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RoboSense-LiDAR / rslidar_sdk

RoboSense LiDAR SDK for ROS & ROS2
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Colcon build error - ROS2 #101

Closed jclinton830 closed 1 year ago

jclinton830 commented 2 years ago

I am trying to build this package in ubuntu 22.04 with ROS2 Humble. I get the following error log when I run colcon build. Boost and all other deps are already installed. 

--- stderr: rslidar_sdk                         
=============================================================
-- ROS Not Found, Ros Support is turned Off!
=============================================================
=============================================================
-- ROS2 Found, Ros2 Support is turned On!
=============================================================
=============================================================
-- Protobuf Found, Protobuf Support is turned On!
=============================================================
=============================================================
-- Cmake run for UNIX GNU Compiler
=============================================================
=============================================================
-- rs_driver Version : v1.3.2
=============================================================
=============================================================
-- POINT_TYPE is XYZI
=============================================================
CMake Error at CMakeLists.txt:150 (add_executable):
  Target "rslidar_sdk_node" links to target "Boost::regex" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?

CMake Generate step failed.  Build files cannot be regenerated correctly.
---
Failed   <<< rslidar_sdk [3.84s, exited with code 1]

Summary: 7 packages finished [6.73s]
  1 package failed: rslidar_sdk
  1 package had stderr output: rslidar_sdk

Anyone know what I could do to solve it or is this a bug?

skleymenov commented 2 years ago

I've same issue

jclinton830 commented 2 years ago

I've same issue

I solved this issue by doing the following.

First, I cloned, compiled and built the rs_driver source code by doing this 

sudo apt-get install libboost-dev libpcap-dev libpcl-dev libeigen3-dev git
mkdir -p ~/robosense_repos && cd ~/robosense_repos
git clone https://github.com/RoboSense-LiDAR/rs_driver.git
mkdir -p rs_driver/build && cd rs_driver/build
cmake ..
make -j4
sudo make install

Then I cloned rslidar_sdk and rslidar_msgs repositories into the /src folder of my ROS2 workspace in Ubuntu 22.04.

Then to make rslidar_sdk work on ROS2 Humble I had to modify the CMakelists.txt as follows 

@@ -1,209 +1,218 @@
cmake_minimum_required(VERSION 3.5)
cmake_policy(SET CMP0048 NEW)
project(rslidar_sdk)

#=======================================
# Compile setup (ORIGINAL, CATKIN, COLCON)
#=======================================
set(COMPILE_METHOD CATKIN)
set(COMPILE_METHOD COLCON)

#=======================================
# Custom Point Type (XYZI, XYZIRT)
#=======================================
set(POINT_TYPE XYZI)

#========================
# Project details / setup
#========================
set(PROJECT_NAME rslidar_sdk)
add_definitions(-DPROJECT_PATH="${PROJECT_SOURCE_DIR}")
set(CMAKE_BUILD_TYPE RELEASE)
add_definitions(-O3)
add_definitions(-std=c++14)
add_definitions(-std=c++17)
add_compile_options(-Wall)

#========================
# Dependencies Setup
#========================
#ROS#
find_package(roscpp 1.12 QUIET)
if(roscpp_FOUND)
  message(=============================================================)
  message("-- ROS Found, Ros Support is turned On!")
  message(=============================================================)
  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/package_ros1.xml ${CMAKE_CURRENT_SOURCE_DIR}/package.xml COPYONLY)
  add_definitions(-DROS_FOUND)
  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/package_ros1.xml ${CMAKE_CURRENT_SOURCE_DIR}/package.xml COPYONLY)

  find_package(roslib QUIET)
  include_directories(${roscpp_INCLUDE_DIRS} ${roslib_INCLUDE_DIRS})
  set(ROS_LIBS ${roscpp_LIBRARIES} ${roslib_LIBRARIES})

else(roscpp_FOUND)
  message(=============================================================)
  message("-- ROS Not Found, Ros Support is turned Off!")
  message(=============================================================)
endif(roscpp_FOUND)

#ROS2#
find_package(rclcpp QUIET)
find_package(rclcpp REQUIRED)
if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
  message(=============================================================)
  message("-- ROS2 Found, Ros2 Support is turned On!")
  message(=============================================================)
  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/package_ros2.xml ${CMAKE_CURRENT_SOURCE_DIR}/package.xml COPYONLY)
  add_definitions(-DROS2_FOUND)
  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/package_ros2.xml ${CMAKE_CURRENT_SOURCE_DIR}/package.xml COPYONLY)
  set(CMAKE_CXX_STANDARD 14)
  set(CMAKE_CXX_STANDARD 17)

  find_package(ament_cmake REQUIRED)
  find_package(std_msgs REQUIRED)
  find_package(sensor_msgs REQUIRED)
  find_package(rslidar_msg REQUIRED)
  find_package(pcl_conversions REQUIRED)
  find_package(pcl_ros REQUIRED)
  find_package(Boost COMPONENTS system date_time regex REQUIRED)
  include_directories(${rclcpp_INCLUDE_DIRS})

  include_directories(${Boost_INCLUDE_DIRS})
  include_directories(${PCL_INCLUDE_DIRS})

else(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
  message(=============================================================)
  message("-- ROS2 Not Found, Ros2 Support is turned Off!")
  message(=============================================================)
endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")

