Update to ubuntu 22.04 (#2270)

Author: sid-parikh

CMakeLists.txt

@@ -67,7 +67,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 # Because we use ninja, we have to explicitly turn on color output for the compiler
 if("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fcolor-diagnostics -Werror=return-stack-address -Werror=switch")
-  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=lld")
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=lld-16")
   set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=lld")
 else()
   message(WARNING "You are using GCC; prefer to use clang if it is installed with the flags `-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++`.")

changelog.txt

@@ -0,0 +1,49 @@
+Important changes were made when upgrading the stack to ROS2 Humble. A list
+of changes and the reasoning behind them is listed below:
+
+As of Nov 19, 2023:
+1. The makefile was changed to work with the newer version of CMake
+   that installs by default on Ubuntu 22.04. In particular, the 
+   cmake commands no longer need the --target flag. The CMAKE_PREFIX_PATH
+   variable at the beginning of the file has also been changed.
+
+############## This change is important ###############
+2. install/setup.bash - This has not been changed, but it is important
+   to note that distutils is deprecated and slated for removal in 
+   Python 3.12. There are no direct replacements for distutils, so
+   a ticket should be opened ASAP to fix this. However, there is no
+   immediate issue with leaving it as is because Ubuntu 22.04 comes with
+   Python 3.10 by default. Do note that this is also the case in 
+   install/setup.zsh.
+
+3. source.bash - Source commands now reference humble and Ubuntu 22.04
+   instead of foxy and Ubuntu 20.04.
+
+4. rj_common/testing/rj_common_convert_test.cpp - the rclcpp::Duration
+   class no longer accepts a single integer argument for milliseconds.
+   Updated a line referencing this outdated constructor to use 
+   a std::chrono::milliseconds instead.
+
+5. rj_common/include/rj_common/time.hpp - Changed for similar reasons to (4)
+
+6. rj_utils/src/logging.cpp - RCLCPP_DEBUG and similar macros accept 
+   C strings now; updated calls to these macros
+
+7. rj_config/CMakeLists.txt - added find_package(fmt), this change complements
+   change number 6.
+
+8. soccer/src/soccer/strategy/agent/agent_action_client.cpp and hpp - 
+   Updated lines 211 to 219 to use lambda expressions instead of std::bind,
+   Changed a method to take in a different parameter type. 
+   Previously took a future template holding a GoalHandleRobotMove::SharedPtr,
+   Now just takes in the GoalHandleRobotMove::SharedPtr.
+
+9. soccer/src/soccer/ui/field_view.cpp - Added a preprocessor directive
+   to include QPainterPath, which has been separated into its own namespace.
+   Qt5 likely has other changes as well
+
+10. soccer/src/soccer/ui/robot_status_widget.hpp - Added a preprocessor
+    directive to include the std::optional namespace.
+
+This changelog should be updated to reflect any further changes completed
+before this upgrade is fully adopted.

install/setup.bash

@@ -30,6 +30,10 @@ _pythonpath_add() {
     fi
 }
 
+# NOTE: Distutils is deprecated and scheduled to be removed in Python3.12.
+# No direct replacement for the command exists, and in Ubuntu 22.04,
+# this script will produce a warning about this. We may need to find a
+# replacement library in the future.
 _PYTHON_LIB_PATH=$(python3 -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(prefix='${_INSTALL_PATH}'))")
 _pythonpath_add "${_PYTHON_LIB_PATH}"
 unset _PYTHON_LIB_PATH

makefile

@@ -2,7 +2,7 @@ SHELL=/bin/bash -o pipefail
 MAKE_FLAGS = --no-print-directory
 TESTS = *
 FIRMWR_TESTS = -i2c -io-expander -fpga -piezo -neopixel -attiny -led -radio-sender -radio-receiver
-export CMAKE_PREFIX_PATH=/opt/ros/foxy
+export CMAKE_PREFIX_PATH=/opt/ros/humble
 
