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lopsided98 / nix-ros-overlay

ROS overlay for the Nix package manager
Apache License 2.0
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ERROR: Unable to communicate with master! #378

Closed henrispriet closed 5 months ago

henrispriet commented 6 months ago

When I run the flakes example, nix develop github:lopsided98/nix-ros-overlay#example-turtlebot3-gazebo, it builds and I get into the shell. But, when I run the roslaunch commands, I get

... logging to /path/to/log/file.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

and then nothing. So, I ran rosnode list to see if the nodes were online and I get the error message ERROR: Unable to communicate with master!. Same for rostopic list and rosservice list.

henrispriet commented 5 months ago

These are the contents of the log files by the way. roslaunch turtlebot3_gazebo turtlebot3_world.launch

[roslaunch][INFO] 2024-04-06 11:43:09,113: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2024-04-06 11:43:09,117: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2024-04-06 11:43:09,117: roslaunch starting with args ['/nix/store/3b2jy7jfkdgdlrgg73ragf2myxiva220-ros-noetic-roslaunch-1.16.0-r1/bin/roslaunch', 'turtlebot3_gazebo', 'turtlebot3_world.launch']
[roslaunch][INFO] 2024-04-06 11:43:09,118: roslaunch env is environ({'SHELL': '/nix/store/cjbyb45nxiqidj95c4k1mh65azn1x896-bash-5.2-p21/bin/bash', 'ROS_VERSION': '1', 'PKG_CONFIG_FOR_TARGET': 'pkg-config', 'COLORTERM': 'truecolor', '_PYTHON_HOST_PLATFORM': 'linux-x86_64', 'NIX_BUILD_CORES': '16', 'SUDO_GID': '1000', 'NIX_GCROOT': '/nix/store/ba8q2cn323x5m8h5ahh2jsrrppwhzwxh-nix-shell-env', 'configureFlags': '', 'mesonFlags': '', 'PKG_CONFIG_PATH': 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'name': 'nix-shell-env', 'PKG_CONFIG': 'pkg-config', 'depsHostHostPropagated': '', 'ROS_LOG_FILENAME': '/path/to/log/file.log'})
[roslaunch][INFO] 2024-04-06 11:43:09,118: starting in server mode

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

[roslaunch][INFO] 2024-04-06 11:46:57,018: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2024-04-06 11:46:57,029: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2024-04-06 11:46:57,029: roslaunch starting with args ['/nix/store/3b2jy7jfkdgdlrgg73ragf2myxiva220-ros-noetic-roslaunch-1.16.0-r1/bin/roslaunch', 'turtlebot3_teleop', 'turtlebot3_teleop_key.launch']
[roslaunch][INFO] 2024-04-06 11:46:57,030: roslaunch env is environ({'SHELL': '/nix/store/cjbyb45nxiqidj95c4k1mh65azn1x896-bash-5.2-p21/bin/bash', 'ROS_VERSION': '1', 'SESSION_MANAGER': '/path/to/something', 'PKG_CONFIG_FOR_TARGET': 'pkg-config', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'SSH_AGENT_LAUNCHER': 'gnome-keyring', '_PYTHON_HOST_PLATFORM': 'linux-x86_64', 'NIX_BUILD_CORES': '16', 'NIX_GCROOT': '/nix/store/ba8q2cn323x5m8h5ahh2jsrrppwhzwxh-nix-shell-env', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'configureFlags': '', 'NU_LOG_FORMAT': '%ANSI_START%%DATE%|%LEVEL%|%MSG%%ANSI_STOP%', 'mesonFlags': '', 'PKG_CONFIG_PATH': 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'PKG_CONFIG': 'pkg-config', 'depsHostHostPropagated': '', 'ROS_LOG_FILENAME': '/path/to/log/file.log'})
[roslaunch][INFO] 2024-04-06 11:46:57,031: starting in server mode
henrispriet commented 5 months ago

Turns out it's an upstream issue (https://github.com/ros/ros_comm/issues/2330). This fixed it for me. Now I just gotta find a way to patch the file at build time.

henrispriet commented 5 months ago

For my actual use case I'm using docker, so I fixed it using fakeRootCommands inside pkgs.dockerTools.buildLayeredImage, like so:

pkgs.dockerTools.buildLayeredImage {
    # ...
    fakeRootCommands = let
        fileToPatch = "${my-ros-env}/lib/python3.11/site-packages/rosgraph/roslogging.py";
        lineToPatch = "71";
    in [''
        ${pkgs.gnused}/bin/sed '${lineToPatch}a\
                        break
        ' < ${fileToPatch} > ${fileToPatch}
    ''];
    # ...
}

Where my-ros-env is the return value of pkgs.rosPackages.noetic.buildEnv. And there are 16 actual spaces before break for the right python indentation. In monospace font, the b of break should line up with the i of bin above.