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micro-ROS / micro-ROS-Agent

ROS 2 package using Micro XRCE-DDS Agent.
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Build micro-ROS agent failed #123

Closed Jimsing-Wong closed 2 years ago

Jimsing-Wong commented 2 years ago

Issue template

Steps to reproduce the issue

I was trying to install micro-ROS following the ESP32 guide recommended on the micro-ROS website. All the outputs are in line with the tutorial until the last step where need to build my agent using: ros2 run micro_ros_setup build_agent.sh

Expected behavior

Actual behavior

/home/hans/ros2_foxy/my_uros_ws/src/uros/micro-ROS-Agent/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp: In member function ‘void uros::agent::graph_manager::GraphManager::update_node_entities_info()’:
/home/hans/ros2_foxy/my_uros_ws/src/uros/micro-ROS-Agent/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp:579:86: error: ‘ALIVE’ is not a member of ‘eprosima::fastdds::dds::InstanceStateKind’
  579 |         if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
      |                                                                                      ^~~~~
make[5]: *** [CMakeFiles/micro_ros_agent.dir/build.make:89: CMakeFiles/micro_ros_agent.dir/src/agent/graph_manager/graph_manager.cpp.o] Error 1
make[5]: *** Waiting for unfinished jobs....
make[4]: *** [CMakeFiles/Makefile2:78: CMakeFiles/micro_ros_agent.dir/all] Error 2
make[3]: *** [Makefile:141: all] Error 2
make[2]: *** [CMakeFiles/micro_ros_agent.dir/build.make:113: micro_ros_agent-prefix/src/micro_ros_agent-stamp/micro_ros_agent-build] Error 2
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/micro_ros_agent.dir/all] Error 2
make: *** [Makefile:84: all] Error 2
---
Failed   <<< micro_ros_agent [2min 23s, exited with code 2]

Summary: 1 package finished [2min 46s]
  1 package failed: micro_ros_agent
  1 package had stderr output: micro_ros_agent

Additional information

After searching for similar issues I found this, but it seems like it has been fixed. Are there any steps I've been missing?

Jimsing-Wong commented 2 years ago

And after searching for the enumerators of eprosima::fastdds::dds::InstanceStateKind, I found an older version which has ALIVE but the latest version only has ALIVE_INSTANCE_STATE. I edited the enumerator to the newer version and now it gives me a stderr output:

--- stderr: micro_ros_agent                              
/usr/bin/ld: warning: libfastrtps.so.2, needed by /home/hans/ros2_foxy/install/rmw_fastrtps_shared_cpp/lib/librmw_fastrtps_shared_cpp.so, may conflict with libfastrtps.so.2.4.1
/usr/bin/ld: warning: libfastcdr.so.1, needed by /home/hans/ros2_foxy/install/rmw_fastrtps_shared_cpp/lib/librmw_fastrtps_shared_cpp.so, may conflict with libfastcdr.so.1.0.22
---
Finished <<< micro_ros_agent [5.49s]

It seems that it has built but, a) is this a bug or my modification is wrong, and b) will this stderr output affect my future work?

pablogs9 commented 2 years ago

Do you have your ROS 2 Foxy packet up to date? This was an old issue but we solved it. Make sure that all your ROS 2 installed packages are up to date.

Jimsing-Wong commented 2 years ago

I followed the process here today, and this error still comes up. I set my versions to foxy, and it should offer me the newest version available. I'm still not sure which part went wrong.

pablogs9 commented 2 years ago

Hello @Jimsing-Wong, I have replicated the agent installation here: https://asciinema.org/a/JzmqYAOStptH2UF4WENKBq5Yx

It seems that there is something weird with your ROS 2 installation. Can you test it with a clean ROS 2 Foxy environment?

Jimsing-Wong commented 2 years ago

Hi, I reinstalled ROS2 and microROS following your steps, and the output is the same as yours now. However, when I run the example codes(int32_publisher), my board stops at set_verbose_level and never creates a client or establishes connection. The output is: 

hans@hans-VJS131:~/microros_ws$ ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0
[1646879058.425936] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1646879058.427001] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4

And when I run ros2 topic list, the output is: 

/parameter_events
/rosout

It seems that my board isn't running the program normally. Could there be some steps I missed?

Jimsing-Wong commented 2 years ago

Furthermore, I found out that no matter what code I choose to configure my firmware, the file size that flashed to my board is always the same. 

