_cc_library(
         ":lcm_image_traits",
         ":vtk_image_reader_writer",
         "//lcmtypes:image_array",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkIOImage",
         "@zlib",
     ],
 )
@@ -321,9 +321,9 @@ drake_cc_library(
     ],
     deps = [
         ":vtk_image_reader_writer",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 
@@ -350,8 +350,8 @@ drake_cc_library(
     deps = [
         ":image_file_format",
         "//common:unused",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 
@@ -607,31 +607,6 @@ drake_cc_googletest(
         ":vtk_image_reader_writer",
         "//common:temp_directory",
         "//common/test_utilities:expect_throws_message",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
-    ],
-)
-
-# This "reader writer canary" is the same test program as above, but linked
-# with @vtk_internal (VTK built from source) instead of @vtk (the host VTK).
-# This is a temporary measure for CI to help us understand if the VTK source
-# build is satisfactory. Once all of Drake has switched to @vtk_internal, we
-# can (and should) remove this test rule, since it will be redundant.
-drake_cc_googletest(
-    name = "vtk_image_reader_writer_canary_test",
-    srcs = [
-        "image_file_format.cc",
-        "image_file_format.h",
-        "test/vtk_image_reader_writer_test.cc",
-        "vtk_image_reader_writer.cc",
-        "vtk_image_reader_writer.h",
-    ],
-    deps = [
-        "//common:essential",
-        "//common:temp_directory",
-        "//common:unused",
-        "//common/test_utilities:expect_throws_message",
         "@vtk_internal//:vtkCommonCore",
         "@vtk_internal//:vtkCommonDataModel",
         "@vtk_internal//:vtkIOImage",

diff --git a/systems/sensors/test_utilities/BUILD.bazel b/systems/sensors/test_utilities/BUILD.bazel
@@ -24,8 +24,8 @@ drake_cc_library(
     deps = [
         "//systems/sensors:image",
         "@gtest//:without_main",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkIOImage",
     ],
 )