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RobotecAI / ros2-for-unity

High-performance ROS2 solution for Unity3D
Apache License 2.0
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Standalone asset has extra dependencies #78

Closed neilharrison closed 1 year ago

neilharrison commented 1 year ago

On a clean install of Ubuntu 22.04 with no ROS2 installed, the Unity asset built using the docker image doesn't work directly. There are two packages that need to be installed to get it work correctly - libspdlog-dev , libtinyxml2-dev

Without libspdlog-dev - the following error shows in Unity with the talker and listener examples:

UnsatisfiedLinkError: librcl.so ROS2.DllLoadUtilsUnix.Load (System.String libraryFileName) (at :0) ROS2.DllLoadUtilsUnix.LoadLibraryByName (System.String libraryFileName) (at :0) ROS2.DllLoadUtilsUnix.LoadLibraryNoSuffix (System.String fileName) (at :0) ROS2.NativeRcl..cctor () (at <680ec49a722e41208641c44cc0cd291a>:0) Rethrow as TypeInitializationException: The type initializer for 'ROS2.NativeRcl' threw an exception. ROS2.ROS2ForUnity..ctor () (at Assets/Ros2ForUnity/Scripts/ROS2ForUnity.cs:311) ROS2.ROS2UnityComponent.LazyConstruct () (at Assets/Ros2ForUnity/Scripts/ROS2UnityComponent.cs:61) ROS2.ROS2UnityComponent.Ok () (at Assets/Ros2ForUnity/Scripts/ROS2UnityComponent.cs:49) ROS2.ROS2TalkerExample.Update () (at Assets/Ros2ForUnity/Scripts/ROS2TalkerExample.cs:38)

And without libtinyxml2-dev :

RuntimeError: failed to get symbol 'rmw_init_options_init' due to Environment variable 'AMENT_PREFIX_PATH' is not set or empty, at ./src/functions.cpp:171, at ./src/rcl/init_options.c:75 ROS2.Utils.CheckReturnEnum (System.Int32 ret) (at <680ec49a722e41208641c44cc0cd291a>:0) ROS2.Ros2cs.Init () (at <680ec49a722e41208641c44cc0cd291a>:0) ROS2.ROS2ForUnity..ctor () (at Assets/Ros2ForUnity/Scripts/ROS2ForUnity.cs:311) ROS2.ROS2UnityComponent.LazyConstruct () (at Assets/Ros2ForUnity/Scripts/ROS2UnityComponent.cs:61) ROS2.ROS2UnityComponent.Ok () (at Assets/Ros2ForUnity/Scripts/ROS2UnityComponent.cs:49) ROS2.ROS2TalkerExample.Update () (at Assets/Ros2ForUnity/Scripts/ROS2TalkerExample.cs:38)

Neither of these errors seem to have any relation to the packages that are missing and the second one looks like an issue with rcl rather than ros2cs, however once both of these packages are installed the standalone asset works perfectly!

Setup:

pijaro commented 1 year ago

Thanks, will look into it! :eyes:

pijaro commented 1 year ago

Fix is work in progress (ros2cs branch). It works for humble and u22, but I need to do some more tests on other OSes and configurations :+1:

pijaro commented 1 year ago

Should be fixed by https://github.com/RobotecAI/ros2cs/pull/54 (now on ros2cs develop branch) :+1: