Patch gz-*-vendor packages for Jazzy and Rolling

[wentasah]

This is my (incomplete) attempt to compile rviz2 for Jazzy. It requires patching vendored packages, which is what this PR does. However, it's not sufficient - I get the following error:

-- Found gz_math_vendor: 0.0.5 (/nix/store/zncdwq643ism55hpyxlb8rg2zxfcddbz-ros-jazzy-gz-math-vendor-0.0.5-r1/share/gz_math_vendor/cmake)
CMake Error at CMakeLists.txt:65 (find_package):
  By not providing "Findgz-math.cmake" in CMAKE_MODULE_PATH this project has

Probably, there is some logic in ament_vendor, which we do not patch correctly. It will need more investigation. I'll be mostly off-line next week so if someone wants to continue, they can start here.

[bjsowa]

@wentasah I developed my overrides for vendor packages in Rolling distribution and found out that the nix cmake builder replaces /opt for /var/empty in gz_*_vendor-extras.cmake.in files in configurePhase. This results in wrong paths added to CMAKE_PREFIX_PATH when you invoke find_package on vendor packages.

A solution seems to be setting dontFixCmake attribute. I pushed my overrides to #429. There still seem to be some references to /var/empty in resulting packages that need to be fixed, but I managed to at least build and run rviz2.

[wentasah]

Thanks @bjsowa for the hint. Not having dontFixCmake was indeed the culprit. I've taken your overrides (and added you as a co-author) and refactored them to use a new function patchGzAmentVendorGit, which simplifies the code. I've also fixed the error in gz-gui-vendor so all the overridden packages built successfully (before I rebased after this nixpkgs update). This was tested with:

nix build .#jazzy.{gz-cmake-vendor,gz-common-vendor,gz-dartsim-vendor,gz-fuel-tools-vendor,gz-gui-vendor,gz-launch-vendor,gz-math-vendor,gz-msgs-vendor,gz-ogre-next-vendor,gz-physics-vendor,gz-plugin-vendor,gz-rendering-vendor,gz-sensors-vendor,gz-sim-vendor,gz-tools-vendor,gz-transport-vendor,gz-utils-vendor}

After the rebase there is a problem with tbb version, which your PR hopefully fixes soon, and another with freeimage insecurity (cc @kjeremy). Not sure, what to do with it (I don't use gazebo). It seems that upstream has (an old) plan to replace it.

[bjsowa]

I am able to build all gz-*-vendor packages for rolling as well as rviz2. However, when I create a dev shell with Gazebo and try running gz I get:

I cannot find any available 'gz' command:
        * Did you install any Gazebo library?
        * Did you set the GZ_CONFIG_PATH environment variable?
            E.g.: export GZ_CONFIG_PATH=$HOME/local/share/gz

It seems that the dsv hook that modifies GZ_CONFIG_PATH is not being called.

The other problem is that yaml files generated by the package, contain wrong paths with /opt replaced by /var/empty. For example, this is how the opt/gz_sim_vendor/share/gz/sim8.yaml file looks:

--- # Subcommands available inside Gazebo Sim
format: 1.0.0
library_name: gz-sim-gz
library_version: 8.3.0
library_path: /nix/store/hcbabap59amid99acq6p9k27z3av3fyl-ros-rolling-gz-sim-vendor-0.1.0-r1/var/empty/gz_sim_vendor/lib/ruby/gz/cmdsim8
commands:
    - sim : Run and manage the Gazebo Simulator.
---

[muellerbernd]

I have managed to build gz-sim-8 without ROS some time ago (see my overlay here). I had to create some patches that compensated these path issues. Maybe we can take some inspiration from there.
In the overlay I created a symlinkJoin for all gz-* packages see here where I used wrapProgram to wrap GZ_CONFIG_PATH. I used symlinkJoin to have an single path that contains all necessary gz-* packages.
For the path problems in the yaml files I had to patch something like this.

[wentasah]

I've updated this to the current develop branch and now it's possible to build rviz2 for Jazzy and Rolling. It no longer depends on gz-common-vendor, which requires insecure freeimage library. I think this can be merged now.

[hacker1024]

Looks like these change fairly often. Rolling will need updating too.

LGTM otherwise

[hacker1024]

Suggested change

	version = "14.4.0";
	hash = "sha256-7JZ8YGk+GLzG22nl9QHUg6aqn5mcrBy3cvzBbG4Ih0w=";
	version = "14.5.0";
	hash = "sha256-nGBLnQP0TTKDVbYGyx23Fcs79UCJveajsll2LvyLJwQ=";

[hacker1024]

Suggested change

	version = "9.0.3";
	hash = "sha256-36WwY3YUeCAUDBY8N+Mbw7FuNRn1fQUifLZvoGhXtcc=";
	version = "9.1.0";
	hash = "sha256-txeIzj2vmvL5NDu6O07c7LwcCWE26OFEzvyc9TBrJAw=";

[hacker1024]

Suggested change

	version = "8.5.0";
	hash = "sha256-10U8H3/EneLv+zQUGr3mkMPKctDlvtMfMhyQp6lacus=";
	version = "8.6.0";
	hash = "sha256-zSiPHEh3h2J8hGL342tde5U9FLaGnWs72WD9BqyPf6E=";

[wentasah]

Rebased to develop and updated the versions. Thanks @hacker1024! Now, jazzy and rolling use the same versions.

