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BrettRD / ros-gst-bridge

a bidirectional ros to gstreamer bridge and utilities for dynamic pipelines
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include could not find load file: /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/rosidl_cmake-extras.cmake #27

Closed mutantbob closed 3 years ago

mutantbob commented 3 years ago

While trying to build the gst_bridge I encountered the following error

~/vendor/ros-gst-bridge/gst_bridge/build$ ( . /opt/ros/galactic/setup.bash ; audio_msgs_DIR=../../audio_msgs/build/ament_cmake_core cmake ..)
-- Found ament_cmake: 1.1.4 (/opt/ros/galactic/share/ament_cmake/cmake)
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Found rclcpp: 9.1.0 (/opt/ros/galactic/share/rclcpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Found rosidl_adapter: 2.2.1 (/opt/ros/galactic/share/rosidl_adapter/cmake)
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 3.3.1 (/opt/ros/galactic/share/rmw_implementation_cmake/cmake)
-- Found rmw_cyclonedds_cpp: 0.22.3 (/opt/ros/galactic/share/rmw_cyclonedds_cpp/cmake)
-- Using RMW implementation 'rmw_cyclonedds_cpp' as default
-- Checking for module 'gstreamer-mpegts-1.0>=1.4.0'
--   No package 'gstreamer-mpegts-1.0' found
-- Checking for module 'gstreamer-codecparsers-1.0 >= 1.8.3'
--   No package 'gstreamer-codecparsers-1.0' found
-- Found audio_msgs: 0.0.0 (/home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core)
CMake Error at /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/audio_msgsConfig.cmake:41 (include):
  include could not find load file:

    /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/rosidl_cmake-extras.cmake
Call Stack (most recent call first):
  CMakeLists.txt:43 (find_package)

CMake Error at /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/audio_msgsConfig.cmake:41 (include):
  include could not find load file:

    /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/ament_cmake_export_dependencies-extras.cmake
Call Stack (most recent call first):
  CMakeLists.txt:43 (find_package)

CMake Error at /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/audio_msgsConfig.cmake:41 (include):
  include could not find load file:

    /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/ament_cmake_export_libraries-extras.cmake
Call Stack (most recent call first):
  CMakeLists.txt:43 (find_package)

CMake Error at /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/audio_msgsConfig.cmake:41 (include):
  include could not find load file:

    /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/ament_cmake_export_targets-extras.cmake
Call Stack (most recent call first):
  CMakeLists.txt:43 (find_package)

CMake Error at /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/audio_msgsConfig.cmake:41 (include):
  include could not find load file:

    /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/ament_cmake_export_include_directories-extras.cmake
Call Stack (most recent call first):
  CMakeLists.txt:43 (find_package)

CMake Error at /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/audio_msgsConfig.cmake:41 (include):
  include could not find load file:

    /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/rosidl_cmake_export_typesupport_libraries-extras.cmake
Call Stack (most recent call first):
  CMakeLists.txt:43 (find_package)

CMake Error at /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/audio_msgsConfig.cmake:41 (include):
  include could not find load file:

    /home/thoth/vendor/ros-gst-bridge/audio_msgs/build/ament_cmake_core/rosidl_cmake_export_typesupport_targets-extras.cmake
Call Stack (most recent call first):
  CMakeLists.txt:43 (find_package)

-- Found sensor_msgs: 2.2.3 (/opt/ros/galactic/share/sensor_msgs/cmake)
-- Configuring incomplete, errors occurred!
See also "/home/thoth/vendor/ros-gst-bridge/gst_bridge/build/CMakeFiles/CMakeOutput.log".
See also "/home/thoth/vendor/ros-gst-bridge/gst_bridge/build/CMakeFiles/CMakeError.log".

What mistake am I making?

BrettRD commented 3 years ago

I'm not familiar with raw cmake builds of ROS2 packages.

It looks like it's called cmake for audio_msgs but hasn't passed the ros environment to it.\ You're also missing at least the system gstreamer install.

Dependencies are listed in package.xml, and get converted to apt package names at index.ros.org.

The easiest way to resolve this is to use a full ROS2 workspace, and run rosdep over it to call apt with the dependency lists in the various package.xml files.

