Update ompl_interface with latest version of OMPL #2994

MarqRazz · 2024-09-09T16:46:18Z

Description

I'm working on debugging some issues and require building MoveIt2 and OMPL from source. This PR updates the package moveit_planners_ompl to work with the latest changes made in OMPL and it's more modern approach to exporting/linking the library but will require building it from source until a new release is made (I am working on getting it released and will keep this PR updated with the status).

I was also having issues with OMPL but that package was recently updated to properly work with Colcon. Here is a link to the issue.

Big thanks to @JafarAbdi and @mamoll for helping me debug some of these issues and getting this updated! 🥇

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

Ryanf55

LGTM.

moveit_planners/ompl/ompl_interface/CMakeLists.txt

JafarAbdi · 2024-09-09T19:34:10Z

Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed

JafarAbdi · 2024-09-09T19:38:52Z

moveit2.repos

@@ -12,3 +12,7 @@ repositories:
    type: git
    url: https://github.com/moveit/moveit_resources.git
    version: ros2
+  ompl:


Should we wait till the new ompl version is released?

I guess the ompl crew would be willing to release although they still have at least one unresolved regression lying around.

But I'm not sure it's so difficult to support both ompl cmake interfaces here for now. We do that in MoveIt.

I feel like incurring a source build of OMPL is probably not ideal for build times, so I'd prefer waiting for that new release to be available via binaries before merging this PR.

moveit_planners/ompl/ompl_interface/CMakeLists.txt

v4hn · 2024-09-10T12:12:48Z

moveit2.repos

@@ -12,3 +12,7 @@ repositories:
    type: git
    url: https://github.com/moveit/moveit_resources.git
    version: ros2
+  ompl:


I guess the ompl crew would be willing to release although they still have at least one unresolved regression lying around.

But I'm not sure it's so difficult to support both ompl cmake interfaces here for now. We do that in MoveIt.

MarqRazz · 2024-09-10T13:01:48Z

Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed

According to OMPL's build documentation OMPL_LIBRARY_DIRS does not exist any more and the environment variables are not recommended any more so I removed it. If someone with a Mac could test this PR out that would be great!

Ryanf55 · 2024-09-10T13:15:15Z

Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed

According to OMPL's build documentation OMPL_LIBRARY_DIRS does not exist any more and the environment variables are not recommended any more so I removed it. If someone with a Mac could test this PR out that would be great!

To support the previous CMake module behavior, the following variables are defined. These are for backwards compatability, but not recommended anymore.

It was my intent to preserve them for backwards compatability, but the reality on ompl main is they only exist for consuming ompl through submodule, not find_package. This was an oversight/mistake on my part, and I only realized it yesterday. OMPL did not change its major version, so there should not be ABI breaks. I have recognized the downstream impact this is having is larger than it should be. If MoveIT has build failures for something that worked previously, I am in the wrong. Please let me know if you have a minimum reproducible example and I will do my best to bring those variables back in find_package.

Ryanf55 · 2024-09-10T17:13:57Z

This PR should get us closer to fixing the accidental breakage of the old variables in find_package. https://github.com/ompl/ompl/pull/1182/files#diff-148715d6ea0c0ea0a346af3f6bd610d010d490eca35ac6a9b408748f7ca9e3f4R10

We need to then add this back into the export, along with the other variables.

mergify · 2024-10-13T19:13:56Z

This pull request is in conflict. Could you fix it @MarqRazz?

moveit2.repos

MarqRazz · 2024-10-14T13:07:17Z

Thanks for keeping this moving @sjahr!

sjahr · 2024-10-14T13:23:26Z

@MarqRazz I'd just merge it now, since there aren't any CI failures related to the PR. Any concerns?

MarqRazz · 2024-10-14T13:33:13Z

~~Nope, I was just waiting for the~~ 👍

Actually we need to release OMPL for this change to work right. I have not tested this against the latest release to ROS2.

