Gazebo not building? (ogre1_9) about nix-ros-overlay

[loco-choco]

I am facing the same issue, gazebo and rviz are having this issue with ogre1_9, and by changing it to ogre it has to build from source. The strange thing is that I tested the example command nix develop github:lopsided98/nix-ros-overlay#example-turtlebot3-gazebo and gazebo worked, so I am not sure if it is an issue with how I have my flake setup:

• flake.nix:

{
  description = "A very basic flake";

  inputs.nixros.url = "github:lopsided98/nix-ros-overlay";
  inputs.flake-utils.url = "github:numtide/flake-utils";

  outputs = { self, nixpkgs, nixros, flake-utils }:
    with nixpkgs.lib;
    with flake-utils.lib;
    eachSystem allSystems (system: let
      pkgs = import nixpkgs {
        inherit system;
        overlays = [ nixros.overlays.default ];
      };
    in {
      legacyPackages = pkgs.rosPackages;

      devShells = {
        teste = import ./teste.nix { inherit pkgs; };
      };
    }) // {
  };

    nixConfig = {
    extra-substituters = [ "https://ros.cachix.org" ];
    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
  };
}

• flake.lock:

{
  "nodes": {
    "flake-utils": {
      "inputs": {
        "systems": "systems"
      },
      "locked": {
        "lastModified": 1681202837,
        "narHash": "sha256-H+Rh19JDwRtpVPAWp64F+rlEtxUWBAQW28eAi3SRSzg=",
        "owner": "numtide",
        "repo": "flake-utils",
        "rev": "cfacdce06f30d2b68473a46042957675eebb3401",
        "type": "github"
      },
      "original": {
        "owner": "numtide",
        "repo": "flake-utils",
        "type": "github"
      }
    },
    "flake-utils_2": {
      "locked": {
        "lastModified": 1676283394,
        "narHash": "sha256-XX2f9c3iySLCw54rJ/CZs+ZK6IQy7GXNY4nSOyu2QG4=",
        "owner": "numtide",
        "repo": "flake-utils",
        "rev": "3db36a8b464d0c4532ba1c7dda728f4576d6d073",
        "type": "github"
      },
      "original": {
        "owner": "numtide",
        "repo": "flake-utils",
        "type": "github"
      }
    },
    "nixpkgs": {
      "locked": {
        "lastModified": 1682566018,
        "narHash": "sha256-HPzPRFiy2o/7k7mtnwfM1E6NVZHiFbPdmYCMoIpkHO4=",
        "owner": "NixOS",
        "repo": "nixpkgs",
        "rev": "8e3b64db39f2aaa14b35ee5376bd6a2e707cadc2",
        "type": "github"
      },
      "original": {
        "id": "nixpkgs",
        "type": "indirect"
      }
    },
    "nixpkgs_2": {
      "locked": {
        "lastModified": 1678244258,
        "narHash": "sha256-iecrLqFb1QDgBKmC0h065ZBV6CZsigcz+1aHCv6rvfg=",
        "owner": "lopsided98",
        "repo": "nixpkgs",
        "rev": "61852b7faa8b47aad422adca0fea90fe007e9ead",
        "type": "github"
      },
      "original": {
        "owner": "lopsided98",
        "ref": "nix-ros",
        "repo": "nixpkgs",
        "type": "github"
      }
    },
    "nixros": {
      "inputs": {
        "flake-utils": "flake-utils_2",
        "nixpkgs": "nixpkgs_2"
      },
      "locked": {
        "lastModified": 1680981731,
        "narHash": "sha256-czIXVpxwnsqAmHMj+XJdcqiwvmGoq9nPuWCkeZ0sLik=",
        "owner": "lopsided98",
        "repo": "nix-ros-overlay",
        "rev": "650b5972c994c6d13fdac70869c19c52c056d8de",
        "type": "github"
      },
      "original": {
        "owner": "lopsided98",
        "repo": "nix-ros-overlay",
        "type": "github"
      }
    },
    "root": {
      "inputs": {
        "flake-utils": "flake-utils",
        "nixpkgs": "nixpkgs",
        "nixros": "nixros"
      }
    },
    "systems": {
      "locked": {
        "lastModified": 1681028828,
        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
        "owner": "nix-systems",
        "repo": "default",
        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
        "type": "github"
      },
      "original": {
        "owner": "nix-systems",
        "repo": "default",
        "type": "github"
      }
    }
  },
  "root": "root",
  "version": 7
}

• teste.nix:

# Run:
# roslaunch turtlebot3_gazebo turtlebot3_world.launch
# roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

{ pkgs ? import ../. {} }:
with pkgs;
with rosPackages.noetic;
with pythonPackages;

mkShell {

  buildInputs = [
    glibcLocales
    (buildEnv { paths = [
      rosbash
      rostopic
      roslaunch
      std-msgs
      ublox
      navigation
      joy
      teleop-twist-keyboard
      teleop-twist-joy
      #teb-local-planner
      twist-mux
      rqt-tf-tree
      #(rviz.override {ogre1_9 = ogre; })
      diffbot-control
      #turtlebot3-description
      #turtlebot3-teleop
      #turtlebot3-gazebo
      #(gazebo.override { ogre1_9 = ogre; })
      #(gazebo-plugins.gazebo.override { ogre1_9 = ogre; })
      xacro
    ]; })
  ];

