ros2 service call falied

[zhouerlin]

Compile Command： colcon build --packages-select sick_scan --cmake-args " -DROS_VERSION=2" " -DLDMRS=0" " -DSCANSEGMENT_XD=0" --event-handlers console_direct+

local@robot:~$ ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRN SCdevicestate'}" Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support return importlib.import_module(module_name, package=pkg_name) File "/usr/lib/python3.8/importlib/init.py", line 127, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "", line 1014, in _gcd_import File "", line 991, in _find_and_load File "", line 975, in _find_and_load_unlocked File "", line 657, in _load_unlocked File "", line 556, in module_from_spec File "", line 1166, in create_module File "", line 219, in _call_with_frames_removed ImportError: /home/local/ros2-ws/install/sick_scan/lib/libsick_scan__rosidl_generator_c.so: undefined symbol: sensor_msgsmsgPointCloud2__copy

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/foxy/bin/ros2", line 11, in load_entry_point('ros2cli==0.9.10', 'console_scripts', 'ros2')() File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/cli.py", line 67, in main rc = extension.main(parser=parser, args=args) File "/opt/ros/foxy/lib/python3.8/site-packages/ros2service/command/service.py", line 41, in main return extension.main(args=args) File "/opt/ros/foxy/lib/python3.8/site-packages/ros2service/verb/call.py", line 58, in main return requester( File "/opt/ros/foxy/lib/python3.8/site-packages/ros2service/verb/call.py", line 83, in requester cli = node.create_client(srv_module, service_name) File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1248, in create_client check_for_type_support(srv_type) File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support msg_type.class.import_type_support() File "/home/local/ros2-ws/install/sick_scan/lib/python3.8/site-packages/sick_scan/srv/_cola_msg_srv.py", line 254, in import_type_support module = import_type_support('sick_scan') File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support raise UnsupportedTypeSupport(pkg_name) rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'sick_scan'

[rostest]

Thanks for reporting this issue. Unfortunately, I can not reproduce this error. Please give some more information: Did you observe any warnings or errors during the build process, or can you post a logfile of the complete build? Which lidar do you use? Does sick_scan_xd otherwise run successfully except for the service call?

The error message undefined symbol: sensor_msgs__msg__PointCloud2__copy indicates a missing link or dependency to the ros standard sensor messages. Did you call source ./install/setup.bash before the ros2 service call? Can you successfully call other services like ros2 service call /rviz/list_parameters rcl_interfaces/srv/ListParameters (assumed rivz2 is running), or can you build and run ros2 services like e.g. in https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html? If in doubt, please post a complete logfile of the build plus all sick_scan_xd output incl. the service call.

[zhouerlin]

no warnings or errors information were found during compilation. We are using LMS5xx radar.

All service calls failed (USAGE. md), eg: ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRN SCdevicestate'}" ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRA GetContaminationResult'}"

ros2 service call /rviz/list_parameters rcl_interfaces/srv/ListParameters call successfully .

I have executed the source command before（source ./install/setup.bash). Running the Little Turtle service in this environment can work normally.

[zhouerlin]

CMakeLists.txt packagexml.txt

[zhouerlin]

build_log.txt

[zhouerlin]

output.txt

[rostest]

Thanks for your feedback and logfiles. I still can not produce any errors when calling ros2 service call /ColaMsg sick_scan/srv/ColaMsgSrv "{request: 'sRN SCdevicestate'}" and I can not see any obvious reason, why ros2 service fails to import libsick_scan__rosidl_generator_c.so due to undefined symbol sensor_msgs__msg__PointCloud2__copy.

Loading libraries (like libsick_scan__rosidl_generator_c.so) depend on the environment. Please check and post your environment variables PKG_CONFIG_PATH, AMENT_PREFIX_PATH, CMAKE_PREFIX_PATH, COLCON_PREFIX_PATH, PYTHONPATH, LD_LIBRARY_PATH and PATH after sourcing install/setup.bash:

source ./install/setup.bash
echo =$
echo PKG_CONFIG_PATH=$PKG_CONFIG_PATH
echo AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH
echo CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH
echo COLCON_PREFIX_PATH=$COLCON_PREFIX_PATH
echo PYTHONPATH=$PYTHONPATH
echo LD_LIBRARY_PATH=$LD_LIBRARY_PATH
echo PATH=$PATH

These environment variables should look like this:

PKG_CONFIG_PATH=/home/erlin/ros2_ws/install/msgpack11/lib/pkgconfig:/home/erlin/ros2_ws/install/libsick_ldmrs/lib/x86_64-linux-gnu/pkgconfig:/home/erlin/ros2_ws/install/libsick_ldmrs/lib/pkgconfig:/home/erlin/ros2_ws/install/msgpack11/lib/pkgconfig:/home/erlin/ros2_ws/install/libsick_ldmrs/lib/x86_64-linux-gnu/pkgconfig:/home/erlin/ros2_ws/install/libsick_ldmrs/lib/pkgconfig
AMENT_PREFIX_PATH=/home/erlin/ros2_ws/install/sick_scan:/home/erlin/ros2_ws/install/sick_scan:/opt/ros/foxy
CMAKE_PREFIX_PATH=/home/erlin/ros2_ws/install/sick_scan:/home/erlin/ros2_ws/install/libsick_ldmrs:/home/erlin/ros2_ws/install/sick_scan:/home/erlin/ros2_ws/install/libsick_ldmrs
COLCON_PREFIX_PATH=/home/erlin/ros2_ws/install:/home/erlin/ros2_ws/install
PYTHONPATH=/home/erlin/ros2_ws/install/sick_scan/lib/python3.8/site-packages:/home/erlin/ros2_ws/install/sick_scan/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
LD_LIBRARY_PATH=/home/erlin/ros2_ws/install/sick_scan/lib:/home/erlin/ros2_ws/install/libsick_ldmrs/lib:/home/erlin/ros2_ws/install/sick_scan/lib:/home/erlin/ros2_ws/install/libsick_ldmrs/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
PATH=/home/erlin/ros2_ws/install/libsick_ldmrs/bin:/home/erlin/ros2_ws/install/libsick_ldmrs/bin:/opt/ros/foxy/bin:/home/erlin/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/snap/bin

According to build_log.txt, sick_scan is installed in folder /home/erlin/ros2_ws/install, but ros2 service uses another folder, i.e. /home/local/ros2-ws/install according to the ImportError traceback. Please remove any previous build and installation folders to avoid mismatches with previous versions:

cd /home/local/ros2-ws
rm -rf ./build ./build_isolated ./devel ./devel_isolated ./install ./install_isolated ./log
cd /home/erlin/ros2-ws
rm -rf ./build ./build_isolated ./devel ./devel_isolated ./install ./install_isolated ./log

and rebuild.

There is an additional section in your CMakeLists.txt wich includes CPack and InstallRequiredSystemLibraries:

# ament_package()
if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
    include(InstallRequiredSystemLibraries)
    set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/ros/foxy")
    set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "amd64")
    set(MAJOR_VERSION "1")
    set(MINOR_VERSION "0")
    set(PATCH_VERSION "0")
    SET(CPACK_GENERATOR "DEB")
    SET(CPACK_PACKAGE_NAME "ros-foxy-sick-scan")
    set(CPACK_PACKAGE_VENDOR "LP-Research Inc. <nanjinglingque>")
    #set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/SUMMARY.txt")
    #set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE.txt")
    set(CPACK_PACKAGE_VERSION_MAJOR "${MAJOR_VERSION}")
    set(CPACK_PACKAGE_VERSION_MINOR "${MINOR_VERSION}")
    set(CPACK_PACKAGE_VERSION_PATCH "${PATCH_VERSION}")
    SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "sick scan") #required
    set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "sick scan")
    include(CPack)
endif()

To be on the safe side: Can you build without this addon, just to make sure that it has no side effect on the runtime environment?

cmake warns about missing diagnostic_updater. Depending on the ROS2 distribution, diagnostic_updater should be installed by sudo apt-get install ros-foxy-diagnostic-updater ros-foxy-diagnostic-msgs (see https://github.com/SICKAG/sick_scan_xd/blob/master/FAQ.md). To further reduce dependencies and potential dependency issues, sick_scan_xd can be built for LMS lidars without LDMRS and SCANSEGMENT_XD support. Please build sick_scan_xd with flags -DLDMRS=0 -DSCANSEGMENT_XD=0:

colcon build --packages-select sick_scan --cmake-args " -DROS_VERSION=2" " -DLDMRS=0" " -DSCANSEGMENT_XD=0" --event-handlers console_direct+

[zhouerlin]

It is indeed caused by a path abnormality. Thank you very much!