# make a workspace, enter it, clone the repo into workspace/src
mkdir -p galactic_ws/src
cd galactic_ws
git clone https://github.com/BrettRD/ros-gst-bridge.git src/ros-gst-bridge

# initialise rosdep
sudo rosdep init
rosdep update

# let rosdep know what ros packages we already have
. /opt/ros/galactic/setup.bash 

# fetch remaining system dependencies for all packages in src/
rosdep install --from-paths src --ignore-src -r -y

# build everything in src/
colcon build
mutantbob commented 3 years ago

Almost all of those steps were new to me (since I was only recently assigned to a ROS sprint). I recommend you add them to the README.md to help folks get started, or include a link to a primer that provides an overview of the ROS2 workspace spellbook.

I bumped into a few hiccups following those instructions.

# rosdep init
ERROR: default sources list file already exists:
        /etc/ros/rosdep/sources.list.d/20-default.list

perhaps the ubuntu install of ros-galactic-desktop already did this? https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

~/vendor/galactic_ws$ colcon build
colcon: command not found

I'm going to go digging to see where that comes from. Ubuntu usually suggests a package to install (like it did for rosdep), but didn't have a guess for how to get colcon.

mutantbob commented 3 years ago

I was able to get colcon for ubuntu by following the instructions at https://colcon.readthedocs.io/en/released/user/installation.html

It appears to have built, although it took me a while to figure out the exact invocation of gst-inspect

~/vendor/galactic_ws$ LD_LIBRARY_PATH=install/audio_msgs/lib:$LD_LIBRARY_PATH gst-inspect-1.0 ./install/gst_bridge/lib/gst_bridge/librosgstbridge.so
Plugin Details:
  Name                     rosgstbridge
  Description              ROS topic bridge elements
  Filename                 ./install/gst_bridge/lib/gst_bridge/librosgstbridge.so
  Version                  0.0.0
  License                  LGPL
  Source module            ros_gst_bridge
  Binary package           ros_gst_bridge
  Origin URL               https://github.com/BrettRD/ros-gst-bridge

  rosaudiosink: rosaudiosink
  rosimagesink: rosimagesink
  rostextsink: rostextsink
  rosaudiosrc: rosaudiosrc
  rosimagesrc: rosimagesrc
  rostextsrc: rostextsrc

  6 features:
  +-- 6 elements
BrettRD commented 3 years ago

I made a commit to the readme after your first issue adding some short build notes, linking to colcon instructions and environment setup, can I get your opinion on that?

You can short-cut that LD preload step by sourcing install/setup.bash from the workspace.

opt/ros/galactic/setup.bash adds ros objects, yaml parsers etc from the desktop install to your environment, install/setup.bash adds anything built by your workspace to your environment.

I've built this from and for a ROS2 developers' perspective, so I really appreciate the GStreamer dev perspective.

mutantbob commented 3 years ago

The changes to README.md are a good start. I'm trying to build a Dockerfile that builds this git repo from a baseline ubuntu install (which is a gold standard of build instructions), but so far I'm missing something from the environment or build instructions and it does not generate a .so file.

#
# The purpose of this Dockerfile is to demonstrate the build
# environment and procedure needed to successfully compile the
# ros-gst-bridge package
#

FROM ubuntu:focal as ros_base

RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install \
    apt-utils \
    curl \
    git \
    gnupg2 \
    locales \
    lsb-release

#
# https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
#

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list

# your locale might already be configured this way on an interactive (non-docker) system
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

# this will result in fetch of >1650 packages in this small docker environment
RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y install ros-galactic-desktop python3-rosdep python3-colcon-core
RUN bash -c '. /opt/ros/galactic/setup.bash && \
    rosdep init && \
    rosdep update '

#
#
#

FROM ros_base

RUN mkdir -p /galactic_ws/src
WORKDIR /galactic_ws/src
RUN git clone https://github.com/BrettRD/ros-gst-bridge.git 

RUN bash -c 'source /opt/ros/galactic/setup.bash && \
    DEBIAN_FRONTEND=noninteractive rosdep install --from-paths . --ignore-src -r -y'

RUN bash -c 'source /opt/ros/galactic/setup.bash && \
    colcon build '

If you want to experiment with docker, save the above as a Dockerfile and run docker build -t ros-gst-bridge . (assuming . is the directory containing the Dockerfile)

mutantbob commented 3 years ago

My Dockerfile was missing python3-colcon-common-extensions. I have expanded the BUILD section of your README.md and created a pull request for you to review.

BrettRD commented 3 years ago

Thank you very much!