 # circleci has 2 cores, but advertises 32, which causes OOMs
 ifeq ($(CIRCLECI), true)
@@ -20,17 +20,17 @@ CMAKE_FLAGS=-DCMAKE_INSTALL_PREFIX="$(shell pwd)/install" -DNO_WALL=ON -DCMAKE_C
 # usage: $(call cmake_build_target, target, extraCmakeFlags)
 define cmake_build_target
 	mkdir -p build-debug
- 	cd build-debug && cmake -GNinja -Wno-dev -DNO_WALL=ON -DCMAKE_BUILD_TYPE=Debug $(DEBUG_FLAGS) $(CMAKE_FLAGS) --target -DBUILD_TESTS=ON .. && ninja $(NINJA_FLAGS) $1 install
+ 	cd build-debug && cmake -GNinja -Wno-dev -DNO_WALL=ON -DCMAKE_BUILD_TYPE=Debug $(DEBUG_FLAGS) $(CMAKE_FLAGS) -DBUILD_TESTS=ON .. && ninja $(NINJA_FLAGS) $1 install
 endef
 
 define cmake_build_target_release
 	mkdir -p build-release
- 	cd build-release && cmake -GNinja -Wno-dev -DNO_WALL=ON -DCMAKE_BUILD_TYPE=Release $(CMAKE_FLAGS) --target -DBUILD_TESTS=ON .. && ninja $(NINJA_FLAGS) $1 install
+ 	cd build-release && cmake -GNinja -Wno-dev -DNO_WALL=ON -DCMAKE_BUILD_TYPE=Release $(CMAKE_FLAGS) -DBUILD_TESTS=ON .. && ninja $(NINJA_FLAGS) $1 install
 endef
 
 define cmake_build_target_perf
 	mkdir -p build-release-debug
- 	cd build-release-debug && cmake -GNinja -Wno-dev -DNO_WALL=ON -DCMAKE_BUILD_TYPE=RelWithDebInfo $(CMAKE_FLAGS) --target -DBUILD_TESTS=ON .. && ninja $(NINJA_FLAGS) $1 install
+ 	cd build-release-debug && cmake -GNinja -Wno-dev -DNO_WALL=ON -DCMAKE_BUILD_TYPE=RelWithDebInfo $(CMAKE_FLAGS) -DBUILD_TESTS=ON .. && ninja $(NINJA_FLAGS) $1 install
 endef
 
 all-perf:

rj_common/include/rj_common/time.hpp

@@ -98,13 +98,12 @@ struct RosConverter<RJ::Time, builtin_interfaces::msg::Time> {
         return RosConverter<RJ::Time, rclcpp::Time>::from_ros(value);
     }
 };
-
+//std::chrono::duration_cast<std::chrono::nanoseconds>(value).count()
 template <>
 struct RosConverter<RJ::Seconds, rclcpp::Duration> {
     static rclcpp::Duration to_ros(const RJ::Seconds& value) {
         return rclcpp::Duration(
-            std::chrono::duration_cast<std::chrono::nanoseconds>(value)
-                .count());
+            std::chrono::duration_cast<std::chrono::nanoseconds>(value));
     }
     static RJ::Seconds from_ros(const rclcpp::Duration& value) {
         const std::chrono::nanoseconds dur(value.nanoseconds());
@@ -126,4 +125,4 @@ struct RosConverter<RJ::Seconds, builtin_interfaces::msg::Duration> {
 
 ASSOCIATE_CPP_ROS(RJ::Seconds, builtin_interfaces::msg::Duration);
 
-}  // namespace rj_convert
+}  // namespace rj_convert

rj_common/testing/rj_common_convert_test.cpp

@@ -12,5 +12,5 @@ TEST(ROSConvert, duration_lossless_convert) {
     // We don't expect perfect equality for seconds, because float comparisons.
     using Cvt = rj_convert::RosConverter<RJ::Seconds, rclcpp::Duration>;
     EXPECT_NEAR(Cvt::from_ros(Cvt::to_ros(RJ::Seconds(1.0))).count(), 1.0, 1e-6);
-    EXPECT_NEAR(Cvt::to_ros(Cvt::from_ros(rclcpp::Duration(12345))).nanoseconds(), 12345, 1);
+    EXPECT_NEAR(Cvt::to_ros(Cvt::from_ros(rclcpp::Duration(std::chrono::nanoseconds(12345)))).nanoseconds(), 12345, 1);
 }

rj_config/CMakeLists.txt

@@ -9,6 +9,7 @@ project(rj_config)
 # ======================================================================
 find_package(rclcpp REQUIRED)
 find_package(rj_msgs REQUIRED)
+find_package(fmt REQUIRED)
 
