Fix ign server -s on Windows (take two) #52

traversaro · 2022-10-19T19:36:55Z

Re-do of #49 after cherry-picking gazebosim/gz-sim#1574 on the 6.12.0 release (branch for reference: https://github.com/traversaro/ign-gazebo/tree/backportwindowsfixgz6120).

Checklist

Used a personal fork of the feedstock to propose changes
Bumped the build number (if the version is unchanged)
Reset the build number to 0 (if the version changed)
Re-rendered with the latest conda-smithy (Use the phrase @conda-forge-admin, please rerender in a comment in this PR for automated rerendering)
Ensured the license file is being packaged.

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traversaro · 2022-10-19T19:37:42Z

@conda-forge-admin, please rerender

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traversaro · 2022-10-19T21:25:33Z

@conda-forge-admin, please rerender

…nda-forge-pinning 2022.10.19.21.07.44

traversaro · 2022-10-19T21:29:19Z

In 7d53cfd I enabled the upload of artifacts by the CI jobs, so that I can test locally if ign gazebo -s is working fine after this changes.

traversaro · 2022-10-20T08:25:34Z

As there are a few doubts in gazebosim/gz-sim#1764 (comment) about some stranges CI failures on Ubuntu, let's apply the patch just on Windows.

traversaro · 2022-10-20T08:56:35Z

I tried this locally, but for some reason it is failing with:

(libignition-gazebo6) C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\share\ignition\ignition-gazebo6\worlds>ign gazebo -s .\shapes.sdf
Library error: C:/Users/STraversaro/AppData/Local/mambaforge/envs/libignition-gazebo6/Library/lib/ignition-tools-backward.dll not found. Improved backtrace generation will be disabled
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-physics-system] : couldn't find shared library.
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-user-commands-system] : couldn't find shared library.
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-scene-broadcaster-system] : couldn't find shared library.

For some reason, the files installed by the https://github.com/gazebosim/gz-sim/blob/ign-gazebo6/src/systems/CMakeLists.txt#L85 are not copied correctly in the conda packaage.

traversaro · 2022-10-20T09:04:59Z

I tried this locally, but for some reason it is failing with:

(libignition-gazebo6) C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\share\ignition\ignition-gazebo6\worlds>ign gazebo -s .\shapes.sdf
Library error: C:/Users/STraversaro/AppData/Local/mambaforge/envs/libignition-gazebo6/Library/lib/ignition-tools-backward.dll not found. Improved backtrace generation will be disabled
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-physics-system] : couldn't find shared library.
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-user-commands-system] : couldn't find shared library.
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-scene-broadcaster-system] : couldn't find shared library.

For some reason, the files installed by the https://github.com/gazebosim/gz-sim/blob/ign-gazebo6/src/systems/CMakeLists.txt#L85 are not copied correctly in the conda packaage.

Actually, this is not the problem. The problem is probably related to the fact that binary relocation does not work correctly on Windows. Anyhow, setting the path to find plugins manually, i.e.:

(libignition-gazebo6) C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\share\ignition\ignition-gazebo6\worlds>set IGN_GAZEBO_PHYSICS_ENGINE_PATH=C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\lib\ign-physics-5\engine-plugins
(libignition-gazebo6) C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\share\ignition\ignition-gazebo6\worlds>set IGN_GAZEBO_PHYSICS_ENGINE_PATH=C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\lib\ign-physics-5\engine-plugins

The test described in gazebosim/gz-sim#1574 is working fine.

traversaro · 2022-10-20T09:38:16Z

I tried this locally, but for some reason it is failing with:

(libignition-gazebo6) C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\share\ignition\ignition-gazebo6\worlds>ign gazebo -s .\shapes.sdf
Library error: C:/Users/STraversaro/AppData/Local/mambaforge/envs/libignition-gazebo6/Library/lib/ignition-tools-backward.dll not found. Improved backtrace generation will be disabled
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-physics-system] : couldn't find shared library.
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-user-commands-system] : couldn't find shared library.
[Err] [D:\bld\libignition-gazebo6_1666215155937\work\src\SystemLoader.cc:64] Failed to load system plugin [ignition-gazebo-scene-broadcaster-system] : couldn't find shared library.

