Dart 6.16.x in gz-physics9 / gz-physics8 / gz-physics7

[j-rivero]

The Gazebo team approved in one of the last PMC the works for providing a bump in the DART version for existing distributions. The target is dart 6.16.x moving from current 6.13.x

Tracker for Jetty (gz-physics9)

• Build packages in the openrobotics DART PPA for Jammy and Noble
  • https://launchpad.net/~openrobotics/+archive/ubuntu/dart6.13-gazebo
• Test gz-physics9 compilation using dart 6.16.x from the PPA locally and run the test suite
• Run a test in Jenkins to verify the test results with dart 6.16 packages
  • 

PRERELEASE STEPS

• Import the packages to the prerelease repository
  • https://build.osrfoundation.org/job/reprepro_importer/157/console
• Build prerelease gz-physics packages https://build.osrfoundation.org/job/gz-physics9-debbuilder/280/
• ⚠️ Test gz-sim manually: problem detected Dart 6.16.x in gz-physics9 / gz-physics8 / gz-physics7 #816 (comment)
• Test gz-sim in Jenkins using prerelease packages

PRERELEASE STEPS (~osrf7 packages)

• Import the packages to the prerelease repository
  • https://build.osrfoundation.org/job/reprepro_importer/159
• Test gz-sim manually
• Test gz-physics9 in Jenkins using prerelease packages
• Test gz-sim10 in Jenkins using prerelease packages

PRERELEASE STEPS (~osrf9 packages)

• Import the packages to the prerelease repository
  • [osrfbuild] Import dart 6.16.0+ds2-1~osrf9~noble to prerelease ros-infrastructure/reprepro-updater#246
• Test gz-sim manually
• Test gz-physics9 in Jenkins using prerelease packages
• Test gz-sim10 in Jenkins using prerelease packages

PRERELEASE STEPS (6.16.2 ~osrf1 packages)

• Import the packages to the prerelease repository
  • Update DART to 6.16.2+ds-1~osrf1~noble ros-infrastructure/reprepro-updater#248
• Test gz-sim manually
• Test gz-physics9 in Jenkins using prerelease packages
• Test gz-sim10 in Jenkins using prerelease packages

STABLE STEPS

• Backup packages.o.o server (snap-0823f1156743bb573)
• Import the packages to the stable repository https://build.osrfoundation.org/job/reprepro_importer/172/
• Build stable gz-physics packages

[j-rivero]

6.16 packages imported to the prerelase repository

[j-rivero]

I'm seeing a regression in the RTF (from 0.99 to 0.20) when using the prerelease scripts with 6.16 dart with the "Tugbot in the Warehouse" world:

Testing dockerfile:

FROM ghcr.io/j-rivero/gazebo:jetty-full AS base

RUN curl -s https://packages.osrfoundation.org/gazebo.gpg -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-prerelease $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-prerelease.list > /dev/null
RUN apt-get update

RUN apt-get install -y -- libgz-physics9-dev
RUN apt-get remove -y libdart-core+collisions+odelcpsolver6.13

Need to verify in a different computer but there might be a problem here.

[j-rivero]

I'm seeing a regression in the RTF (from 0.99 to 0.20) when using the prerelease scripts with 6.16 dart with the "Tugbot in the Warehouse" world:

I've injected the O3 optimization flags into the new packages gazebo-release/dart-for-gz-gbp@00ac0d1 . My manual test is working fine now.

I think that we can declare this open for testing. You can use the the dockerfile in my previous comment or just install gz-physics9 from the prerelease repository.

[azeey]

Is this related to dartsim/dart#1795? It looks like the flags have been consolidated in dartsim/dart#1796, so in theory we just need to pass DCMAKE_BUILD_TYPE=RelWithDebInfo/Release .

[j-rivero]

Is this related to dartsim/dart#1795? It looks like the flags have been consolidated in dartsim/dart#1796,

I did not invest time into looking deep in the problem might be related to the ABI / NDEBUG issue or might be related to a really low performance without optimizations under level O3.

so in theory we just need to pass DCMAKE_BUILD_TYPE=RelWithDebInfo/Release .

Here I'm trying to follow the Debian guidelines about leaving CMAKE_BUILD_TYPE not set so the Debian build system uses "None" and inject the debian required flags into the compiler flags directly. I'm using the O3 and NDEBUG directly using the recommended variables for maintainers.

[azeey]

Okay, if that's what Debian recommends.

Looking at a build log from 6.13.2, we're using -O2 not -O3.

-- CXX_FLAGS        : -g -O2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer -ffile-prefix-map=/<<PKGBUILDDIR>>=. -flto=auto -ffat-lto-objects -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -fdebug-prefix-map=/<<PKGBUILDDIR>>=/usr/src/dart-6.13.2+ds1-1~osrf1 -Wdate-time -D_FORTIFY_SOURCE=3

Wouldn't it be safer to do the same for 6.16?

Also, I noticed that the build log for the first 6.16 build on Noble seems like it doesn't have any optimization

-- CXX_FLAGS        : -DNDEBUG=1

And the same is true except the latest one, so there might have been something else wrong that was replacing the CXX_FLAGS. Here are the logs for convenience:

• noble-amd64.dart_6.16.0+ds2-1~osrf7~noble
• noble-amd64.dart_6.16.0+ds2-1~osrf6~noble
• noble-amd64.dart_6.16.0+ds2-1~osrf5~noble
• noble-amd64.dart_6.16.0+ds2-1~osrf4~noble
• noble-amd64.dart_6.13.2+ds1-1~osrf2~noble

[j-rivero]

Wouldn't it be safer to do the same for 6.16?

Here we have two approaches: either we try to follow the flags of our current package or we try to follow the CMAKE_BUILD_TYPE=Release of upstream dart that is what probably Mac/Windows are using, colcon from source, etc.

You are right, probably the safest for packaging is to follow the previous flags.

Also, I noticed that the build log for the first 6.16 build on Noble seems like it doesn't have any optimization

Last one seems be injected the variables and respecting the previous ones:

 -- CXX_FLAGS        : -g -O2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer -ffile-prefix-map=/<<PKGBUILDDIR>>=. -flto=auto -ffat-lto-objects -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -fdebug-prefix-map=/<<PKGBUILDDIR>>=/usr/src/dart-6.16.0+ds2-1~osrf7~noble -O3 -DNDEBUG=1 -Wdate-time -D_FORTIFY_SOURCE=3`

This line was probably overriding the configuration gazebo-release/dart-for-gz-gbp@00ac0d1#diff-889c5495b68d2a0c0d1f238818716a71939918499efbc0fc6d2994319624fc67L7-L17.

I can remove the MAINT variables (O3 and NDEBUG) and leave it as it was in the current package.

[j-rivero]

If we remove NDEBUG the compilation fails: dartsim/dart#2294

[j-rivero]

All testing done in the summary + gazebosim/gz-sim#3212 is fine. Propose to merge