[Other issue]: Can't build the rmf workspace

[feliperad]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

Running ROS humble on Ubuntu 22.04

Starting >>> rmf_demos_dashboard_resources
Starting >>> rmf_demos_assets
Starting >>> rmf_demos_fleet_adapter
Starting >>> rmf_demos_maps
Starting >>> rmf_demos_tasks
Starting >>> rmf_demos_bridges
Finished <<< rmf_demos_assets [3.16s]
Finished <<< rmf_demos_dashboard_resources [3.27s]
Starting >>> rmf_demos_panel
--- stderr: rmf_demos_maps
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 24, in main
g.generate_ignition_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 72, in generate_ignition_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 16, in main
g.generate_gazebo_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 59, in generate_gazebo_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 16, in main
g.generate_gazebo_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 59, in generate_gazebo_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
gmake[2]: *** [CMakeFiles/generate_battle_royale_crowdsim_ign.dir/build.make:77: maps/battle_royale_ign/battle_royale.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:281: CMakeFiles/generate_battle_royale_crowdsim_ign.dir/all] Erro 2
gmake[1]: ** Esperando que outros processos terminem.
gmake[2]: *** [CMakeFiles/generate_battle_royale_crowdsim.dir/build.make:77: maps/battle_royale/battle_royale.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:255: CMakeFiles/generate_battle_royale_crowdsim.dir/all] Erro 2
gmake[2]: *** [CMakeFiles/generate_office_crowdsim.dir/build.make:77: maps/office/office.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:567: CMakeFiles/generate_office_crowdsim.dir/all] Erro 2
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 24, in main
g.generate_ignition_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 72, in generate_ignition_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 16, in main
g.generate_gazebo_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 59, in generate_gazebo_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
gmake[2]: *** [CMakeFiles/generate_hotel_crowdsim_ign.dir/build.make:77: maps/hotel_ign/hotel.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:515: CMakeFiles/generate_hotel_crowdsim_ign.dir/all] Erro 2
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 24, in main
g.generate_ignition_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 72, in generate_ignition_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
gmake[2]: *** [CMakeFiles/generate_hotel_crowdsim.dir/build.make:77: maps/hotel/hotel.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:489: CMakeFiles/generate_hotel_crowdsim.dir/all] Erro 2
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 16, in main
g.generate_gazebo_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 59, in generate_gazebo_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
gmake[2]: *** [CMakeFiles/generate_airport_terminal_crowdsim_ign.dir/build.make:77: maps/airport_terminal_ign/airport_terminal.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:203: CMakeFiles/generate_airport_terminal_crowdsim_ign.dir/all] Erro 2
gmake[2]: *** [CMakeFiles/generate_airport_terminal_crowdsim.dir/build.make:77: maps/airport_terminal/airport_terminal.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:177: CMakeFiles/generate_airport_terminal_crowdsim.dir/all] Erro 2
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 24, in main
g.generate_ignition_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 72, in generate_ignition_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 16, in main
g.generate_gazebo_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 59, in generate_gazebo_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
gmake[2]: *** [CMakeFiles/generate_clinic_crowdsim_ign.dir/build.make:77: maps/clinic_ign/clinic.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:437: CMakeFiles/generate_clinic_crowdsim_ign.dir/all] Erro 2
gmake[2]: *** [CMakeFiles/generate_clinic_crowdsim.dir/build.make:77: maps/clinic/clinic.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:411: CMakeFiles/generate_clinic_crowdsim.dir/all] Erro 2
Traceback (most recent call last):
File "/opt/ros/humble/lib/rmf_building_map_tools/building_map_generator", line 33, in
sys.exit(load_entry_point('rmf-building-map-tools==1.6.2', 'console_scripts', 'building_map_generator')())
File "/opt/ros/humble/lib/python3.10/site-packages/building_map_generator/building_map_generator.py", line 24, in main
g.generate_ignition_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 72, in generate_ignition_sdf
self.generate_sdf(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/generator.py", line 41, in generate_sdf
building.generate_sdf_models(output_models_dir)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/building.py", line 537, in generate_sdf_models
level.generate_sdf_model(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 358, in generate_sdf_model
self.write_sdf(model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 343, in write_sdf
self.generate_floors(model_ele, model_name, model_path)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/level.py", line 317, in generate_floors
floor.generate(
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 231, in generate
self.triangulate_polygon(self.polygon, triangles)
File "/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py", line 144, in triangulate_polygon
for item in geom:
TypeError: 'GeometryCollection' object is not iterable
gmake[2]: *** [CMakeFiles/generate_office_crowdsim_ign.dir/build.make:77: maps/office_ign/office.world] Erro 1
gmake[1]: *** [CMakeFiles/Makefile2:593: CMakeFiles/generate_office_crowdsim_ign.dir/all] Erro 2
gmake: *** [Makefile:146: all] Erro 2