For some reason, the files installed by the https://github.com/gazebosim/gz-sim/blob/ign-gazebo6/src/systems/CMakeLists.txt#L85 are not copied correctly in the conda packaage.

Actually, this is not the problem. The problem is probably related to the fact that binary relocation does not work correctly on Windows. Anyhow, setting the path to find plugins manually, i.e.:

(libignition-gazebo6) C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\share\ignition\ignition-gazebo6\worlds>set IGN_GAZEBO_PHYSICS_ENGINE_PATH=C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\lib\ign-physics-5\engine-plugins
(libignition-gazebo6) C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\share\ignition\ignition-gazebo6\worlds>set IGN_GAZEBO_SYSTEM_PLUGIN_PATH=C:\Users\STraversaro\AppData\Local\mambaforge\envs\libignition-gazebo6\Library\lib\ign-gazebo-6\plugins

The test described in gazebosim/gz-sim#1574 is working fine.

Probably the variables that we need to make sure to override with env variables are all the one contained in ignition\gazebo\config.hh, i.e. :

#define IGNITION_GAZEBO_GUI_CONFIG_PATH "D:/bld/libignition-gazebo6_1666215155937/_h_env/Library/share/ignition/ignition-gazebo6/gui"
#define IGNITION_GAZEBO_SYSTEM_CONFIG_PATH "D:/bld/libignition-gazebo6_1666215155937/_h_env/Library/share/ignition/ignition-gazebo6/systems"
#define IGNITION_GAZEBO_SERVER_CONFIG_PATH "D:/bld/libignition-gazebo6_1666215155937/_h_env/Library/share/ignition/ignition-gazebo6"
#define IGN_GAZEBO_PLUGIN_INSTALL_DIR "D:/bld/libignition-gazebo6_1666215155937/_h_env/Library/lib/ign-gazebo-6/plugins"
#define IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR "D:/bld/libignition-gazebo6_1666215155937/_h_env/Library/lib/ign-gazebo-6/plugins/gui"
#define IGN_GAZEBO_WORLD_INSTALL_DIR "D:/bld/libignition-gazebo6_1666215155937/_h_env/Library/share/ignition/ignition-gazebo6/worlds"

In this table I try to map each C preprocssor macro with the corresponding env variable:

Macro	Env Variable	Related Code
`IGNITION_GAZEBO_GUI_CONFIG_PATH`	Apparently, it does not exists.	https://github.com/gazebosim/gz-sim/blob/4e10c35624b554eb9bd4cfaabea5dd4e2dd0f0ab/src/gui/Gui.cc#L93
`IGNITION_GAZEBO_SYSTEM_CONFIG_PATH`	Apparently, it is not used.	https://github.com/gazebosim/gz-sim/search?q=GZ_SIM_SYSTEM_CONFIG_PATH
`IGNITION_GAZEBO_SERVER_CONFIG_PATH`	Apparently, it does not exists. A `IGN_GAZEBO_SERVER_CONFIG_PATH` variable exists, but it has a different meaning.	https://github.com/gazebosim/gz-sim/blob/1258c5286012419fc34ac06dfcbb2b2dbf12533d/src/ServerConfig.cc#L927
`IGN_GAZEBO_PLUGIN_INSTALL_DIR`	`IGN_GAZEBO_SYSTEM_PLUGIN_PATH`
`IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR`	`IGN_GUI_PLUGIN_PATH`
`IGN_GAZEBO_WORLD_INSTALL_DIR`	`IGN_GAZEBO_RESOURCE_PATH`	https://github.com/gazebosim/gz-sim/blob/4e10c35624b554eb9bd4cfaabea5dd4e2dd0f0ab/src/Util.cc#L732, https://github.com/gazebosim/gz-sim/blob/4e10c35624b554eb9bd4cfaabea5dd4e2dd0f0ab/include/ignition/gazebo/Util.hh#L291
`IGNITION_PHYSICS_ENGINE_INSTALL_DIR` Note: this is actually defined in ign-physics, while the corresponding env variable is defined and read by ign-gazebo	`IGN_GAZEBO_PHYSICS_ENGINE_PATH`

