Discussion: Move from ROS1 to ROS2

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Description

ROS1 Noetic has a EOL in 2025-05 according to https://wiki.ros.org/Distributions. Maybe, we should use ROS2 in the near future.

Definition of Done

Decide when we move from ROS1 to ROS2

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We decided to try Humble. https://docs.ros.org/ The latest LTS version

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https://github.com/splintered-reality/py_trees_ros?tab=readme-ov-file#getting-started-ros2

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https://github.com/Box-Robotics/ros2_numpy
The previous install

Is now installed as a pip package

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py trees viewer not installed

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• carla-msgs could not be installed in humble. need to build from source

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52.95 Summary: 16 packages finished [39.0s]
52.95 1 package failed: pcl_recorder
52.95 1 package aborted: rviz_carla_plugin
52.95 2 packages had stderr output: carla_msgs pcl_recorder
52.95 1 package not processed

35.38 In file included from /catkin_ws/src/ros-bridge/pcl_recorder/src/mainROS2.cpp:7:
35.38 /catkin_ws/src/ros-bridge/pcl_recorder/include/PclRecorderROS2.h:13:10: fatal error: tf2_eigen/tf2_eigen.h: No such file or directory
35.38    13 | #include <tf2_eigen/tf2_eigen.h>
35.38       |          ^~~~~~~~~~~~~~~~~~~~~~~

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https://answers.ros.org/question/278129/tf_eigen-build-error/

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carla-simulator/ros-bridge#621

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33.04 --- stderr: pcl_recorder
33.04 ** WARNING ** io features related to pcap will be disabled
33.04 ** WARNING ** io features related to png will be disabled
33.04 In file included from /catkin_ws/src/ros-bridge/pcl_recorder/src/mainROS2.cpp:7:
33.04 /catkin_ws/src/ros-bridge/pcl_recorder/include/PclRecorderROS2.h:13:10: fatal error: tf2_eigen/tf2_eigen.h: No such file or directory
33.04    13 | #include <tf2_eigen/tf2_eigen.h>
33.04       |          ^~~~~~~~~~~~~~~~~~~~~~~
33.04 compilation terminated.
33.04 gmake[2]: *** [CMakeFiles/pcl_recorder_node.dir/build.make:90: CMakeFiles/pcl_recorder_node.dir/src/mainROS2.cpp.o] Error 1
33.04 gmake[2]: *** Waiting for unfinished jobs....
33.04 In file included from /catkin_ws/src/ros-bridge/pcl_recorder/src/PclRecorderROS2.cpp:13:
33.04 /catkin_ws/src/ros-bridge/pcl_recorder/include/PclRecorderROS2.h:13:10: fatal error: tf2_eigen/tf2_eigen.h: No such file or directory
33.04    13 | #include <tf2_eigen/tf2_eigen.h>
33.04       |          ^~~~~~~~~~~~~~~~~~~~~~~
33.04 compilation terminated.
33.04 gmake[2]: *** [CMakeFiles/pcl_recorder_node.dir/build.make:76: CMakeFiles/pcl_recorder_node.dir/src/PclRecorderROS2.cpp.o] Error 1
33.04 gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/pcl_recorder_node.dir/all] Error 2
33.04 gmake: *** [Makefile:146: all] Error 2
33.04 ---
33.04 Failed   <<< pcl_recorder [5.97s, exited with code 2]
50.45 Aborted  <<< rviz_carla_plugin [26.0s]
50.47 
50.47 Summary: 16 packages finished [38.9s]
50.47   1 package failed: pcl_recorder
50.47   1 package aborted: rviz_carla_plugin
50.47   2 packages had stderr output: carla_msgs pcl_recorder
50.47   1 package not processed
------
failed to solve: process "/bin/bash -c source /opt/ros/humble/setup.bash &&     rosdep update && rosdep install --from-paths src --ignore-src -r &&     colcon build" did not complete successfully: exit code: 2

Error: '"$@"' exited with status 17
b5 exiting with status 1

Task failed, see error above

Error: '( export COMPOSE_PROJECT_NAME=paf23; export DOCKER_HOST_SYSTEM=linux; export DOCKER_HOST_USERNAME=luttkule; export DOCKER_HOST_UNIX_UID=1000; export DOCKER_HOST_UNIX_GID=1000; "$@" )' exited with status 1
b5 exiting with status 1

Task failed, see error above

Error: '( cd /home/luttkule/git/paf23/build && docker:run docker compose -f docker-compose.yml -f docker-compose.nvidia.yml "$@" )' exited with status 1
b5 exiting with status 1

Task failed, see error above
Task execution failed, see above

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https://blog.csdn.net/weixin_44210769/article/details/129541885

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 => [agent 16/32] RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/scenario_runn  2.0s 
 => ERROR [agent 17/32] RUN echo 'pexpect' >> /opt/scenario_runner/requirements.txt &&     python -m pip install -r  9.1s 
------                                                                                                                    
 > [agent 17/32] RUN echo 'pexpect' >> /opt/scenario_runner/requirements.txt &&     python -m pip install -r /opt/scenario_runner/requirements.txt:                                                                                                 
0.693 Defaulting to user installation because normal site-packages is not writeable                                       
0.909 Collecting py-trees==0.8.3 (from -r /opt/scenario_runner/requirements.txt (line 1))                                 
0.982   Downloading py_trees-0.8.3-py3-none-any.whl.metadata (1.4 kB)                                                     
1.193 Collecting numpy==1.18.4 (from -r /opt/scenario_runner/requirements.txt (line 2))
1.205   Downloading numpy-1.18.4.zip (5.4 MB)
1.525      ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 5.4/5.4 MB 17.1 MB/s eta 0:00:00
1.790   Installing build dependencies: started
4.475   Installing build dependencies: finished with status 'done'
4.477   Getting requirements to build wheel: started
4.710   Getting requirements to build wheel: finished with status 'done'
4.711   Preparing metadata (pyproject.toml): started
8.871   Preparing metadata (pyproject.toml): finished with status 'error'
8.878   error: subprocess-exited-with-error
8.878   
8.878   × Preparing metadata (pyproject.toml) did not run successfully.
8.878   │ exit code: 1
8.878   ╰─> [80 lines of output]
8.878       Running from numpy source directory.
8.878       <string>:461: UserWarning: Unrecognized setuptools command, proceeding with generating Cython sources and expanding templates
8.878       /tmp/pip-install-qvj8stbd/numpy_df1c2d3006424853915a72833623938f/tools/cythonize.py:75: DeprecationWarning: distutils Version classes are deprecated. Use packaging.version instead.

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Attempt Failed

• Offically the ros-bridge supports ROS2 Foxy, but Foxy is EOL. Instead Humble (LTS) and Iron irwin is latest in ros2.
• Changing to Humble failed in the carla ros-bridge because of Discussion: Move from ROS1 to ROS2 #253 (comment)
• Also we had issues in the scenario runner Discussion: Move from ROS1 to ROS2 #253 (comment)

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carla-simulator/carla#7229