Packages/stacks could not have their rosdep keys resolved to system dependencies (Ubuntu20.04 in WSL, ROS Humble, Ign Fortress)

gazebosim / ros_gz

Integration between ROS (1 and 2) and Gazebo simulation

https://gazebosim.org

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Packages/stacks could not have their rosdep keys resolved to system dependencies (Ubuntu20.04 in WSL, ROS Humble, Ign Fortress) #401

Closed Vincenzo-Saffioti closed 1 year ago

Vincenzo-Saffioti commented 1 year ago

Environment

OS Version: Ubuntu 20.04 Focal in WSL
ROS2 Humble + Ignition Fortress
Source build

Description

I cannot install ros_gz either via binary or source. I need to use Ubuntu 20.04 and install Humble+Ignition Fortress. I installed Humble via source and used the Fortress binary. However, I encountered difficulties when installing the bridge. In particular, trying to install via source the humble branch packages I encourred problems in managing dependencies with rosdep:

rosdep install -r --from-paths src -i -y --rosdistro humble

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ros_gz_sim_demos: No definition of [xacro] for OS version [focal]
ros_gz_bridge: No definition of [actuator_msgs] for OS version [focal]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

Clearly trying to build the packages I consequently get the following error in relation to the lack of actuator messages:

colcon build

Starting >>> ros_gz_interfaces
Starting >>> ros_gz_sim
[Processing: ros_gz_interfaces, ros_gz_sim]
Finished <<< ros_gz_sim [52.0s]
Starting >>> ros_ign_gazebo
Finished <<< ros_gz_interfaces [52.5s]
Starting >>> ros_gz_bridge
Starting >>> ros_ign_interfaces
--- stderr: ros_gz_bridge
CMake Error at CMakeLists.txt:81 (find_package):
  By not providing "Findactuator_msgs.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "actuator_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "actuator_msgs"
  with any of the following names:

    actuator_msgsConfig.cmake
    actuator_msgs-config.cmake

  Add the installation prefix of "actuator_msgs" to CMAKE_PREFIX_PATH or set
  "actuator_msgs_DIR" to a directory containing one of the above files.  If
  "actuator_msgs" provides a separate development package or SDK, be sure it
  has been installed.

---
Failed   <<< ros_gz_bridge [17.6s, exited with code 1]
Aborted  <<< ros_ign_gazebo [18.3s]
Aborted  <<< ros_ign_interfaces [25.3s]

Summary: 2 packages finished [1min 18s]
  1 package failed: ros_gz_bridge
  2 packages aborted: ros_ign_gazebo ros_ign_interfaces
  1 package had stderr output: ros_gz_bridge
  7 packages not processed

Steps to reproduce

Install Ubuntu 20.04 in WSL
Install ROS2 Humble via source
Install Ignition Fortress
Try to build ros_gz package

ahcorde commented 1 year ago

It's wierd, the dependency is listed in the package.xml in the humble branch https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/package.xml#LL16C11-L16C24.

anywho you can compile actuator_msgs from source

robertorovella91 commented 1 year ago

I have the same problem. What about instead for "ros_gz_sim_demos: No definition of [xacro] for OS version [focal]" ?

Vincenzo-Saffioti commented 1 year ago

It's wierd, the dependency is listed in the package.xml in the humble branch https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/package.xml#LL16C11-L16C24.

anywho you can compile actuator_msgs from source

Thank you for your suggestion. I tried to add manually actuator_msgs (https://github.com/rudislabs/actuator_msgs) and xacro (https://github.com/ros/xacro/tree/ros2) packages to my workspace but i had other problems that i don't understand, here's the log:

colcon build

Starting >>> ros_gz_interfaces
Starting >>> actuator_msgs
Starting >>> ros_gz_sim
Starting >>> xacro
Finished <<< ros_gz_sim [0.89s]
Starting >>> ros_ign_gazebo
Finished <<< ros_ign_gazebo [0.56s]
Finished <<< ros_gz_interfaces [8.26s]
Starting >>> ros_ign_interfaces
Finished <<< xacro [10.8s]
Finished <<< actuator_msgs [13.0s]
Starting >>> ros_gz_bridge
Finished <<< ros_ign_interfaces [22.0s]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
--- stderr: ros_gz_bridge
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:441: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/geometry_msgs.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:480: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/ros_gz_interfaces.cpp.o] Error 1
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:519: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/std_msgs.cpp.o] Error 1
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/test_ros_subscriber.dir/build.make:151: CMakeFiles/test_ros_subscriber.dir/generated/test/geometry_msgs_subscriber.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:487: CMakeFiles/test_ros_subscriber.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:321: CMakeFiles/ros_gz_bridge_lib.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< ros_gz_bridge [4min 57s, exited with code 2]

