[FFe] Update urdfdom and dart for Noble (Open Robotics packages)

[Jose Luis Rivero]

Versions bump for the Open Robotics Community packages:
 - urdfdom to 4.0.0-0ubuntu1
   (Imported from https://salsa.debian.org/science-team/urdfdom)
 - dart to 6.13.1+ds-0ubuntu2
   https://git.launchpad.net/~j-rivero/ubuntu/+source/dart/log/?h=ubuntu/devel

Package PPA:
 https://launchpad.net/~j-rivero/+archive/ubuntu/urdfdom4-noble/+packages

(three merge-request are ready for review)

[Other info]

I have both version bumps ready on Debian but the 64bit_time transition[1] is preventing the
packages to go through the lib transition since two weeks ago and counting. As we want to
have these new versions in 24.04 (feature freeze is coming soon), we do the version bump
directly on Ubuntu.

[Justification]

Important updates in a couple of packages used by the Open Robotics Community, particularly affecting ROS (Robot Operative System) and the Gazebo simulator.

 * urdfdom is changing the ABI/API completely by replacing tinyxml with tinyxml2
 * Dart current version 6.12.1 was released in .. 2019.

There are important bugfixes in DART, specially the fix for a ton of compiler warnings with gcc-13 and patches for skeleton trees and grouping of constraints.

Both packages should be lintian clean.

[Transition details]

The PPA includes all direct dependencies of urfdom and DART (ros-urdf).

All the previous architectures where the software was building before are also supported in the update with an important exception: new DART upstream releases do not support 32 bits, so armhf is lost from the list.

[1] https://lists.debian.org/debian-devel-announce/2024/02/msg00000.html

----- 8< ----------------------------------------------------------
{edited on Apr 23rd -- removed since ignition packages were removed from Ubuntu}

As a side effect ignition-physics package needs also to be patch updated:
 - ignition-physics to 5.1.0+ds1-4.1ubuntu2
   (Imported from https://salsa.debian.org/science-team/ignition-physics)

The review found that there was a problem with a missing ignition-common package in s390:
 - ignition-common (needs a rev bump)
   https://git.launchpad.net/~j-rivero/ubuntu/+source/ignition-common/log/?h=ubuntu/noble

----- 8< ----------------------------------------------------------

[Lucas Kanashiro (lucaskanashiro)]

Hi Jose,

Thanks for the updated packages! I think you also noticed that two packages there, in the PPA, are failing to build from source in s390x, right? We need to fix that because s390x is a officially supported architecture. Could you please take a look to see if you can identify any issue?

For dart we have some failing tests in s390x as you can see below:

93% tests passed, 5 tests failed out of 71

Total Test time (real) = 6.01 sec

The following tests FAILED:
  25 - test_MjcfParser (Subprocess aborted)
  26 - test_SdfParser (SEGFAULT)
  29 - test_DartLoader (Failed)
  30 - test_IkFast (Failed)
  42 - test_ForwardKinematics (SEGFAULT)

For ignition-physics, we have a missing build dependency:

Missing build dependencies: libignition-common-dev (>= 4.0.0)

If you check the version of this package in Noble you will notice that it should be satisfiable:

 libignition-common-dev | 4.7.0+ds2-2ubuntu1 | noble/universe | amd64, arm64, armhf, ppc64el, riscv64

However, src:ignition-common which provides this library is FTBFSing in s390x:

https://launchpad.net/ubuntu/+source/ignition-common
https://launchpad.net/ubuntu/+source/ignition-common/4.7.0+ds2-2ubuntu1/+build/27670232

I am not sure how exactly this migrated to the release pocket but this require some extra investigation. Ideally, everything should be building on s390x. Could you please try to understand what is happening here?

Regarding the dart armhf unsupportability, if upstream says it is not supported, you should change the Architecture fields in debian/control to reflect that. If you leave arch:any then it will be built in all architectures, you'd need to exclude armhf.

I did not do a in-deep review but I think the above is already enough for you (and the main points to get them uploaded). I see some other things like a description in the source paragraph in debian/control which seems weird to me but those are more "cosmetic" things, since this is also in Debian I'd not say this is a blocker.

I am now unsubscribing ~ubuntu-sponsors. Once you addressed the comments above and you think they are ready for another round of review, please, subscribe ~ubuntu-sponsors again.

[Lucas Kanashiro (lucaskanashiro)]

And FWIW, we are using git to maintain ubuntu package (using git-ubuntu), bzr has not been used for packages for a while AFAIK. But if it is easier for you to provide the packages in a PPA, that's also works IMO.

