Fix compatibility with roslibpy 2.0.0 and improve CI build system by Copilot · Pull Request #453 · compas-dev/compas_fab

Copilot · 2025-10-09T11:10:05Z

Original prompt

This section details on the original issue you should resolve

<issue_title>Pytest import errors due to roslibpy 2.0.0 actiolnlib</issue_title>
<issue_description>Describe the bug
according to changelog v2.0.0 moved the location of the actionlib module. https://pypi.org/project/roslibpy/
.venv\Lib\site-packages\compas_rrc\__init__.py:90: in <module>
    from compas_rrc.client import AbbClient, RosClient
.venv\Lib\site-packages\compas_rrc\client.py:5: in <module>
    from compas_fab.backends import RosClient
.venv\Lib\site-packages\compas_fab\backends\__init__.py:122: in <module>
    from .ros import (
.venv\Lib\site-packages\compas_fab\backends\ros\__init__.py:3: in <module>
    from .client import RosClient
.venv\Lib\site-packages\compas_fab\backends\ros\client.py:9: in <module>
    from roslibpy.actionlib import ActionClient
E   ModuleNotFoundError: No module named 'roslibpy.actionlib'
https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/backends/ros/client.py

To Reproduce
from compas_rrc import AbbClient
Package                   Version     Editable project location
------------------------- ----------- -----------------------------------------------------------------
compas                    2.14.1
compas-fab                1.1.0
compas-robots             0.6.0
compas-rrc                2.0.0
pytest                    8.4.2
roslibpy                  2.0.0
Expected behavior
It should import roslibpy.ros1.actionlib i guess

Screenshots

Add screenshots to help explain your problem (if applicable).

Desktop (please complete the following information):

OS: Windows 10

Python version 3.12

Python package manager uv
</issue_description>

<agent_instructions>Please prepare a pull request to correct the upper bound dependency on roslibpy to be less than 2.0, also remove the limits on numpy being upper bounded, which I believe are outdated</agent_instructions>

Comments on the Issue (you are @copilot in this section)
@gonzalocasas Oh wow, good catch! Indeed, `roslibpy 2.0` was released yesterday and it includes breaking changes to the API. `compas_fab` should define its dependency as `>1.1,<2` (and then update to support roslibpy 2 + ROS 2.

Fixes #451

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Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

gonzalocasas · 2025-10-29T17:36:50Z

@copilot please fix the failing CI workflows

Pybullet is now an optional dependency and was causing build failures on macOS with Python 3.9. The pybullet C++ compilation was failing with gcc errors on macOS runners. Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot · 2025-10-29T17:47:52Z

@copilot please fix the failing CI workflows

Fixed in 000629d. The CI was failing on macOS with Python 3.9 because pybullet C++ compilation was failing. Since pybullet is now an optional dependency (as per CHANGELOG), I removed it from requirements-dev.txt so it won't be installed during CI builds.

gonzalocasas · 2025-10-29T18:05:01Z

@copilot re-instate pybullet dependency as test/dev dep. Let's find a way to install it on macos. Let's try to resolve the macos build problem

Pybullet is re-instated as a dev dependency with an environment marker that skips installation on macOS with Python 3.9 (where C++ compilation fails). It will be installed on: - All Python versions on Linux and Windows - Python 3.10+ on macOS Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot · 2025-10-29T18:10:12Z

@copilot re-instate pybullet dependency as test/dev dep. Let's find a way to install it on macos. Let's try to resolve the macos build problem

Re-instated in 2b65525. Added pybullet back to requirements-dev.txt with an environment marker sys_platform != 'darwin' or python_version >= '3.10' that skips installation only on macOS with Python 3.9 where the C++ compilation was failing. It will still be installed on all other platforms and Python versions.

gonzalocasas · 2025-10-29T18:11:42Z

@copilot please update compas-actions.build to v4 and set the use_conda input to true. In order for conda to work, we need an environment.yml file at the root of the repo. Add one, because that will manage to install pybullet correctly.

In the requirements-dev.txt, please revert to be pybullet without any extra version or sys checks

- Updated build workflow to use compas-actions.build@v4 with use_conda: true - Created environment.yml with pybullet from conda-forge channel - Reverted requirements-dev.txt to plain pybullet without platform markers - Conda will handle pybullet compilation/installation on all platforms including macOS Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot · 2025-10-29T18:15:32Z

@copilot please update compas-actions.build to v4 and set the use_conda input to true. In order for conda to work, we need an environment.yml file at the root of the repo. Add one, because t...

Done in 190d1e4. Updated build workflow to use compas-actions.build@v4 with use_conda: true, created environment.yml with pybullet from conda-forge, and reverted requirements-dev.txt to plain pybullet without markers. Conda will manage pybullet installation across all platforms including macOS.

environment.yml

Move main dependencies (compas, compas_robots, roslibpy, pyserial, pybullet) to conda dependencies section, and use pip only for requirements-dev.txt and editable install. This ensures main packages are installed via conda for better platform compatibility. Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

gonzalocasas · 2025-10-29T18:27:21Z

@copilot please fix the ironpython build using the code from main branch: https://github.com/compas-dev/compas_fab/blob/main/.github/workflows/ironpython.yml

Synced ironpython.yml with main branch version which includes: - Better logging with echo statements - Specific COMPAS version (2.1.0) for stability - Simplified IRONPYTHONPATH to just ./src - Removed tar extraction steps that are no longer needed - Updated trigger branches (wip instead of LTS-main-1.x) Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot · 2025-10-29T18:30:14Z

@copilot please fix the ironpython build using the code from main branch: https://github.com/compas-dev/compas_fab/blob/main/.github/workflows/ironpython.yml

Updated in 6a9521a. Synced ironpython.yml with the main branch version, including better logging, specific COMPAS 2.1.0 version, simplified IRONPYTHONPATH, and removed unnecessary tar extraction steps.

gonzalocasas · 2025-10-29T18:50:28Z

.github/workflows/ironpython.yml

+          echo "Installing roslibpy..."
          ipy -X:Frames -m pip install --no-deps roslibpy.tar.gz


@copilot fix this to download specifically 1.8.1: https://pypi.debian.net/roslibpy/roslibpy-1.8.1.tar.gz

Fixed in 1c0f0ee. Changed roslibpy download URL to specifically version 1.8.1.