Summary: 6 packages finished [5min 11s]
  1 package failed: ros_gz_bridge
  1 package had stderr output: ros_gz_bridge
  7 packages not processed

ahcorde commented 1 year ago

something is wrong, probably with the amount of memory that you have in your system.

c++: fatal error: Killed signal terminated program cc1plus

If you are running this in VM increase the virtual memory or you can add this option to colcon --parallel-workers 1

Vincenzo-Saffioti commented 1 year ago

something is wrong, probably with the amount of memory that you have in your system.
c++: fatal error: Killed signal terminated program cc1plus
If you are running this in VM increase the virtual memory or you can add this option to colcon --parallel-workers 1

I'm currently using WSL (Windows Subsystem for Linux), I tried as you suggested but got the same error:

colcon build --parallel-workers 1

Starting >>> ros_gz_interfaces
Finished <<< ros_gz_interfaces [3.56s]
Starting >>> actuator_msgs
Finished <<< actuator_msgs [2.21s]
Starting >>> ros_gz_bridge
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
--- stderr: ros_gz_bridge
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:441: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/geometry_msgs.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:321: CMakeFiles/ros_gz_bridge_lib.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< ros_gz_bridge [1min 24s, exited with code 2]

Summary: 2 packages finished [1min 31s]
  1 package failed: ros_gz_bridge
  1 package had stderr output: ros_gz_bridge
  11 packages not processed

azeey commented 1 year ago

ROS Humble officially only supports Ubuntu 22.04 (https://docs.ros.org/en/humble/Installation.html). That's why the actuator_msgs package is missing. When building from source, I agree with @ahcorde, I think you're running out of memory. Try adding --parallel-workers=1 --executor sequential to your colcon command to ensure only one instance of the compiler is running at a time.

Vincenzo-Saffioti commented 1 year ago

ROS Humble officially only supports Ubuntu 22.04 (https://docs.ros.org/en/humble/Installation.html). That's why the actuator_msgs package is missing. When building from source, I agree with @ahcorde, I think you're running out of memory. Try adding --parallel-workers=1 --executor sequential to your colcon command to ensure only one instance of the compiler is running at a time.

Thank you @azeey @ahcorde for helping me, I was able to build all the packages correctly only by increasing the amount of RAM, I also tried adding --parallel-workers=1 --executor sequential before the hardware upgrade but I got the same error.
Now that everything seems built I will try to run some tests to make sure everything is working! I will keep you updated

djsamseng commented 1 year ago

For anyone else who might run into this issue:

On Ubuntu 20.04 focal, ROS 2 Humble, Ignition Fortress when having the following error

--- stderr: ros_gz_bridge
CMake Error at CMakeLists.txt:81 (find_package):
  By not providing "Findactuator_msgs.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "actuator_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "actuator_msgs"
  with any of the following names:

    actuator_msgsConfig.cmake
    actuator_msgs-config.cmake

  Add the installation prefix of "actuator_msgs" to CMAKE_PREFIX_PATH or set
  "actuator_msgs_DIR" to a directory containing one of the above files.  If
  "actuator_msgs" provides a separate development package or SDK, be sure it
  has been installed.

---
Failed   <<< ros_gz_bridge [17.6s, exited with code 1]

Simply

cd src
git clone git@github.com:rudislabs/actuator_msgs.git
cd ../
colcon build

fixed the issue.

I was then able to confirm ros and ignition fortress working correctly by doing the following:

following this guide with modifications for an Ubuntu 20.04 local installation of ROS2 Humble and gazebo fortress

cd ~/dev/gazebo_fortress_ws/
source ~/dev/ros2_humble/install/local_setup.bash
source ./install/local_setup.bash
ros2 run ros_gz_bridge parameter_bridge /keyboard/keypress@std_msgs/msg/Int32@gz.msgs.Int32

In a second terminal

ign gazebo sim empty.sdf

Note replace the gz command with ign gazebo since the gz command was not yet introduced for fortress
In the simulator window click the dropdown in the top right and add Key Publisher

In a third terminal

source ~/dev/ros2_humble/install/local_setup.bash
ros2 topic echo /keyboard/keypress

Press buttons on the keyboard when focused in the simulator and see the keypresses logged in the third terminal

azeey commented 1 year ago

Fixed by #431.