CI is broken on Rolling

[mikeferguson]

The fix is almost certainly needed to be upstream - just ticketing here for visibility (so we don't have multiple people working on it)

• @AndyZe tried to fix this with Add service_msgs dep moveit_msgs#153 - BUT:
• service_msgs was added only to Rolling

It looks like the failure is actually in sensor_msgs:

[mikeferguson]

• We depend on action_msgs
• action_msgs depends on service_msgs - so it should already be installed

[mikeferguson]

Locally, I can build moveit_msgs against ros2-testing debs (and I uninstalled all of ros-rolling-* before tasting, so it's not a missing dependency). None of the service_msgs stuff is in the main ros2 repos (we haven't haven't had a sync yet)

[sjahr]

This commit could be the culprit: ros2/rosidl_defaults@a3f753d. But it still does not explain why service_msgs is not installed 🤔

[jspricke]

The job uses an old Docker image of the ros2-testing repos where ros-rolling-service-msgs is not installed and it does not apt dist-upgrade the system: https://github.com/ros-planning/moveit2/blob/main/.docker/source/Dockerfile#L28. So service_msgs is never picked up and thus missing. The logical fix is to use dist-upgrade in the job, as proposed in a144a3c but Docker lint complains about that: https://github.com/jspricke/moveit2/actions/runs/4346334681. So you can either fix Docker lint or build a new Docker base image and run into this problem again, next time. Your call.

Edit: A third option would be to not install (old) packages in the base image.

[mikeferguson]

@tylerjw - I think this may be more up your alley - since it looks like it is our CI, not some upstream break

[jspricke]

Discussed this in the standup, the problem is that the ci-testing Docker images are based on the ci images which the added ros2-testing apt sources: https://github.com/ros-planning/moveit2/blob/main/.docker/ci-testing/Dockerfile and the apt-get upgrade in there is not enough to install a new dependency package. @henningkayser will rework the Dockerfile to work from a base image.

[vatanaksoytezer]

I think we only need to add a rosdep step to ci-testing and that should be sufficient. The dependency in question (service_msgs) is not being installed in apt update / apt upgrade, it should be installed and triggered through rosdep install

[jspricke]

@vatanaksoytezer no, service_msgs is a dependency of rcl already.