  ROS_HOSTNAME = "localhost";
  ROS_MASTER_URI = "http://localhost:11311";
  TURTLEBOT3_MODEL = "burger";
}

[lopsided98]

You are using a newer version of nixpkgs than I test with (https://github.com/lopsided98/nixpkgs/tree/nix-ros). I will try to fix this when I update nixpkgs, but last time I checked Gazebo fails at runtime with newer Ogre versions, see: #161

[loco-choco]

I changed the nixpkgs url to the one you mentioned, and it gave the same result of ogre1_9 being removed. But I saw that your lock file was last updated two months ago, so I changed the rev to the one in the lock file (github:lopside98/nixpkgs/61852b7faa8b47aad422adca0fea90fe007e9ead), and is now compiling from source, but I think it is using ogre1_9, so perhaps this can be used as a temporary fix in my case.

[lopsided98]

Sorry, yeah, I forgot I updated it and never checked what new packages failed to build.

[loco-choco]

Found the commits that removed ogre1_9: lopsided98/nixpkgs@40f52d9 for the nix file, and lopsided98/nixpkgs@ea97d50 for the alias, not sure why they did it.

[lopsided98]

I assume that it was removed because nothing in nixpkgs uses it anymore.

[loco-choco]

Found now another issue while building: collision with the ros-noetic-python-qt-binding.

warning: Using saved setting for 'extra-substituters = https://ros.cachix.org' from ~/.local/share/nix/trusted-settings.json.
warning: Using saved setting for 'extra-trusted-public-keys = ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=' from ~/.local/share/nix/trusted-settings.json.
warning: ignoring untrusted substituter 'https://ros.cachix.org'
error: builder for '/nix/store/fsfwgcw3r9xvwk7yjgc32swfysf3xigv-ros-env.drv' failed with exit code 255;
       last 2 log lines:
       > building
       > error: collision between `/nix/store/a9yg3jax0mj9y07c6785wfhyz91v9bgr-ros-noetic-python-qt-binding-0.4.4-r1/lib/python3.10/site-packages/python_qt_binding/__pycache__/binding_helper.cpython-310.pyc' and `/nix/store/ljrswlz02fc1a7qvhjw8yhcxkcp4byka-ros-noetic-python-qt-binding-0.4.4-r1/lib/python3.10/site-packages/python_qt_binding/__pycache__/binding_helper.cpython-310.pyc'
       For full logs, run 'nix log /nix/store/fsfwgcw3r9xvwk7yjgc32swfysf3xigv-ros-env.drv'.
error: 1 dependencies of derivation '/nix/store/6cpx9cpmnzm098xqalgl02xsgc2x3qcr-nix-shell-env.drv' failed to build

nix log /nix/store/fsfwgcw3r9xvwk7yjgc32swfysf3xigv-ros-env.drv
@nix { "action": "setPhase", "phase": "buildPhase" }
building
error: collision between `/nix/store/a9yg3jax0mj9y07c6785wfhyz91v9bgr-ros-noetic-python-qt-binding-0.4.4-r1/lib/python3.10/site-packages/python_qt_binding/>

The changes I did to the flake where (apart from adding rviz as a package):

inputs = {
    nixpkgs.url = "github:lopsided98/nixpkgs/61852b7faa8b47aad422adca0fea90fe007e9ead";
    flake-utils.url = "github:numtide/flake-utils/3db36a8b464d0c4532ba1c7dda728f4576d6d073";
    nixros.url = "github:lopsided98/nix-ros-overlay";
};

I really don't know how the collision is happening.

[lopsided98]

I switched Gazebo to use Ogre 1.10, which allows it to build and run, but has the bug where adding multiple light sources causes it to freeze (discussed in #161). Gazebo fails to build with Ogre 13.

I believe that collision occurs because rviz requires a patched version of Qt5, so you end up with two versions of python-qt-binding in your environment. If you put rviz in a separate buildEnv from the rest (or just outside the buildEnv), it should work.

[loco-choco]

Got it to get rviz from the cache, but now the issue is a mismatch with the qt lib versions

rviz
[ INFO] [1682992662.770088495]: rviz version 1.14.19
[ INFO] [1682992662.770105880]: compiled against Qt version 5.15.8
[ INFO] [1682992662.770111971]: compiled against OGRE version 1.9.0 (Ghadamon)
Cannot mix incompatible Qt library (5.15.7) with this library (5.15.8)
Aborted (core dumped)

Is there a way to specify the qt lib version of rviz, like how it was done for ogre? I could only find mentions of qt5 on the default.nix from rviz, but I am not sure where is the file of qt5.

[lopsided98]

I think you must be mixing nixpkgs versions somehow.

[loco-choco]

I think I found the source of the issue. I am running nixos with kde, and I think it is using qt-5.15.7. I ran strace on rviz and I saw that both qt-5.15.8 and qt-5.15.7 are being mentioned, with qt-5.15.7 appearing when it tries to grab configs from kde. Perhaps there is a way to isolate the nix develop for it to not try to search kde configs, which might be why it is loading qt-5.15.7. I also find these issues, which are probably related to this somehow: NixOS/nixpkgs#30551 and supercollider/supercollider#5777