@mamoll I would be happy to help get the OMPL release to ROS updated. Is there anything I can help with? @JafarAbdi also said he was will to help maintain the release.

sjahr · 2024-10-14T14:30:47Z

Ok, I'll wait for now 👍 Let me know when it's ready

sjahr · 2024-11-20T08:16:47Z

@MarqRazz @mamoll @JafarAbdi Any updates?

MarqRazz · 2024-11-21T22:10:49Z

Thanks for keeping this up to date @sjahr! I have reached out the the ompl-release repo and Mark Moll and we are working on adding additional maintainers.

JafarAbdi

LGTM

codecov-commenter · 2024-11-22T10:35:30Z

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@@            Coverage Diff             @@
##             main    #2994      +/-   ##
==========================================
- Coverage   45.67%   45.66%   -0.01%     
==========================================
  Files         714      714              
  Lines       62295    62295              
  Branches     7530     7530              
==========================================
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- Misses      33684    33690       +6     
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sea-bass · 2025-01-12T04:33:17Z

Wait... @MarqRazz I just read the original issue and now that OMPL 1.6.0 is out for Jazzy, the source build can be removed and this should work, yeah?

MarqRazz · 2025-01-12T17:03:26Z

OMPL 1.6 has been released since Jan. 7th 2023 and is currently the latest release of the library (this is the same version that is available in Humble). The breaking change this PR is attempting to fix was merged into OMPL on Oct. 2023.

I poked around in the ompl-release repo for Jazzy and I'm not sure which upstream OMPL commit these rebases were made on

but it does not include OMPL#1067 according to my testing because the changes in this PR fail to build against the latest binaries of OMPL in Jazzy.

--- stderr: moveit_planners_ompl                                                                                   
CMake Error at ompl_interface/CMakeLists.txt:43 (target_link_libraries):
  Target "moveit_ompl_interface" links to:

    ompl::ompl

  but the target was not found.  Possible reasons include:

    * There is a typo in the target name.
    * A find_package call is missing for an IMPORTED target.
    * An ALIAS target is missing.

FYI we do have a PR open to make a 1.7 release of OMPL but it is taking a little time to ensure that everything is ready to cut a new version. I am also proposing a new versioning approach that bumps the source version after cutting a release so there is less confusion which version is released vs source. If anyone has thoughts here about version numbering please come chime in on the conversation!

sea-bass · 2025-01-12T17:32:58Z

Gotcha. My preference would be to then release the OMPL 1.7.0 binaries and then update this PR to use those binaries.

But if you/others would prefer to bring in the latest version sooner and do the source build for now, my preference isn't strong. Just note that we wouldn't be able to cut a new release of MoveIt until the OMPL binaries were in, hence my hesitation.

Edit: anyway, the tutorials images check I think is failing, but it should go green after this PR makes it to main.

MarqRazz · 2025-01-12T18:24:52Z

Gotcha. My preference would be to then release the OMPL 1.7.0 binaries and then update this PR to use those binaries.

👍 Mine too which is why I have been holding off on this PR. I was also only planning on releasing OMPL 1.7 to Rolling/Jazzy and leaving everything else on 1.6.

Update ompl_interface with latest version of OMPL

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MarqRazz mentioned this pull request Sep 9, 2024

Can't find OMPL when building MoveIt2 and OMPL from source ompl/ompl#1175

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only link ompl where required

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Hotfix: Cmake installation with version folder ompl/ompl#1184

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sjahr added 4 commits October 6, 2024 13:29

Merge branch 'main' into update_ompl_version

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Fix formatting

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Merge branch 'main' into update_ompl_version

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Additional maintainers ros2-gbp/ompl-release#1

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Merge branch 'main' into update_ompl_version

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Merge branch 'main' into update_ompl_version

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Update ompl_interface with latest version of OMPL #2994

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Update ompl_interface with latest version of OMPL #2994

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