Ubuntu 24.04 Noble Numbat ROS1 build in docker

[lucasw]

https://hub.docker.com/_/ubuntu

Currently there is a working docker file in https://github.com/lucasw/ros_from_src/blob/ubuntu2404/ubuntu_2404/Dockerfile

[lucasw]

Try out the 2204 Dockerfile with 24.04

cd ros_from_src/ubuntu_2204
docker build . -t ros_from_src_ubuntu_2404 --build-arg IMAGE=ubuntu:24.04

[lucasw]

Seeing this a lot for some apt installs

Hit:1 http://security.ubuntu.com/ubuntu noble-security InRelease
Hit:2 http://archive.ubuntu.com/ubuntu noble InRelease
Hit:3 http://archive.ubuntu.com/ubuntu noble-updates InRelease
Hit:4 http://archive.ubuntu.com/ubuntu noble-backports InRelease
Reading package lists...
E: Unable to correct problems, you have held broken packages.

So far: vim

---

# docker build . -t ros_from_src_ubuntu_2404
ARG IMAGE=ubuntu:24.04
FROM ${IMAGE}
ARG IMAGE
RUN echo ${IMAGE}

ENV DEBIAN_FRONTEND="noninteractive"

RUN apt-get update -yqq
RUN apt-get upgrade -yqq
# RUN apt-get install -yqq apt-utils
RUN apt-cache search vim
RUN apt-get update -yqq && apt-get upgrade -yqq && apt-get install -yqq vim

cmake doesn't, install, so I guess try again in a few weeks

(or build cmake from source...)

[lucasw]

The apt installs work now, currently the dockerfile is failing during catkin with:

Errors << tf:cmake /base_catkin_ws/logs/tf/build.cmake.000.log
CMake Error at /usr/share/catkin/cmake/catkinConfig.cmake:82 (find_package):
  Could not find a package configuration file provided by "angles" with any
  of the following names:
...

install python3-angles? But why build tf or all of geometry at all, just use it from apt

[lucasw]

python3-python_qt_bindings isn't in 24.04?

trying to build rqt

CMake Error at /base_catkin_ws/src/roso/qt_gui_core/qt_gui_cpp/src/CMakeLists.txt:10 (message):
  No Python binding generator found.

Install python3-sip-dev

AttributeError: "pyqt_sip_dir" is not a valid configuration value or user option
...
FileNotFoundError: The sip directory for PyQt5 could not be located. Please ensure that PyQt5 is installed

Install pyqt5-dev

[lucasw]

Seeing a lot of these:

_______________________________________________________________________________
Warnings << camera_info_manager:cmake /base_catkin_ws/logs/camera_info_manager/build.cmake.000.log
<string>:3: SyntaxWarning: invalid escape sequence '\$'

[lucasw]

Install every debian ros package:

apt-get install -yqq `apt-cache search "Robot OS" | awk '{print $1}' | xargs | sed 's/\n/ /g'`

[lucasw]

libuvc_camera isn't compiling properly, but libuvc-dev is installed

catkin build ... --verbose
...
--   Found libusb-1.0, version 1.0.27
-- libusb-1.0 found using pkgconfig
-- libuvc 0.0.7

/usr/lib/cmake/libuvc/libuvcConfig.cmake is missing from 0.0.7, it's there in 23.10 with 0.0.6

https://github.com/libuvc/libuvc/commits/master/libuvcConfig.cmake

libuvc/libuvc#125 (comment)

-->

https://github.com/lucasw/libuvc_ros/tree/libuvc_0_0_7

ros-o/libuvc_ros#1

[lucasw]

