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MRPT / mrpt

:zap: The Mobile Robot Programming Toolkit (MRPT)
https://docs.mrpt.org/reference/latest/
BSD 3-Clause "New" or "Revised" License
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can't find ros2bridge lib #1321

Open guyupan1911 opened 2 months ago

guyupan1911 commented 2 months ago

CMakeLists.txt

find_package(mrpt-ros2bridge)
target_link_libraries(${PROJECT_NAME}
  mrpt::ros2bridge
)

export error:

 Could not find a package configuration file provided by "mrpt-ros2bridge"
  with any of the following names:

    mrpt-ros2bridgeConfig.cmake
    mrpt-ros2bridge-config.cmake
jlblancoc commented 2 months ago

Hi, Can you provide more context on this error?

If it happens for a ROS2 package, and MRPT was installed via "apt", note that since ~1 month ago the mrpt2 package is deprecated and you would need to declare dependencies following this table.

Example from the mola_bridge_ros2 package:

Then, you can use the standard rosdep command: 

rosdep install --from-paths src --ignore-src -r -y

to install the required packages, or manually using apt.

guyupan1911 commented 2 months ago

Thanks for reply promptly, yes i am using mrpt-ros2bridge in a ros2 package to convert mrpt message to ros2, and the mrpt was installed via "apt". one question is , i can find 

libmrpt-ros1bridge-dev:amd64
libmrpt-ros1bridge2.13:amd64

but there is no something like libmrpt-ros2bridge also , i follow your example in mola-bridge_ros2 package to install mrpt_ros packages, but meet other problems when run rosdep install..

Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  ros-humble-mrpt-libbase ros-humble-mrpt-libmaps ros-humble-mrpt-libmath ros-humble-mrpt-libobs ros-humble-mrpt-libopengl
  ros-humble-mrpt-libposes
The following NEW packages will be installed:
  ros-humble-mrpt-libbase ros-humble-mrpt-libmaps ros-humble-mrpt-libmath ros-humble-mrpt-libobs ros-humble-mrpt-libopengl
  ros-humble-mrpt-libposes ros-humble-mrpt-libros-bridge
0 upgraded, 7 newly installed, 0 to remove and 42 not upgraded.
Need to get 5154 kB of archives.
After this operation, 19.4 MB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-mrpt-libbase amd64 2.13.7-2jammy.20240825.171436 [1057 kB]
Get:2 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-mrpt-libmath amd64 2.13.7-2jammy.20240825.172230 [851 kB]
Get:3 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-mrpt-libposes amd64 2.13.7-2jammy.20240825.174002 [454 kB]
Get:4 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-mrpt-libopengl amd64 2.13.7-2jammy.20240825.174827 [1252 kB]                
Get:5 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-mrpt-libobs amd64 2.13.7-2jammy.20240825.175621 [703 kB]                    
Get:6 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-mrpt-libmaps amd64 2.13.7-2jammy.20240825.180231 [788 kB]                   
Get:7 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-mrpt-libros-bridge amd64 2.13.7-2jammy.20240825.181046 [49.5 kB]            
Fetched 5154 kB in 9s (552 kB/s)                                                                                                                  
debconf: delaying package configuration, since apt-utils is not installed
(Reading database ... 123964 files and directories currently installed.)
Preparing to unpack .../0-ros-humble-mrpt-libbase_2.13.7-2jammy.20240825.171436_amd64.deb ...
Unpacking ros-humble-mrpt-libbase (2.13.7-2jammy.20240825.171436) ...
dpkg: error processing archive /tmp/apt-dpkg-install-kEk9W9/0-ros-humble-mrpt-libbase_2.13.7-2jammy.20240825.171436_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/humble/include/mrpt/config/include/mrpt/config/CConfigFile.h', which is also in package ros-humble-mrpt2 2.13.5-1jammy.20240808.122253
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Preparing to unpack .../1-ros-humble-mrpt-libmath_2.13.7-2jammy.20240825.172230_amd64.deb ...
Unpacking ros-humble-mrpt-libmath (2.13.7-2jammy.20240825.172230) ...
dpkg: error processing archive /tmp/apt-dpkg-install-kEk9W9/1-ros-humble-mrpt-libmath_2.13.7-2jammy.20240825.172230_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/humble/include/mrpt/math/include/mrpt/3rdparty/CSparse/cs.h', which is also in package ros-humble-mrpt2 2.13.5-1jammy.20240808.122253
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Preparing to unpack .../2-ros-humble-mrpt-libposes_2.13.7-2jammy.20240825.174002_amd64.deb ...
Unpacking ros-humble-mrpt-libposes (2.13.7-2jammy.20240825.174002) ...
dpkg: error processing archive /tmp/apt-dpkg-install-kEk9W9/2-ros-humble-mrpt-libposes_2.13.7-2jammy.20240825.174002_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/humble/include/mrpt/bayes/include/mrpt/bayes/CKalmanFilterCapable.h', which is also in package ros-humble-mrpt2 2.13.5-1jammy.20240808.122253
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Preparing to unpack .../3-ros-humble-mrpt-libopengl_2.13.7-2jammy.20240825.174827_amd64.deb ...
Unpacking ros-humble-mrpt-libopengl (2.13.7-2jammy.20240825.174827) ...
dpkg: error processing archive /tmp/apt-dpkg-install-kEk9W9/3-ros-humble-mrpt-libopengl_2.13.7-2jammy.20240825.174827_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/humble/include/mrpt/img/include/mrpt/3rdparty/do_opencv_includes.h', which is also in package ros-humble-mrpt2 2.13.5-1jammy.20240808.122253
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Preparing to unpack .../4-ros-humble-mrpt-libobs_2.13.7-2jammy.20240825.175621_amd64.deb ...
Unpacking ros-humble-mrpt-libobs (2.13.7-2jammy.20240825.175621) ...
dpkg: error processing archive /tmp/apt-dpkg-install-kEk9W9/4-ros-humble-mrpt-libobs_2.13.7-2jammy.20240825.175621_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/humble/include/mrpt/obs/include/mrpt/maps/CMetricMap.h', which is also in package ros-humble-mrpt2 2.13.5-1jammy.20240808.122253
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Preparing to unpack .../5-ros-humble-mrpt-libmaps_2.13.7-2jammy.20240825.180231_amd64.deb ...
Unpacking ros-humble-mrpt-libmaps (2.13.7-2jammy.20240825.180231) ...
dpkg: error processing archive /tmp/apt-dpkg-install-kEk9W9/5-ros-humble-mrpt-libmaps_2.13.7-2jammy.20240825.180231_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/humble/include/mrpt/graphs/include/mrpt/graphs/CAStarAlgorithm.h', which is also in package ros-humble-mrpt2 2.13.5-1jammy.20240808.122253
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Preparing to unpack .../6-ros-humble-mrpt-libros-bridge_2.13.7-2jammy.20240825.181046_amd64.deb ...
Unpacking ros-humble-mrpt-libros-bridge (2.13.7-2jammy.20240825.181046) ...
dpkg: error processing archive /tmp/apt-dpkg-install-kEk9W9/6-ros-humble-mrpt-libros-bridge_2.13.7-2jammy.20240825.181046_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/humble/include/mrpt/ros2bridge/include/mrpt/ros2bridge/gps.h', which is also in package ros-humble-mrpt2 2.13.5-1jammy.20240808.122253
Errors were encountered while processing:
 /tmp/apt-dpkg-install-kEk9W9/0-ros-humble-mrpt-libbase_2.13.7-2jammy.20240825.171436_amd64.deb
 /tmp/apt-dpkg-install-kEk9W9/1-ros-humble-mrpt-libmath_2.13.7-2jammy.20240825.172230_amd64.deb
 /tmp/apt-dpkg-install-kEk9W9/2-ros-humble-mrpt-libposes_2.13.7-2jammy.20240825.174002_amd64.deb
 /tmp/apt-dpkg-install-kEk9W9/3-ros-humble-mrpt-libopengl_2.13.7-2jammy.20240825.174827_amd64.deb
 /tmp/apt-dpkg-install-kEk9W9/4-ros-humble-mrpt-libobs_2.13.7-2jammy.20240825.175621_amd64.deb
 /tmp/apt-dpkg-install-kEk9W9/5-ros-humble-mrpt-libmaps_2.13.7-2jammy.20240825.180231_amd64.deb
 /tmp/apt-dpkg-install-kEk9W9/6-ros-humble-mrpt-libros-bridge_2.13.7-2jammy.20240825.181046_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)
ERROR: the following rosdeps failed to install
  apt: command [sudo -H apt-get install -y ros-humble-mrpt-libros-bridge] failed
  apt: Failed to detect successful installation of [ros-humble-mrpt-libros-bridge]
jlblancoc commented 2 months ago

It's a bit confusing at the moment :-)

1) apt packages without the ROS prefix, e.g. apt install libmrpt-ros* come from Debian / Ubuntu directly. They only support ROS1 so don't install them.

2) apt ROS package ros-${ROS_DISTRO}-mrpt2 is obsolete at present. We are right now (in the last, and current ROS ~ monthly release cycles) porting everything to the new packages, and mrpt2 will soon be removed entirely to prevent this kind of errors.

3) apt ROS packages ros-${ROS_DISTRO}-mrpt-lib* are the new, preferred way to install it.

But first, you must uninstall all other versions or you'll find collisions as you saw. So, first: 

sudo apt remove libmrpt* 
sudo apt remove ros*-mrpt2

Then, rosdep should be free to do its magic...