[Benjamin Drung (bdrung)]

We are still waiting for Lucas comments to be addressed. Since we passed feature freeze, a feature freeze exception is needed. See https://wiki.ubuntu.com/FreezeExceptionProcess

[Jose Luis Rivero (j-rivero)]

Thanks Benjamin. I've been working on Lucas comments during the last week and hope to have ready the changes in this week. Yesterday upstream releases a new version that fixes all the compiler warnings for GCC-13 and I want to include it so we don't need to disable them:
https://code.launchpad.net/~j-rivero/ubuntu/+source/dart/+git/dart/+ref/ubuntu/devel

I'll prepare the FFe ASAP.

[Jose Luis Rivero (j-rivero)]

The PPA now has the s390x package of dart finally.

Answering the issues that Lucas found in the packaging:

> And FWIW, we are using git to maintain ubuntu package (using git-ubuntu), bzr
> has not been used for packages for a while AFAIK. But if it is easier for you
> to provide the packages in a PPA, that's also works IMO.

I've migrated the bazaar changes to Git and commit new changes to ubuntu/devel
https://git.launchpad.net/~j-rivero/ubuntu/+source/dart/log/?h=ubuntu/devel

> Thanks for the updated packages! I think you also noticed that two packages
> there, in the PPA, are failing to build from source in s390x, right? We need to
> fix that because s390x is a officially supported architecture. Could you please
> take a look to see if you can identify any issue?

Took me a little bit to debug things of a large package on s390x emulation but
finally found the problem in one of the dependencies of dart. I reported it
upstream with the result of my research, it is not trivial to fix:
https://git.launchpad.net/~j-rivero/ubuntu/+source/dart/commit/?h=ubuntu/devel&id=84595c63d173c78f1c2653d3dd872ae44bbc48b5

> Missing build dependencies: libignition-common-dev (>= 4.0.0)
> If you check the version of this package in Noble you will notice that it
should be satisfiable:
> libignition-common-dev | 4.7.0+ds2-2ubuntu1 | noble/universe | amd64, arm64,
 armhf, ppc64el, riscv64

Also invested a bit of time debugging this, seems to me like there were some
platforms related to problems detailed in https://bugs.debian.org/977638

I've upload a new ignition-common package from the ubuntu/nobel branch that
built on s390x:
https://git.launchpad.net/~j-rivero/ubuntu/+source/ignition-common/log/?h=ubuntu/noble
that

> Regarding the dart armhf unsupportability, if upstream says it is not
> supported, you should change the Architecture fields in debian/control to
> reflect that. If you leave arch:any then it will be built in all architectures,
> you'd need to exclude armhf.

Done in https://git.launchpad.net/~j-rivero/ubuntu/+source/dart/commit/?h=ubuntu/devel&id=a6a3f90252d0b47ec73638566f1b046a22ee1134

[Jose Luis Rivero (j-rivero)]

Changelog from existing version on Noble

[Jose Luis Rivero (j-rivero)]

Friendly ping.

I've created the three merge request for trying to move this forward and make it easier for reviewers. Let me know what else needs to be done more to help the testing. Thanks!

[Graham Inggs (ginggs)]

These packages are in universe and not seeded, this seems fine.
Exception granted, please go ahead.

[Jose Luis Rivero (j-rivero)]

The ignition-common and ignition-physics packages has be removed from Ubuntu in https://bugs.launchpad.net/ubuntu/+source/ros-catkin/+bug/2063103 yesterday.

It can be totally omitted totally. I'm going to close the MR and edit the description.

[Benjamin Drung (bdrung)]

Sponsored urdfdom 4.0.0-0ubuntu1 upload.

[Benjamin Drung (bdrung)]

I'll upload dart once urdfdom 4.0.0-0ubuntu1 has been built.

[Benjamin Drung (bdrung)]

dart 6.13.2+ds-0ubuntu1 and ros-urdf 1.13.2-8build3 uploaded.

[Launchpad Janitor (janitor)]

This bug was fixed in the package urdfdom - 4.0.0-0ubuntu1

---------------
urdfdom (4.0.0-0ubuntu1) noble; urgency=medium

  * New upstream version 4.0.0 (LP: #2053254)
  * Replace dep on tinxyxml by tinyxml2
  * Bump metadata in libs from 3.0 to 4.0
  * Bump standards to 4.6.2 (no change)

 -- Jose Luis Rivero <email address hidden> Tue, 23 Apr 2024 16:08:33 +0200

[Launchpad Janitor (janitor)]

This bug was fixed in the package dart - 6.13.2+ds-0ubuntu3

---------------
dart (6.13.2+ds-0ubuntu3) noble; urgency=medium

  * Allow stderr output in autopkgtest

 -- Graham Inggs <email address hidden> Wed, 24 Apr 2024 22:40:57 +0000