Traceback (most recent call last):
  File "<frozen runpy>", line 198, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/__main__.py", line 31, in <module>
    sys.exit(_main())
             ^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/cli/main.py", line 70, in main
    return command.main(cmd_args)
           ^^^^^^^^^^^^^^^^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/cli/base_command.py", line 101, in main
    return self._main(args)
           ^^^^^^^^^^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/cli/base_command.py", line 223, in _main
    self.handle_pip_version_check(options)
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/cli/req_command.py", line 179, in handle_pip_version_check
    session = self._build_session(
              ^^^^^^^^^^^^^^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/cli/req_command.py", line 125, in _build_session
    session = PipSession(
              ^^^^^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/network/session.py", line 343, in __init__
    self.headers["User-Agent"] = user_agent()
                                 ^^^^^^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/network/session.py", line 175, in user_agent
    setuptools_dist = get_default_environment().get_distribution("setuptools")
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/metadata/importlib/_envs.py", line 180, in get_distribution
    return next(matches, None)
           ^^^^^^^^^^^^^^^^^^^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/metadata/importlib/_envs.py", line 175, in <genexpr>
    matches = (
              ^
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/metadata/base.py", line 594, in iter_all_distributions
    for dist in self._iter_distributions():
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/metadata/importlib/_envs.py", line 168, in _iter_distributions
    for dist in finder.find_eggs(location):
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/metadata/importlib/_envs.py", line 136, in find_eggs
    yield from self._find_eggs_in_dir(location)
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_internal/metadata/importlib/_envs.py", line 103, in _find_eggs_in_dir
    from pip._vendor.pkg_resources import find_distributions
  File "/base_catkin_ws/build/nmea_navsat_driver/venv/lib/python3.12/site-packages/pip/_vendor/pkg_resources/__init__.py", line 2164, in <module>
    register_finder(pkgutil.ImpImporter, find_on_path)
                    ^^^^^^^^^^^^^^^^^^^
AttributeError: module 'pkgutil' has no attribute 'ImpImporter'. Did you mean: 'zipimporter'?
Traceback (most recent call last):
  File "/base_catkin_ws/install/lib/catkin_virtualenv/venv_install", line 43, in <module>
    venv.install(
  File "/base_catkin_ws/install/lib/python3/dist-packages/catkin_virtualenv/venv.py", line 117, in install
    run_command(command + ["-r", req], check=True)
  File "/base_catkin_ws/install/lib/python3/dist-packages/catkin_virtualenv/__init__.py", line 37, in run_command
    return subprocess.run(cmd, *args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/subprocess.py", line 571, in run
    raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['/base_catkin_ws/build/nmea_navsat_driver/venv/bin/python', '-m', 'pip', 'install', '-vvv', '--no-cache-dir', '-qq', '--retries', '10', '--timeout', '30', '-r', '/base_catkin_ws/install/share/catkin_virtualenv/requirements.txt']' returned non-zero exit status 1.
make[2]: *** [CMakeFiles/nmea_navsat_driver_generate_virtualenv.dir/build.make:88: venv/bin/activate] Error 1
make[2]: *** Deleting file 'venv/bin/activate'
make[1]: *** [CMakeFiles/Makefile2:263: CMakeFiles/nmea_navsat_driver_generate_virtualenv.dir/all] Error 2

-> disable the testing for now:

catkin build nmea_navsat_driver -j1 --verbose --cmake-args -DCATKIN_ENABLE_TESTING=False

[lucasw]

____________________________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << plotjuggler:check /base_catkin_ws/logs/plotjuggler/build.check.000.log                                                                                                                                                
[Parquet] not found. Skipping plugin DataLoadParquet.
[MOSQUITTO] not found. Skipping plugin DataStreamMQTT.
QtAV_FOUND                 = FALSE
QTAV_INCLUDE_DIRS          = QTAV_INCLUDE_DIR-NOTFOUND;QTAV_INCLUDE_DIR-NOTFOUND/..
QTAV_LIBRARIES             = QTAV_LIBRARY-NOTFOUND
QTAVWIDGETS_INCLUDE_DIRS   = 
QTAVWIDGETS_LIBRARIES      = QTAVWIDGETS_LIBRARY-NOTFOUND;QTAV_LIBRARY-NOTFOUND
QtAV not found. VideoPlayer plugin will not be built. Try installing it with 'sudo apt install libqtav-dev'
CMake Error at /base_catkin_ws/install/lib/cmake/fastcdr/fastcdr-config.cmake:55 (include):
  include could not find requested file:

    /base_catkin_ws/install/lib/cmake/fastcdr/fastcdr-static-targets.cmake
Call Stack (most recent call first):
  plotjuggler_plugins/ParserROS/CMakeLists.txt:8 (find_package)

There's no libqtav-dev - plotjuggler wants it

[lucasw]

This is happening within find_package(apriltag REQUIRED)

CMake Error at /usr/lib/x86_64-linux-gnu/cmake/apriltag/apriltagTargets.cmake:92 (message):
  The imported target "apriltag::apriltag" references the file

     "/usr/lib/lib/x86_64-linux-gnu/libapriltag.so.3.3.0"

The lib/lib path is the issue.

