Suggest to source setup.bash before build Micro-XRCE-DDS-Agent

[asukiaaa]

Thank you for sharing a useful project.

I failed to run Micro-XRCE-DDS Agent with ros2arduino because causing the following error.

MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200
Enter 'q' for exit
[1579357225.053981] info     | SerialServerLinux.cpp | init                     | running...             | fd: 3
[1579357228.139310] info     | Root.cpp           | create_client            | create                 | client_key: 0xAABBCCDD, session_id: 0x81
[1579357228.139433] info     | SerialServerBase.cpp | on_create_client         | session established    | client_key: 0xAABBCCDD, address: 0
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

I found difference that dependency of library changes by running setup.bash of ROS2(by referencing https://qiita.com/nomumu/items/db01bc9e39bf1fb116d5 ).

Before run setup.bash.

$ ldd `which MicroXRCEAgent`
    linux-vdso.so.1 (0x00007ffc157c6000)
    libmicroxrcedds_agent.so.1.1 => /usr/local/lib/libmicroxrcedds_agent.so.1.1 (0x00007f61cd8c4000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f61cd6a5000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f61cd31c000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f61cd104000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f61ccd13000)
    libfastrtps.so.1 => /usr/local/lib/libfastrtps.so.1 (0x00007f61cc5bf000)
    libmicroxrcedds_client.so.1.1 => /usr/local/lib/libmicroxrcedds_client.so.1.1 (0x00007f61cc3a8000)
    libmicrocdr.so.1.1 => /usr/local/lib/libmicrocdr.so.1.1 (0x00007f61cc19c000)
    libfastcdr.so.1 => /usr/local/lib/libfastcdr.so.1 (0x00007f61cbf89000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f61cde7a000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f61cbbeb000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f61cb9e7000)
    libssl.so.1.1 => /usr/lib/x86_64-linux-gnu/libssl.so.1.1 (0x00007f61cb75a000)
    libcrypto.so.1.1 => /usr/lib/x86_64-linux-gnu/libcrypto.so.1.1 (0x00007f61cb28f000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f61cb087000)

After run setup.bash.

$ source /opt/ros/dashing/setup.bash
$ ldd `which MicroXRCEAgent`
    linux-vdso.so.1 (0x00007ffff77de000)
    libmicroxrcedds_agent.so.1.1 => /usr/local/lib/libmicroxrcedds_agent.so.1.1 (0x00007f0fa403d000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f0fa3e1e000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f0fa3a95000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f0fa387d000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f0fa348c000)
    libfastrtps.so.1 => /opt/ros/dashing/lib/libfastrtps.so.1 (0x00007f0fa2cf6000)
    libmicroxrcedds_client.so.1.1 => /usr/local/lib/libmicroxrcedds_client.so.1.1 (0x00007f0fa2adf000)
    libmicrocdr.so.1.1 => /usr/local/lib/libmicrocdr.so.1.1 (0x00007f0fa28d3000)
    libfastcdr.so.1 => /opt/ros/dashing/lib/libfastcdr.so.1 (0x00007f0fa26c1000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f0fa45f3000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f0fa2323000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f0fa211f000)
    libtinyxml2.so.6 => /usr/lib/x86_64-linux-gnu/libtinyxml2.so.6 (0x00007f0fa1f0b000)
    libssl.so.1.1 => /usr/lib/x86_64-linux-gnu/libssl.so.1.1 (0x00007f0fa1c7e000)
    libcrypto.so.1.1 => /usr/lib/x86_64-linux-gnu/libcrypto.so.1.1 (0x00007f0fa17b3000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f0fa15ab000)

I found that I can avoid the error by the following combinations.

MicroXRCEAgent build env	MicroXRCEAgent run env
With sourcing setup.bash	With sourcing setup.bash
Without sourcing setup.bash	Without sourcing setup.bash
Without sourcing setup.bash	With sourcing setup.bash and run with adding LD_PRELOAD="/usr/local/lib/libfastrtps.so.1 as prefix of command. Ex: LD_PRELOAD="/usr/local/lib/libfastrtps.so.1" MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200

I think it's better that the dependencies of ros2 and MicroXRCEAgent are same. So how about to add a command to source setup.bash of ros2 before making MicroXRCEAgent.

Thank you.

[OpusK]

Hi, @asukiaaa

Thanks for your sharing :)

[asukiaaa]

Thank you for merging.

[asukiaaa]

Sorry, I missed source to load setup.bash. https://github.com/ROBOTIS-GIT/ros2arduino/pull/39