build_ros2_workspace.bash failed

[fd3s1]

I,m using px4 and ros foxy in ubuntu20.04 I 'm struggling on it when I run ./build_ros2_workspace.bash --no_ros1_bridge --ros_distro foxy --ros_path ~/ros2_foxy/ros2-linux/setup.bash in terminal in the ~/px4_ros_com_ros2/src/px4_ros_com/scripts path, this mistake will happen. I'm sure I have the correct version of fast DDS(the default version in ros-foxy) and fastrtpsgen(1.0.4), but may JDK version is 13.0.7, is this the problem?

[fd3s1]

./build_ros2_workspace.bash --no_ros1_bridge --ros_distro foxy --ros_path ~/ros2_foxy/ros2-linux/setup.bash openjdk version "13.0.7" 2021-04-20 OpenJDK Runtime Environment (build 13.0.7+5-Ubuntu-0ubuntu120.04) OpenJDK 64-Bit Server VM (build 13.0.7+5-Ubuntu-0ubuntu120.04, mixed mode, sharing) [connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[/opt/rti.com/rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available. [0.365s] WARNING:colcon.colcon_core.package_selection:ignoring unknown package 'ros1_bridge' in --packages-skip Starting >>> px4_msgs Finished <<< px4_msgs [9.94s]
Starting >>> px4_ros_com --- stderr: px4_ros_com
c++: error: /home/sun2/px4_ros_com_ros2/build/px4_ros_com/src/micrortps_agent/microRTPS_agent.cpp: 没有那个文件或目录 c++: fatal error: no input files compilation terminated. make[2]: [CMakeFiles/micrortps_agent.dir/build.make:497：CMakeFiles/micrortps_agent.dir/src/micrortps_agent/microRTPS_agent.cpp.o] 错误 1 make[2]: 正在等待未完成的任务.... make[1]: [CMakeFiles/Makefile2:142：CMakeFiles/micrortps_agent.dir/all] 错误 2 make[1]: 正在等待未完成的任务.... make: *** [Makefile:141：all] 错误 2

Failed <<< px4_ros_com [12.9s, exited with code 2]

Summary: 1 package finished [22.9s] 1 package failed: px4_ros_com 1 package had stderr output: px4_ros_com

[Li-Jinjie]

c++: error: /home/sun2/px4_ros_com_ros2/build/px4_ros_com/src/micrortps_agent/microRTPS_agent.cpp: 没有那个文件或目录 (no such directory)

This error happens because fastrtpsgen does not work normally. For me, when I cd /path_to_ros2_ws/build/px4_ros_com and execute make, the console outputs

Generating micro-RTPS agent code... Failed to import genmsg: No module named 'genmsg'

So just install python3-genmsg by inputting sudo apt-get install python3-genmsg This works for me.

Besides, I uploaded my docker image to docker hub: https://hub.docker.com/r/lijinjie/px4-ros2-arm64 , which is verified on TX2 NX.

I hope this method can solve your problem :)

[REGATTE]

hi, I think you haven't installed the extra requirements after installing ROS2 FOXY via Packages.

link: https://docs.px4.io/master/en/ros/ros2_comm.html

Under Install ROS2

• run all the terminal commands mentioned

make sure you're java JDK is 11, and not 13 (installed automatically from PX4-Autopilot/Tools/Ubuntu.sh). Change the Ubuntu.sh file to only install 11.

This should solve all of your issues like missing microRTPS_agent folder or Timesync_Publisher.cpp file unavailable.