I build tested this on both jazzy and rolling and it builds fine. The command was:

NIXPKGS_ALLOW_INSECURE=1 nix build --impure .#jazzy.{gz-cmake-vendor,gz-common-vendor,gz-dartsim-vendor,gz-fuel-tools-vendor,gz-gui-vendor,gz-launch-vendor,gz-math-vendor,gz-msgs-vendor,gz-ogre-next-vendor,gz-physics-vendor,gz-plugin-vendor,gz-rendering-vendor,gz-sensors-vendor,gz-sim-vendor,gz-tools-vendor,gz-transport-vendor,gz-utils-vendor} --keep-going

[muellerbernd]

I have used this PR in a custom shell.

# Environment containing basic ROS2 tools
{pkgs ? import ../. {}}:
with pkgs;
with rosPackages.jazzy;
  mkShell {
    nativeBuildInputs = [
      (buildEnv {
        paths = [
          gz-cmake-vendor
          gz-common-vendor
          gz-dartsim-vendor
          gz-fuel-tools-vendor
          gz-gui-vendor
          gz-launch-vendor
          gz-math-vendor
          gz-msgs-vendor
          gz-ogre-next-vendor
          gz-physics-vendor
          gz-plugin-vendor
          gz-rendering-vendor
          gz-sensors-vendor
          gz-sim-vendor
          gz-tools-vendor
          gz-transport-vendor
          gz-utils-vendor
          ros-gz
          ros-core
        ];
      })
    ];
    GZ_CONFIG_PATH = "${gz-tools-vendor}/opt/gz_tools_vendor/share/gz:${gz-gui-vendor}/opt/gz_gui_vendor/share/gz\:${gz-cmake-vendor}/opt/gz_cmake_vendor/share/gz\:${gz-fuel-tools-vendor}/opt/gz_fuel_tools_vendor/share/gz\:${gz-launch-vendor}/opt/gz_launch_vendor/share/gz\:${gz-math-vendor}/opt/gz_math_vendor/share/gz\:${gz-msgs-vendor}/opt/gz_msgs_vendor/share/gz\:${gz-physics-vendor}/opt/gz_physics_vendor/share/gz\:${gz-plugin-vendor}/opt/gz_plugin_vendor/share/gz\:${gz-rendering-vendor}/opt/gz_rendering_vendor/share/gz\:${gz-sensors-vendor}/opt/gz_sensors_vendor/share/gz\:${gz-sim-vendor}/opt/gz_sim_vendor/share/gz\:${gz-transport-vendor}/opt/gz_transport_vendor/share/gz\:${gz-utils-vendor}/opt/gz_utils_vendor/share/gz";
  }

Now the gz tools can be found, but if I try to start gz sim I get the following error:

gz sim
<internal:/nix/store/f70cr0j0cr264dl51vw78h01yvay7a0v-ruby-3.1.5/lib/ruby/3.1.0/rubygems/core_ext/kernel_require.rb>:136:in `require': cannot load such file -- /nix/store/wcsnnqmgld286prb3yb3710mcqrwkapl-ros-jazzy-gz-sim-vendor-0.0.5-r1/var/empty/gz_sim_vendor/lib/ruby/gz/cmdsim8 (LoadError)

there is still the problem with var/empty in the yaml files.

[muellerbernd]

I think the wrong paths, /opt replaced by /var/empty in the yaml files are caused by relative paths used in the CMakeLists for the cmd of some gz libs. Like here for gz-sim. Same for:

• gz-transport
• gz-plugin
• gz-gui
  I have patches for that in my gazebo overlay and there I can use gazebo harmonic without problem. But here I don't know how to apply patches onto the gz-*-vendor packages, because we use patchGzAmentVendorGit here. Maybe @wentasah can help here?

[liarokapisv]

Thanks for the effort, this works perfectly for me (I had to patch a few irrelevant to this PR packages). Are there any blockers for this PR ?

[okvik]

Thanks for the effort, this works perfectly for me (I had to patch a few irrelevant to this PR packages). Are there any blockers for this PR ?

Can confirm this works for me as well. Along with some other patches on top of this (that I plan to PR soon) I have MoveIt2 working.

[lopsided98]

This is merged as part of #472