This cmake file duplicates it:

cmake_minimum_required(VERSION 3.5.0)
project(april_test)

find_package(apriltag REQUIRED)

Looks to be reported already: https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=1069023 - probably that'll get rolled into 24.04 in the next few days? Check back again later.

libapriltag-dev:amd64                              3.3.0-2.1build1 

-> Try apt update + apt upgrade

[lucasw]

Next is making fuse build

libceres-dev 2.2.0+dfsg-4ubuntu1

Rebased the cpp17 branch (locusrobotics/fuse#270) and it builds, though need an ifdef around error_line_color.getHSB to make it build in 20.04.

[lucasw]

opencv_apps (using the indigo branch so not surprising)

Errors << opencv_apps:make /base_catkin_ws/logs/opencv_apps/build.make.000.log
/base_catkin_ws/src/opencv_apps/src/nodelet/face_recognition_nodelet.cpp:93:7: error: template-id ‘append<boost::filesystem::path::iterator>’ for ‘boost::filesystem::path& boost::filesystem::path::append(iterator, iterator, const codecvt_type&)’ does not match any template declaration
   93 | path& path::append<typename path::iterator>(typename path::iterator lhs, typename path::iterator rhs,
      |       ^~~~
In file included from /usr/include/boost/filesystem.hpp:16,
                 from /base_catkin_ws/src/opencv_apps/src/nodelet/face_recognition_nodelet.cpp:36:
/usr/include/boost/filesystem/path.hpp:876:13: note: candidates are: ‘template<class InputIterator> typename boost::enable_if_c<boost::conjunction<boost::filesystem::detail::path_traits::is_path_source_iterator<InputIterator>, boost::negation<boost::filesystem::detail::path_traits::is_native_char_ptr<InputIterator> > >::value, boost::filesystem::path&>::type boost::filesystem::path::append(InputIterator, InputIterator, const codecvt_type&)’
  876 |     >::type append(InputIterator begin, InputIterator end, const codecvt_type& cvt)
      |             ^~~~~~
/usr/include/boost/filesystem/path.hpp:1708:25: note:                 ‘boost::filesystem::path& boost::filesystem::path::append(const value_type*, const value_type*, const codecvt_type&)’
 1708 | BOOST_FORCEINLINE path& path::append(const value_type* begin, const value_type* end, codecvt_type const&)
      |                         ^~~~
/usr/include/boost/filesystem/path.hpp:860:13: note:                 ‘template<class InputIterator> typename boost::enable_if_c<boost::conjunction<boost::filesystem::detail::path_traits::is_path_source_iterator<InputIterator>, boost::negation<boost::filesystem::detail::path_traits::is_native_char_ptr<InputIterator> > >::value, boost::filesystem::path&>::type boost::filesystem::path::append(InputIterator, InputIterator)’
  860 |     >::type append(InputIterator begin, InputIterator end)
...

But those are just warnings this is the real error:

error: no type named ‘type’ in ‘struct boost::enable_if_c<false, boost::filesystem::path&>’

This change makes it build

ros-perception/opencv_apps#144

[lucasw]

Next

Errors << aruco_detect:make /base_catkin_ws/logs/aruco_detect/build.make.000.log
/base_catkin_ws/src/other/fiducials/aruco_detect/src/aruco_detect.cpp: In member function ‘void FiducialsNode::poseEstimateCallback(const FiducialArrayConstPtr&)’:
/base_catkin_ws/src/other/fiducials/aruco_detect/src/aruco_detect.cpp:431:24: error: ‘drawAxis’ is not a member of ‘cv::aruco’
  431 |                 aruco::drawAxis(cv_ptr->image, cameraMatrix, distortionCoeffs,

Same error in 23.10

-> Use drawFrameAxes introlab/rtabmap#860

[lucasw]

Will need to change this dockerfile to accommodate https://discourse.ubuntu.com/t/changes-to-ros-debian-science-support-packages/44497, and build from source all the packages that used to be available from apt following #42