#Protobuf#
find_package(Protobuf QUIET)
find_program(PROTOC protoc)
if(NOT PROTOC MATCHES "NOTFOUND" AND Protobuf_FOUND)
  message(=============================================================)
  message("-- Protobuf Found, Protobuf Support is turned On!")
  message(=============================================================)
  add_definitions(-DPROTO_FOUND)

  include_directories(${PROTOBUF_INCLUDE_DIRS})
  SET(PROTO_FILE_PATH ${PROJECT_SOURCE_DIR}/src/msg/proto_msg)
  file(GLOB PROTOBUF_FILELIST ${PROTO_FILE_PATH}/*.proto)
  foreach(proto_file ${PROTOBUF_FILELIST})
    message(STATUS "COMPILING ${proto_file} USING ${PROTOBUF_PROTOC_EXECUTABLE}")
    execute_process(COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
                    --proto_path=${PROTO_FILE_PATH}
                    --cpp_out=${PROTO_FILE_PATH}
                    ${proto_file})
  endforeach()
else(NOT PROTOC MATCHES "NOTFOUND" AND Protobuf_FOUND)
  message(=============================================================)
  message("-- Protobuf Not Found, Protobuf Support is turned Off!")
  message(=============================================================)
endif(NOT PROTOC MATCHES "NOTFOUND" AND Protobuf_FOUND)

#Others#
find_package(yaml-cpp REQUIRED)
find_package(PCL QUIET REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

#Catkin#
if(${COMPILE_METHOD} STREQUAL "CATKIN")
  add_definitions(-DRUN_IN_ROS_WORKSPACE)
  find_package(catkin REQUIRED
    COMPONENTS
      roscpp
      sensor_msgs
      roslib
      pcl_ros
      pcl_conversions
  )

  catkin_package(
    CATKIN_DEPENDS
      roscpp
      sensor_msgs
      roslib
      pcl_conversions
  )
endif(${COMPILE_METHOD} STREQUAL "CATKIN")

#Include directory#
include_directories(${PROJECT_SOURCE_DIR}/src)

#Driver core#
add_subdirectory(src/rs_driver)
find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})

#========================
# Point Type Definition
#========================
if(${POINT_TYPE} STREQUAL "XYZI")
add_definitions(-DPOINT_TYPE_XYZI)
elseif(${POINT_TYPE} STREQUAL "XYZIRT")
add_definitions(-DPOINT_TYPE_XYZIRT)
endif()
message(=============================================================)
message("-- POINT_TYPE is ${POINT_TYPE}")
message(=============================================================)

#========================
# Build Setup
#========================
#Protobuf#
if(NOT PROTOC MATCHES "NOTFOUND" AND Protobuf_FOUND)
  add_executable(rslidar_sdk_node
              node/rslidar_sdk_node.cpp
              src/manager/adapter_manager.cpp
              ${PROTO_FILE_PATH}/packet.pb.cc
              ${PROTO_FILE_PATH}/scan.pb.cc
              ${PROTO_FILE_PATH}/point_cloud.pb.cc
              )
  target_link_libraries(rslidar_sdk_node
                      ${PCL_LIBRARIES}
                      ${YAML_CPP_LIBRARIES}
                      ${PROTOBUF_LIBRARY}
                      ${rs_driver_LIBRARIES}
                      )
else(NOT PROTOC MATCHES "NOTFOUND" AND Protobuf_FOUND)
  add_executable(rslidar_sdk_node
              node/rslidar_sdk_node.cpp
              src/manager/adapter_manager.cpp
              )
  target_link_libraries(rslidar_sdk_node
                      ${PCL_LIBRARIES}
                      ${YAML_CPP_LIBRARIES}
                      ${rs_driver_LIBRARIES}
                      )
endif(NOT PROTOC MATCHES "NOTFOUND" AND Protobuf_FOUND)

#Ros#
if(roscpp_FOUND)
  target_link_libraries(rslidar_sdk_node ${ROS_LIBS})
  if(${COMPILE_METHOD} STREQUAL "CATKIN")
    install(TARGETS rslidar_sdk_node
            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
    install(DIRECTORY launch/
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
            PATTERN ".svn" EXCLUDE)
    install(DIRECTORY config/
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
            PATTERN ".svn" EXCLUDE)
    install(DIRECTORY rviz/
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
            PATTERN ".svn" EXCLUDE)
  endif()
endif(roscpp_FOUND)

#Ros2#
if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
  ament_target_dependencies(rslidar_sdk_node rclcpp sensor_msgs std_msgs rslidar_msg)
  ament_target_dependencies(rslidar_sdk_node 
                                  rclcpp 
                            sensor_msgs 
                            std_msgs 
                            rslidar_msg 
                            pcl_ros
                            pcl_conversions)
  install(TARGETS
    rslidar_sdk_node
    DESTINATION lib/${PROJECT_NAME}
  )
  install(DIRECTORY
    launch
    rviz
    DESTINATION share/${PROJECT_NAME}
  )
  ament_package()
endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")

Then I had to change one of the import definitions in

~/dev_ws/src/rslidar_sdk/src/msg/rs_msg/lidar_point_cloud_msg.h

by replacing #include <pcl/io/io.h> with #include <pcl/io/pcd_io.h>

Finally, execute colcon build from the root of your ROS2 workspace.