 # ======================================================================
 # Define Targets
@@ -25,7 +26,7 @@ add_subdirectory(src)
 # ======================================================================
 set(RJ_CONFIG_DEPS_INCLUDE_DIRS include)
 
-set(RJ_CONFIG_DEPS_LIBRARIES rj_constants rj_common rj_utils)
+set(RJ_CONFIG_DEPS_LIBRARIES rj_constants rj_common rj_utils fmt)
 
 # ======================================================================
 # Include and Linking

rj_utils/src/logging.cpp

@@ -30,19 +30,19 @@ void Ros2Sink<Mutex>::sink_it_(const spdlog::details::log_msg& msg) {
     switch (msg.level) {
         case spdlog::level::trace:
         case spdlog::level::debug:
-            RCLCPP_DEBUG(logger, string);  // NOLINT
+            RCLCPP_DEBUG(logger, string.c_str());  // NOLINT
             break;
         case spdlog::level::info:
-            RCLCPP_INFO(logger, string);  // NOLINT
+            RCLCPP_INFO(logger, string.c_str());  // NOLINT
             break;
         case spdlog::level::warn:
-            RCLCPP_WARN(logger, string);  // NOLINT
+            RCLCPP_WARN(logger, string.c_str());  // NOLINT
             break;
         case spdlog::level::err:
-            RCLCPP_ERROR(logger, string);  // NOLINT
+            RCLCPP_ERROR(logger, string.c_str());  // NOLINT
             break;
         case spdlog::level::critical:
-            RCLCPP_FATAL(logger, string);  // NOLINT
+            RCLCPP_FATAL(logger, string.c_str());  // NOLINT
             break;
         case spdlog::level::off:
             break;
@@ -58,4 +58,4 @@ void set_spdlog_default_ros2(const std::string& logger_name) {
     ros2_logger->set_pattern("[%s:%#] %v");
     spdlog::set_default_logger(std::move(ros2_logger));
 }
-}  // namespace rj_utils
+}  // namespace rj_utils

soccer/src/soccer/strategy/agent/agent_action_client.cpp

@@ -177,11 +177,15 @@ void AgentActionClient::send_new_goal() {
     goal_msg.robot_intent = rj_convert::convert_to_ros(last_task_);
 
     auto send_goal_options = rclcpp_action::Client<RobotMove>::SendGoalOptions();
-    send_goal_options.goal_response_callback =
-        std::bind(&AgentActionClient::goal_response_callback, this, _1);
-    send_goal_options.feedback_callback =
-        std::bind(&AgentActionClient::feedback_callback, this, _1, _2);
-    send_goal_options.result_callback = std::bind(&AgentActionClient::result_callback, this, _1);
+    send_goal_options.goal_response_callback = [this](auto arg) {
+        goal_response_callback(arg);
+    };
+    send_goal_options.feedback_callback = [this](auto arg1, auto arg2) {
+        feedback_callback(arg1, arg2);
+    };
+    send_goal_options.result_callback = [this](auto arg) {
+        result_callback(arg);
+    };
     client_ptr_->async_send_goal(goal_msg, send_goal_options);
 }
 
@@ -196,8 +200,8 @@ void AgentActionClient::send_new_goal() {
 // situation based on the current tick.
 
 void AgentActionClient::goal_response_callback(
-    std::shared_future<GoalHandleRobotMove::SharedPtr> future) {
-    auto goal_handle = future.get();
+    GoalHandleRobotMove::SharedPtr goal_handle) {
+
     if (!goal_handle) {
         current_position_->set_goal_canceled();
     }

soccer/src/soccer/strategy/agent/agent_action_client.hpp

@@ -74,7 +74,7 @@ class AgentActionClient : public rclcpp::Node {
 
     // ROS ActionClient spec, for calls to planning ActionServer
     rclcpp_action::Client<RobotMove>::SharedPtr client_ptr_;
-    void goal_response_callback(std::shared_future<GoalHandleRobotMove::SharedPtr> future);
+    void goal_response_callback(GoalHandleRobotMove::SharedPtr future);
     void feedback_callback(GoalHandleRobotMove::SharedPtr,
                            const std::shared_ptr<const RobotMove::Feedback> feedback);