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Add rmw_zenoh_pico to emscripten builds #319

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Add rmw_zenoh_pico to emscripten builds #319

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traversaro
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Fix #309 .

However, I am not sure if rosdistro_additional_recipes works fine if no rosdistro_snapshot is specified, as currently in emscripten builds.

@Tobias-Fischer
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Hmm unfortunately it seems like it doesn’t work: “ Could not generate output for rmw_zenoh_pico”

@traversaro
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That make sense, if rosdistro_snapshot is not in the conf file, then all snapshot are ignored: https://github.com/RoboStack/vinca/blob/47bfdcd7b4701536638b208951ddda6a3a70ff1a/vinca/main.py#L224-L237 . Probably a quick workaround is jut to create a snapshot for emscripten.

@traversaro
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In bbd2ef9 I added a custom snapshot for emscripten32 . On the next full rebuild, we can probably align the snapshot used by the different platforms.

@Tobias-Fischer
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Hmmm still the same message :(

@Tobias-Fischer

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@traversaro
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There was a malformed field in a556830 .

@traversaro
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The PR is now (silently, due to RoboStack/ros-jazzy#86) failing with error:

   with urllib.request.urlopen(raw_url) as resp:
         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/urllib/request.py", line 216, in urlopen
    return opener.open(url, data, timeout)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/urllib/request.py", line 525, in open
    response = meth(req, response)
               ^^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/urllib/request.py", line 634, in http_response
    response = self.parent.error(
               ^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/urllib/request.py", line 563, in error
    return self._call_chain(*args)
           ^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/urllib/request.py", line 496, in _call_chain
    result = func(*args)
             ^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/urllib/request.py", line 643, in http_error_default
    raise HTTPError(req.full_url, code, msg, hdrs, fp)
urllib.error.HTTPError: HTTP Error 404: Not Found

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/bin/vinca", line 10, in <module>
    sys.exit(main())
             ^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/site-packages/vinca/main.py", line 1198, in main
    selected_pkgs = get_selected_packages(distro, vinca_conf)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/site-packages/vinca/main.py", line 767, in get_selected_packages
    pkgs = distro.get_depends(i, ignore_pkgs=skipped_packages)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/site-packages/vinca/distro.py", line 54, in get_depends
    xml_str = self.get_package_xml_for_additional_package(pkg_info)
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/runner/work/ros-humble/ros-humble/.pixi/envs/beta/lib/python3.11/site-packages/vinca/distro.py", line 161, in get_package_xml_for_additional_package
    raise RuntimeError(f"Failed to fetch package.xml from {raw_url}: {e}")
RuntimeError: Failed to fetch package.xml from https://raw.githubusercontent.com/esol-community/rmw_zenoh_pico/1.3.1/package.xml: HTTP Error 404: Not Found

The problem is that vinca should be modified to accept an optional argument in case the ROS package is not in the root of the repo.

@traversaro
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The problem is that vinca should be modified to accept an optional argument in case the ROS package is not in the root of the repo.

I looked into it in this https://github.com/RoboStack/vinca/tree/fixhumble309 , but I think a prerequisite is to modify vinca to actually generate a different bld_**.* script for each recipe, instead of having a single build script for multiple recipes. This is something desirable also to make the recipe more easily relocatable, and it is probably a prerequisite for RoboStack/vinca#82 . I think I can work on this, but I do not have a timeline for this.

@traversaro
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The problem is that vinca should be modified to accept an optional argument in case the ROS package is not in the root of the repo.

I looked into it in this https://github.com/RoboStack/vinca/tree/fixhumble309 , but I think a prerequisite is to modify vinca to actually generate a different bld_**.* script for each recipe, instead of having a single build script for multiple recipes. This is something desirable also to make the recipe more easily relocatable, and it is probably a prerequisite for RoboStack/vinca#82 . I think I can work on this, but I do not have a timeline for this.

Ok, the problem is fixed by RoboStack/vinca#84 .

Now the recipe is failing with:

 │ │ -- Found rmw: 6.1.2 ($PREFIX/share/rmw/cmake)
 │ │ CMake Error at CMakeLists.txt:29 (find_package):
 │ │   By not providing "Findmicrocdr.cmake" in CMAKE_MODULE_PATH this project has
 │ │   asked CMake to find a package configuration file provided by "microcdr",
 │ │   but CMake did not find one.
 │ │ -- Configuring incomplete, errors occurred!
 │ │   Could not find a package configuration file provided by "microcdr" with any
 │ │   of the following names:
 │ │     microcdrConfig.cmake
 │ │     microcdr-config.cmake
 │ │   Add the installation prefix of "microcdr" to CMAKE_PREFIX_PATH or set
 │ │   "microcdr_DIR" to a directory containing one of the above files.  If
 │ │   "microcdr" provides a separate development package or SDK, be sure it has
 │ │   been installed.

that seems a "normal" problem of missing dependencies.

@Tobias-Fischer
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We now need to add https://github.com/micro-ROS/rosidl_typesupport_microxrcedds as additional recipes. The humble version is very old though, I wonder if we should risk kilted (the long-term plan anyhow should be to move the emscripten build to kilted ..)

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Use rmw-zenoh-pico instead of rmw-wasm-cpp for wasm builds
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@traversaro @Tobias-Fischer