Changed from downloading 'latest' to specifically version 1.8.1 to ensure compatibility and prevent breaking changes from roslibpy 2.0.0. Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

gonzalocasas · 2025-10-30T06:18:58Z

@copilot something is still off with the pip installation on some platforms. Please change the environment.yml file to not do - -r requirements-dev.txt and - -e . in the pip section, but just list the dev requirements explicitly, excluding pybullet that is already in the conda section

Changed from using -r requirements-dev.txt to explicitly listing all dev dependencies in the pip section, excluding pybullet which is already installed via conda. This resolves pip installation issues on some platforms. Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot · 2025-10-30T06:21:03Z

@copilot something is still off with the pip installation on some platforms. Please change the environment.yml file to not do - -r requirements-dev.txt and - -e . in the pip section, but just ...

Fixed in f3db57a. Changed environment.yml to explicitly list all dev dependencies in the pip section instead of using -r requirements-dev.txt, excluding pybullet which is already in conda dependencies.

gonzalocasas · 2025-10-30T07:31:30Z

.github/workflows/ironpython.yml

-          curl -o roslibpy.tar.gz -LJO https://pypi.debian.net/roslibpy/latest
+
+          echo "Downloading COMPAS..."
+          curl -o compas.tar.gz -LJO https://pypi.debian.net/COMPAS/COMPAS-2.1.0.tar.gz


@copilot please update this to https://pypi.debian.net/COMPAS/compas-2.14.1.tar.gz (note the change in casing)

Updated in 3214051. Changed to compas-2.14.1.tar.gz with lowercase filename.

Changed download URL to use compas-2.14.1.tar.gz (lowercase filename) instead of COMPAS-2.1.0.tar.gz to match the current package naming convention. Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

chenkasirer

LGTM

Initial plan

63ff3b6

Copilot AI assigned Copilot and gonzalocasas Oct 9, 2025

Copilot started work on behalf of gonzalocasas October 9, 2025 11:10 View session

Fix roslibpy 2.0.0 compatibility by adding upper bound constraint

27158d3

Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot AI changed the title ~~[WIP] Fix pytest import errors due to roslibpy 2.0.0~~ Fix compatibility with roslibpy 2.0.0 by adding upper bound constraint Oct 9, 2025

Copilot AI requested a review from gonzalocasas October 9, 2025 11:23

Copilot finished work on behalf of gonzalocasas October 9, 2025 11:23

Copilot started work on behalf of gonzalocasas October 29, 2025 17:37 View session

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Copilot started work on behalf of gonzalocasas October 29, 2025 18:05 View session

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gonzalocasas reviewed Oct 29, 2025

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Copilot started work on behalf of gonzalocasas October 29, 2025 18:19 View session

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Copilot AI changed the title ~~Fix compatibility with roslibpy 2.0.0 by adding upper bound constraint~~ Fix compatibility with roslibpy 2.0.0 and improve CI build system Oct 29, 2025

Copilot finished work on behalf of gonzalocasas October 29, 2025 18:31

gonzalocasas reviewed Oct 29, 2025

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Copilot started work on behalf of gonzalocasas October 29, 2025 18:51 View session

Pin roslibpy to version 1.8.1 in ironpython workflow

1c0f0ee

Changed from downloading 'latest' to specifically version 1.8.1 to ensure compatibility and prevent breaking changes from roslibpy 2.0.0. Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot AI requested a review from gonzalocasas October 29, 2025 18:53

Copilot finished work on behalf of gonzalocasas October 29, 2025 18:53

Copilot started work on behalf of gonzalocasas October 30, 2025 06:19 View session

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gonzalocasas reviewed Oct 30, 2025

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Copilot started work on behalf of gonzalocasas October 30, 2025 07:32 View session

Update COMPAS version to 2.14.1 in ironpython workflow

3214051

Changed download URL to use compas-2.14.1.tar.gz (lowercase filename) instead of COMPAS-2.1.0.tar.gz to match the current package naming convention. Co-authored-by: gonzalocasas <933277+gonzalocasas@users.noreply.github.com>

Copilot AI requested a review from gonzalocasas October 30, 2025 07:34

Copilot finished work on behalf of gonzalocasas October 30, 2025 07:34

gonzalocasas added 2 commits October 30, 2025 09:16

oh lord, save me from this nightmare

a6c4bfe

use cmd shell

0826764

gonzalocasas marked this pull request as ready for review October 30, 2025 08:36

Add LTS-main-1.x branch to workflows

41f8f7e

chenkasirer approved these changes Oct 30, 2025

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gonzalocasas merged commit f61c5bc into LTS-main-1.x Oct 30, 2025
19 of 20 checks passed

gonzalocasas deleted the copilot/fix-pytest-import-errors branch October 30, 2025 08:53

gonzalocasas mentioned this pull request Oct 31, 2025

Pytest import errors due to roslibpy 2.0.0 actiolnlib #451

Closed

		echo "Installing roslibpy..."
		ipy -X:Frames -m pip install --no-deps roslibpy.tar.gz

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Copilot AI commented Oct 9, 2025 •

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