Failed <<< rmf_demos_maps [3.50s, exited with code 2]
Aborted <<< rmf_demos_panel [0.35s]
Aborted <<< rmf_demos_bridges [3.59s]
Aborted <<< rmf_demos_fleet_adapter [3.72s]
Aborted <<< rmf_demos_tasks [3.64s]

Summary: 2 packages finished [4.73s]
1 package failed: rmf_demos_maps
4 packages aborted: rmf_demos_bridges rmf_demos_fleet_adapter rmf_demos_panel rmf_demos_tasks
4 packages had stderr output: rmf_demos_bridges rmf_demos_fleet_adapter rmf_demos_maps rmf_demos_tasks
3 packages not processed

[arjo129]

I seem to recall seeing this error many moons ago. Try this fix: #476

[Yadunund]

So I was able to successfully build rmf_demos_maps with humble binaries. See terminal output below. I believe the reason for build failure above is that you have the pip version of shapely installed, ie 2.0 while we strongly recommend using ubuntu apt version 1.8 as the dependency is resolved by rosdep.

/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py:144: ShapelyDeprecationWarning: Iteration over multi-part geometries is deprecated and will be removed in Shapely 2.0. Use the `geoms` property to access the constituent parts of a multi-part geometry.
  for item in geom:
---
Finished <<< rmf_demos_maps [3min 33s]
Starting >>> rmf_demos
Finished <<< rmf_demos [1.28s]                         
Starting >>> rmf_demos_gz
Starting >>> rmf_demos_gz_classic                 
Finished <<< rmf_demos_gz [1.42s]                                                                           
Finished <<< rmf_demos_gz_classic [1.46s]                         

Summary: 10 packages finished [3min 40s]
  5 packages had stderr output: rmf_demos_bridges rmf_demos_fleet_adapter rmf_demos_maps rmf_demos_panel rmf_demos_tasks

You can see the deprecation warning from python3-shapely but everything should still compile if you use the ubuntu apt version of this python package. Suggest to python3 -m pip uninstall shapely and then sudo apt install python3-shapely and try again.

yadunund@ubuntu-22-04:~/ws_rmf_demos$ dpkg -l | grep shapely
ii  python3-shapely                                    1.8.0-1build1                           amd64        geometric objects, predicates, and operations (Python 3)

Having said that, will merge @arjo129's PR into main but I don't think we need to backport it humble.

[cardboardcode]

So I was able to successfully build rmf_demos_maps with humble binaries. See terminal output below. I believe the reason for build failure above is that you have the pip version of shapely installed, ie 2.0 while we strongly recommend using ubuntu apt version 1.8 as the dependency is resolved by rosdep.

/opt/ros/humble/lib/python3.10/site-packages/building_map/floor.py:144: ShapelyDeprecationWarning: Iteration over multi-part geometries is deprecated and will be removed in Shapely 2.0. Use the `geoms` property to access the constituent parts of a multi-part geometry.
  for item in geom:
---
Finished <<< rmf_demos_maps [3min 33s]
Starting >>> rmf_demos
Finished <<< rmf_demos [1.28s]                         
Starting >>> rmf_demos_gz
Starting >>> rmf_demos_gz_classic                 
Finished <<< rmf_demos_gz [1.42s]                                                                           
Finished <<< rmf_demos_gz_classic [1.46s]                         

Summary: 10 packages finished [3min 40s]
  5 packages had stderr output: rmf_demos_bridges rmf_demos_fleet_adapter rmf_demos_maps rmf_demos_panel rmf_demos_tasks

You can see the deprecation warning from python3-shapely but everything should still compile if you use the ubuntu apt version of this python package. Suggest to python3 -m pip uninstall shapely and then sudo apt install python3-shapely and try again.

yadunund@ubuntu-22-04:~/ws_rmf_demos$ dpkg -l | grep shapely
ii  python3-shapely                                    1.8.0-1build1                           amd64        geometric objects, predicates, and operations (Python 3)

Having said that, will merge @arjo129's PR into main but I don't think we need to backport it humble.

Encountered the same issue trying to build rmf_demo_maps, same as thread author.

Can confirm that reinstalling python package shapely as mentioned resolved it for me. ✔️

python3 -m pip uninstall shapely && sudo apt install python3-shapely