add functions to convert shape_msgs/SolidPrimitive <-> euslisp object

[708yamaguchi]

I added functions to convert shape_msgs/SolidPrimitive <-> euslisp object

shape_msgs/SolidPrimitive is used at collision-object-publisher.l, for example.
https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus_moveit/euslisp/collision-object-publisher.l#L80-L85

If this pull request is merged, I will replace the above code with cube->shape-msg() functions.

[708yamaguchi]

Thank you for your review.

I named these functions following existing functions:
https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/euslisp/roseus-utils.l#L537
https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/euslisp/roseus-utils.l#L550
https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/euslisp/roseus-utils.l#L567

I pushed an additional commit to reflect your advice.

[k-okada]

please check travis errors

[roseus:make] ;; loading roseus("1.7.4-54-g23fdb92") on euslisp((9.27 ip-172-30-1-167 Wed Mar 4 01:33:18 UTC 2020  1.2.1))
5300[roseus:make] Traceback (most recent call last):
5301[roseus:make]   File "/opt/ros/melodic/share/rostest/nodes/hztest", line 243, in <module>
5302[roseus:make]     time.sleep(0.75)
5303[roseus:make] KeyboardInterrupt
5304[roseus:make] [ERROR] [1586526159.057168430]: Could not find roseus messages for shape_msgs under (/home/travis/ros/ws_jsk_roseus/devel/.private/roseus/share /home/travis/ros/ws_jsk_roseus/devel/share /opt/ros/melodic/share)
5305[roseus:make] try rosrun roseus generate-all-msg-srv.sh shape_msgs
5306[roseus:make] ;; can not find nil/msg/ directory for [shape_msgs] packages
5307[roseus:make] Built target _run_tests_roseus_rostest_test_test-simple-client-wait.test
5308[roseus:make] Scanning dependencies of target _run_tests_roseus_rostest_test_test-namespace.test
5309[roseus:make] -- run_tests.py: execute commands

[708yamaguchi]

Thank you for your advice.

Cause of error

I have checked the travis error carefully, I found following:

• kinetic and melodic tests
  In success tests of kinetic and melodic, shape_msgs is installed via dependency of jsk_pcl_ros.
  In failure tests of kinetic and melodic, shape_msgs is not installed because jsk_pcl_ros cannot be installed.

  E: Unable to locate package ros-melodic-jsk-pcl-ros
  

  https://api.travis-ci.org/v3/job/673356522/log.txt

  This difference might be caused by $ROS_REPOSITORY_PATH. Only when we use deb http://packages.ros.org/ros-testing/ubuntu bionic main in melodic, ros-melodic-jsk-pcl-ros is not found.
  I checked this in my PC. I seach for ros-melodic-jsk-pcl-ros on deb http://packages.ros.org/ros-testing/ubuntu bionic main, but it is not found.

  $ sudo apt update
  ...
  $ apt search ros-melodic-jsk-pcl-ros
  Sorting... Done
  Full Text Search... Done
  ros-melodic-jsk-pcl-ros-utils/bionic 1.2.10-0bionic.20200406.144533 amd64 [upgradable from: 1.2.10-0bionic.20200320.164245]
  ROS utility nodelets for pointcloud perception.
  
  ros-melodic-jsk-pcl-ros-utils-dbgsym/bionic 1.2.10-0bionic.20200406.144533 amd64
  

• indigo tests
  In all tests, shape_msgs is successfully installed via dependency of jsk_pcl_ros.

  However, All of the failed tests say:

  �[0m�[31m;; can not find :no-msg-package/msg/ directory for [shape_msgs] packages
  

  and all of the failed tests except 'TEST_PKGS="task_compiler"' say:

  Summary: 45 tests, 0 errors, 45 failures, 0 skipped
  

  I think the reason is manifest.l of shape_msgs is not created in indigo environment, but I cannot understand why manifest.l is not created while ros-indigo-shape-msgs is installed...
  https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/euslisp/roseus.l#L406

What I should do

For kinetic and melodic tests, I think we should wait for jsk_pcl_ros to be released on http://packages.ros.org/ros-testing/ubuntu
For indigo tests, I have no idea. Do I need to add shape_msgs to run_depend in roseus? Or is there any way to avoid the above error?
Could you please teach me how to fix these problem?

[knorth55]

this issue is related to jsk-ros-pkg/jsk_visualization#765 .
jsk_pcl_ros is not released because jsk_visualization build failed .

[k-okada]

Please add depends to shape_msgs from roseus as I noted on #641 (comment).
we do not want roseus depends on jsk_pcl_ros, whcih is large dependencies. please also note that shape_msgs provided from jsk_pcl_ros of roseus_tutorials. But this does not work when building deb file, becuase deb file created for each package, not each repository. So when system create roseus package, it doens not know about dependencies of roseus_tutorials

[k-okada]

please refer jsk-ros-pkg/jsk_visualization#699 (comment) jsk-ros-pkg/jsk_visualization#644 (comment) for jsk_visualizaiotn case. this is more complex than jsk_roseus, but it seems we do not want jsk_visualization depends on jsk_recognition.

[708yamaguchi]

Thank you for your teaching.

But this does not work when building deb file, becuase deb file created for each package, not each repository. So when system create roseus package, it doens not know about dependencies of roseus_tutorials

I have misunderstood the package system.
Now I understand why we need to shape_msgs to roseus dependency.

Also, from these comments (#641 (comment), jsk-ros-pkg/jsk_visualization#699 (comment) and jsk-ros-pkg/jsk_visualization#644 (comment)), I understand that we should not add large packages dependencies.

I'll be careful from now on.

[knorth55]

what i waant to tell you is that jsk_pcl_ros is not released in ros-testing is because of jsk_visualization.
maybe it is good time to learn about ros buildfarm.
jsk-ros-pkg/jsk_visualization#764

[708yamaguchi]

@knorth55
Thank you very much for your information.

Now, I am trying to understand the system of ROS Buildfarm.
e.g. xx-release repo, bloom command, jenkins, ros-shadow-fixed, ... etc

In my understanding, the current situation is as follows:

1. jsk_rviz_plugins build on build.ros.org fails because some dependent packages have been changed.
   http://build.ros.org/job/Mbin_uB64__jsk_rviz_plugins__ubuntu_bionic_amd64__binary/
2. jsk_interactive_marker build on build.ros.org (which depends on jsk_rviz_plugins) is pending.
   http://build.ros.org/job/Mbin_uB64__jsk_interactive_marker__ubuntu_bionic_amd64__binary/
3. jsk_pcl_ros build on build.ros.org (which depends on jsk_interactive_marker) is pending.
   http://build.ros.org/job/Mbin_uB64__jsk_pcl_ros__ubuntu_bionic_amd64__binary/
4. jsk_pcl_ros is not released on ros-testing (the same as ros-shadow-fixed?)(new repository of ros-shadow-fixed)

[pazeshun]

ros-shadow-fixed is old repository of ros-testing:
https://discourse.ros.org/t/security-issue-on-ros-build-farm/9342/8

[708yamaguchi]

@pazeshun
Thank you for correction!