TPE

[chapulina]

Closes #5

These are the files I see on my colcon workspace:

Installed TPE files

install/include/ignition/physics2/ignition/physics/tpe-plugin
install/include/ignition/physics2/ignition/physics/tpe-plugin/Export.hh
install/include/ignition/physics2/ignition/physics/tpe-plugin/detail
install/include/ignition/physics2/ignition/physics/tpe-plugin/detail/Export.hh
install/include/ignition/physics2/ignition/physics/tpelib
install/include/ignition/physics2/ignition/physics/tpelib/Export.hh
install/include/ignition/physics2/ignition/physics/tpelib/detail
install/include/ignition/physics2/ignition/physics/tpelib/detail/Export.hh
install/lib/libignition-physics2-tpelib.so.2
install/lib/pkgconfig/ignition-physics2-tpelib.pc
install/lib/pkgconfig/ignition-physics2-tpe.pc
install/lib/pkgconfig/ignition-physics2-tpe-plugin.pc
install/lib/ign-physics-2/engine-plugins/libignition-physics-tpe-plugin.so
install/lib/ign-physics-2/engine-plugins/libignition-physics2-tpe-plugin.so.2.1.0
install/lib/ign-physics-2/engine-plugins/libignition-physics2-tpe-plugin.so.2
install/lib/ign-physics-2/engine-plugins/libignition-physics2-tpe-plugin.so
install/lib/libignition-physics2-tpe-plugin.so.2.1.0
install/lib/libignition-physics2-tpelib.so.2.1.0
install/lib/libignition-physics2-tpe-plugin.so.2
install/lib/cmake/ignition-physics2-tpe
install/lib/cmake/ignition-physics2-tpe/ignition-physics2-tpe-targets.cmake
install/lib/cmake/ignition-physics2-tpe/ignition-physics2-tpe-config.cmake
install/lib/cmake/ignition-physics2-tpe/ignition-physics2-tpe-config-version.cmake
install/lib/cmake/ignition-physics2-tpelib
install/lib/cmake/ignition-physics2-tpelib/ignition-physics2-tpelib-targets.cmake
install/lib/cmake/ignition-physics2-tpelib/ignition-physics2-tpelib-config-version.cmake
install/lib/cmake/ignition-physics2-tpelib/ignition-physics2-tpelib-config.cmake
install/lib/cmake/ignition-physics2-tpelib/ignition-physics2-tpelib-targets-relwithdebinfo.cmake
install/lib/cmake/ignition-physics2-tpe-plugin
install/lib/cmake/ignition-physics2-tpe-plugin/ignition-physics2-tpe-plugin-config-version.cmake
install/lib/cmake/ignition-physics2-tpe-plugin/ignition-physics2-tpe-plugin-targets-relwithdebinfo.cmake
install/lib/cmake/ignition-physics2-tpe-plugin/ignition-physics2-tpe-plugin-config.cmake
install/lib/cmake/ignition-physics2-tpe-plugin/ignition-physics2-tpe-plugin-targets.cmake
install/lib/libignition-physics2-tpe-plugin.so
install/lib/libignition-physics2-tpelib.so

There are 2 main libraries:

• tpe-plugin
• tpelib

Some files seem not to belong to either though:

• install/lib/cmake/ignition-physics2-tpe/*
• install/lib/pkgconfig/ignition-physics2-tpe.pc

So I haven't included them anywhere. I think dartsim is including the equivalent files on its side though. Maybe these should be added to tpe-plugin?

[j-rivero]

Some files seem not to belong to either though:

* `install/lib/cmake/ignition-physics2-tpe/*`

* `install/lib/pkgconfig/ignition-physics2-tpe.pc`

Not sure if I understand what are these files designed for. As a first sight they should be included in the corresponding -dev package.

[chapulina]

Not sure if I understand what are these files designed for.

I'm not sure either. I think they're just artefacts of how we're using ign-cmake to create components. Dartsim has the same issue, with both ignition-physics1-dartsim-plugin.pc and ignition-physics1-dartsim.pc, where dartsim-plugin is the string used for includes and the .so, but the component itself is called dartsim. Do we know which of these pc / cmake files people are actually using?