See gazebosim/gz-sim#626 for a related issue.

traversaro · 2022-10-20T09:46:23Z

Investigating Gazebo Sim docs I found two more env variables, i.e. IGN_GAZEBO_RENDER_ENGINE_PATH (related issue: gazebosim/gz-sim#1765) and IGN_GAZEBO_PHYSICS_ENGINE_PATH, but there is no need to set them as ignition gazebo does not install any rendering or physics engine beside the one already installed by ign-physics and ign-rendering. Anyhow, we need to make sure that the env variable used by those libraries are properly set.

traversaro · 2022-10-20T09:49:43Z

Investigating Gazebo Sim docs I found two more env variables, i.e. IGN_GAZEBO_RENDER_ENGINE_PATH (related issue: gazebosim/gz-sim#1765) and IGN_GAZEBO_PHYSICS_ENGINE_PATH, but there is no need to set them as ignition gazebo does not install any rendering or physics engine beside the one already installed by ign-physics and ign-rendering. Anyhow, we need to make sure that the env variable used by those libraries are properly set.

Actually it turns out that the rendering and physics library on their own do not provide any mechanism to override the default directory specified by the code, so we need to set this variables here, as the variables are consumed just by ign-gazebo.

traversaro · 2022-10-20T09:54:11Z

Investigating Gazebo Sim docs I found two more env variables, i.e. IGN_GAZEBO_RENDER_ENGINE_PATH (related issue: gazebosim/gz-sim#1765) and IGN_GAZEBO_PHYSICS_ENGINE_PATH, but there is no need to set them as ignition gazebo does not install any rendering or physics engine beside the one already installed by ign-physics and ign-rendering. Anyhow, we need to make sure that the env variable used by those libraries are properly set.

Actually it turns out that the rendering and physics library on their own do not provide any mechanism to override the default directory specified by the code, so we need to set this variables here, as the variables are consumed just by ign-gazebo.

Actually, this is not completly true: for gz-rendering, there is the GZ_RENDERING_PLUGIN_PATH env variable, see https://github.com/gazebosim/gz-rendering/blob/90a13e0b295766bb3a3a33ef3da195d2fc52521b/src/RenderEngineManager.cc#L103 . Instead for gz-physics there is no env variable, and the directory used to search for physics engines are just manager by Ignition Gazebo/gz-sim .

traversaro · 2022-10-20T10:15:57Z

In bafc5db and 3647c71 I added all the env variables I was able to add to solve the problem that is caused by ign-gazebo not being relocatable (gazebosim/gz-sim#626) and of the binary relocation not properly working on Windows.

traversaro · 2022-10-20T13:14:28Z

In bafc5db and 3647c71 I added all the env variables I was able to add to solve the problem that is caused by ign-gazebo not being relocatable and of the binary relocation not properly working on Windows.

That was almost correct. The only wrong one was the IGNITION_GAZEBO_SERVER_CONFIG_PATH, that even if it has the same name of the preprocessor macro, it has a different meaning, so you can't just override it. So, for the time being we can't do anything, let's avoid to set it. However, I am not really sure that the simulation is actually correctly running if the default server.config file was not copied and used.

github-actions · 2022-10-20T14:31:15Z

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traversaro added 2 commits October 19, 2022 21:35

Update enable_win_ign.patch

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traversaro requested review from Tobias-Fischer and wolfv as code owners October 19, 2022 19:36

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Fix cmdmodel6.rb and cmdgazebo6.rb containing the same code

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Windows runtime problems on Gz gazebosim/gz-sim#168

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Relocatable Gazebo installation gazebosim/gz-sim#626

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Fix ign server -s on Windows (take two) #52

Fix ign server -s on Windows (take two) #52

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Fix ign server -s on Windows (take two) #52

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