ROS Kinetic regression (lib install includes architecture)

[wxmerkt]

This issue is to track the issues with the eigenpy package distributed via the ROS buildfarm on Ubuntu 16.04 which affects pinocchio (regression, does not build) and moveit (works because added eigenpyConfig.cmake). Currently, only pinocchio and other pkg-config consumers are broken.

Note: This problem only happens on 16.04/kinetic due to the old version of debhelper.

• eigenpy uses GNUInstallDirs. On the ros_buildfarm, the CMAKE_INSTALL_FULL_LIBDIR includes the system architecture for the pkg-config file, while the library is correctly installed in lib/.
• libdir and pkglibdir both include the system architecture:

cat /opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig/eigenpy.pc 
prefix=/opt/ros/kinetic
exec_prefix=/opt/ros/kinetic
**libdir=/opt/ros/kinetic/lib/x86_64-linux-gnu**
bindir=/opt/ros/kinetic/bin
**pkglibdir=/opt/ros/kinetic/lib/x86_64-linux-gnu/eigenpy**
includedir=/opt/ros/kinetic/include
datarootdir=/opt/ros/kinetic/share
pkgdatarootdir=/opt/ros/kinetic/share
docdir=/opt/ros/kinetic/share/doc/eigenpy
doxygendocdir=/opt/ros/kinetic/share/doc/eigenpy/doxygen-html

Related issues:

• Issue identified here: .deb generation fails for Xenial, works in Bionic ("dpkg-shlibdeps can't find libs building non-catkin pkg") ros-infrastructure/ros_buildfarm#543 (comment)
• CMAKE_INSTALL_PREFIX passed twice in dh_auto_configure ros-infrastructure/ros_buildfarm#686
• Support arch-specific lib and cmake folders with catkin_make_isolated ros/catkin#545

@tfoote: Is there any way of resolving this apart from changing the rules in the packaging manually (e.g. mrpt-ros-pkg-release/mrpt1-release@17361d7)? The most relevant answer to the issue here is from ros-infrastructure/ros_buildfarm#543 (comment)

[tfoote]

There have been some other projects that hit this bug in the past too: ros/console_bridge#15

With a follow up here: ros/console_bridge#19 and ros/console_bridge#29

[wxmerkt]

Thank you @tfoote. I think I found the issue. The cmake-modules that this project depends on sets variables for where to find the library in the pkg-config template that do not match the ones where it actually gets installed to. I will push for a merge + release to the buildfarm today, this should fix the Pinocchio regression.

[jcarpent]

Thanks @tfoote and @wxmerkt for the fix. Solved by #120.

[wxmerkt]

Thank you. Release made:

• Kinetic: eigenpy: 1.6.7-1 in 'kinetic/distribution.yaml' [bloom] ros/rosdistro#23043
• Melodic: eigenpy: 1.6.7-1 in 'melodic/distribution.yaml' [bloom] ros/rosdistro#23045 (not required but want to keep both distros in sync)

[wxmerkt]

While #120 fixed the mismatch between the pkg-config and the actual installed layout, it didn't resolve the original issue. The toolchain appears to configure in such a way that on Xenial that the system architecture is used in the path (-DCMAKE_INSTALL_PREFIX=/usr, which is a special case in GNUInstallDirs). This one isn't sourced on the PKG_CONFIG_PATH which is why the dependent Pinocchio build continues to fail. I haven't found a neat work-around yet.