[scpeters]

each component creates .cmake and .pc files

the dartsim folder has two components defined:

• https:/ignitionrobotics/ign-physics/blob/master/dartsim/CMakeLists.txt#L4-L18

on is for the headers it installs, and the other is for the plugin

[chapulina]

Ah that's what I was missing, @scpeters . I see includes for both components though, maybe the dartsim-plugin autogenerated ones are not needed?

install/include/ignition/physics2/ignition/physics/dartsim/World.hh
install/include/ignition/physics2/ignition/physics/dartsim-plugin/Export.hh
install/include/ignition/physics2/ignition/physics/dartsim-plugin/detail/Export.hh

I guess since TPE-plugin is not installing any headers, we could get rid of the tpe component?

https:/ignitionrobotics/ign-physics/blob/c7f99dec07881a62008f16732253039e35053f88/tpe/plugin/CMakeLists.txt#L3-L5

I'm not sure what that may break through, because the tpe component is the only one mentioned here (as opposed to tpe-plugin and tpelib):

https:/ignitionrobotics/ign-physics/blob/c7f99dec07881a62008f16732253039e35053f88/CMakeLists.txt#L87-L88

And the components in ign_configure_build seem to need to match the directories under src. Maybe some updates to ign-cmake will be needed to cover these cases? And for now we could proceed with the dummy(?) tpe component?

[scpeters]

I see includes for both components though, maybe the dartsim-plugin autogenerated ones are not needed?

The dartsim-plugin Export.hh files just define visibility symbols, which shouldn't be needed for a plugin. I think our debbuilder job will be marked as unstable if there are uninstalled files. Maybe we want to be able to tell ign-cmake to disable generation of these headers? They are currently only disabled for INTERFACE libraries / components.

install/include/ignition/physics2/ignition/physics/dartsim-plugin/Export.hh
install/include/ignition/physics2/ignition/physics/dartsim-plugin/detail/Export.hh

I guess since TPE-plugin is not installing any headers, we could get rid of the tpe component?

I need to double-check what the tpe component is doing. I think we have that component because the name of the root folder is tpe

• https:/ignitionrobotics/ign-physics/tree/ign-physics2/tpe

If you rename the root folder to tpelib, you should be able to side-step the tpe component

[iche033]

Maybe we want to be able to tell ign-cmake to disable generation of these headers?

+1, yeah I agree we don't need to install these auto-generated headers for tpe plugin as well.

Looks like the tpe component may just be an extra wrapper around the tpelib component. I copied off the dartsim CMakeLists.txt when the work first started so maybe we can remove it if it's not necessary.

[j-rivero]

To avoid warnings on unwanted files to be installed, we can use the debian/not-installed file

[chapulina]

Ok, for now I just followed what DART is doing and included it in tpe-plugin: 69c1cc9

[j-rivero]

Testing this branch in a custom job not to upload anything: https://build.osrfoundation.org/job/_test_ign-physics2-debbuilder/

[j-rivero]

Testing this branch in a custom job not to upload anything: https://build.osrfoundation.org/job/_test_ign-physics2-debbuilder/

I tried to build 2.1.0 with this branch and the software is not installing engine-* directories. I have seen this problem before but never explore the root cause of it:

dh_install: warning: Cannot find (any matches for) "usr/lib/*/ign-physics-[0-99]/engines/libignition-physics*-tpe-plugin.so" (tried in ., debian/tmp)

dh_install: warning: libignition-physics2-tpe-dev missing files: usr/lib/*/ign-physics-[0-99]/engines/libignition-physics*-tpe-plugin.so
dh_install: warning: Cannot find (any matches for) "usr/lib/*/ign-physics-[0-99]/engine-plugins/libignition-physics*-tpe-plugin*.so.*" (tried in ., debian/tmp)

dh_install: warning: libignition-physics2-tpe missing files: usr/lib/*/ign-physics-[0-99]/engine-plugins/libignition-physics*-tpe-plugin*.so.*
dh_install: error: missing files, aborting
make[1]: *** [debian/rules:15: override_dh_install] Error 2

[j-rivero]

I tried to build 2.1.0 with this branch and the software is not installing engine-* directories. I have seen this problem before but never explore the root cause of it:

agh said nothing. I was trying to build code without tpe PRs merged. Let's see how it goes:

[j-rivero]

Solved the problems with engine paths https://build.osrfoundation.org/job/_test_ign-physics2-debbuilder/5/