Compressed 352080 bytes to 157840...
Writing at 0x00010000... (10 %)
Writing at 0x00014000... (20 %)
Writing at 0x00018000... (30 %)
Writing at 0x0001c000... (40 %)
Writing at 0x00020000... (50 %)
Writing at 0x00024000... (60 %)
Writing at 0x00028000... (70 %)
Writing at 0x0002c000... (80 %)
Writing at 0x00030000... (90 %)
Writing at 0x00034000... (100 %)
Wrote 352080 bytes (157840 compressed) at 0x00010000 in 14.0 seconds (effective 201.9 kbit/s)...
Hash of data verified.

As for int32_publisher, I saw some examples online that showed the size of the firmware should be much larger. Is there any steps I missed?

pablogs9 commented 2 years ago

How are you flashing your ESP32? Which transport are you using UDP or Serial? Provide steps for replicating.

Jimsing-Wong commented 2 years ago

Sorry for not describing the problem thoroughly. After the instruction you provided, which creates and builds the agent withour errors, I then create, configure and build firmware using:

ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

which didn't show up any errors, then I configure the firmware using serial transport and the example program:

ros2 run micro_ros_setup configure_firmware.sh int32_publisher --transport serial

which also didn't show up any errors, then I build the firmware:

ros2 run micro_ros_setup build_firmware.sh

during this process, some stderr output occured but it still finished building. But in the end it built the target with output: 

[100%] Generating binary image from built executable
python /home/hans/microros_ws/firmware/toolchain/esp-idf/components/esptool_py/esptool/esptool.py --chip esp32 elf2image --flash_mode dio --flash_freq 40m --flash_size 2MB --elf-sha256-offset 0xb0 -o /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build/int32_publisher.bin int32_publisher.elf
esptool.py v2.9-dev
/usr/bin/cmake -E echo "Generated /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build/int32_publisher.bin"
Generated /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build/int32_publisher.bin
/usr/bin/cmake -E md5sum /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build/int32_publisher.bin > /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build/.bin_timestamp
make[2]: Leaving directory '/home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
[100%] Built target gen_project_binary
make -f CMakeFiles/app.dir/build.make CMakeFiles/app.dir/depend
make[2]: Entering directory '/home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
cd /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build /home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build/CMakeFiles/app.dir/DependInfo.cmake --color=
Scanning dependencies of target app
make[2]: Leaving directory '/home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
make -f CMakeFiles/app.dir/build.make CMakeFiles/app.dir/build
make[2]: Entering directory '/home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
make[2]: Nothing to be done for 'CMakeFiles/app.dir/build'.
make[2]: Leaving directory '/home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
[100%] Built target app
make[1]: Leaving directory '/home/hans/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
/usr/bin/cmake -E cmake_progress_start /home/hans
/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build/CMakeFiles 0

then I flash my firmware with

ros2 run micro_ros_setup flash_firmware.sh

which flashed firmwares including the one I posted above. Then I run it with

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0

I get the output which says the board stopped at set-verbose-level.

pablogs9 commented 2 years ago

Test a couple of things:

  1. Find your device in /dev/serial/by-id/... and use this path with the agent.
  2. Reset the board after opening the agent.
Jimsing-Wong commented 2 years ago

2) worked for me, I get the output as expected. Thank you so much for your patience!

RioKJ21 commented 1 year ago
  1. worked for me, I get the output as expected. Thank you so much for your patience!

I followed your steps, and get an issue. After I run and pressed the EN button, "{ros2run}: Segmentation fault" and the command stop. Can you help me? Thank youu

veeran07 commented 5 months ago

getting this error

Finished <<< statistics_msgs [1.42s] --- stderr: rmw_implementation
CMake Error at /home/veeran/microros_ws/firmware/mcu_ws/install/share/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake:60 (message): Could not find ROS middleware implementation 'rmw_cyclonedds_cpp'. Choose one of the following: rmw_microxrcedds Call Stack (most recent call first): CMakeLists.txt:22 (get_default_rmw_implementation)

Failed <<< rmw_implementation [0.24s, exited with code 1] Aborted <<< rcl_interfaces [1.62s] Aborted <<< rosidl_typesupport_microxrcedds_test_msg [0.31s] Aborted <<< std_msgs [1.73s]
Aborted <<< test_msgs [1.16s]
Aborted <<< example_interfaces [1.18s]

Summary: 39 packages finished [9.04s] 1 package failed: rmw_implementation 5 packages aborted: example_interfaces rcl_interfaces rosidl_typesupport_microxrcedds_test_msg std_msgs test_msgs 23 packages had stderr output: action_msgs builtin_interfaces example_interfaces lifecycle_msgs micro_ros_msgs micro_ros_utilities microxrcedds_client rcl_interfaces rcl_logging_interface rcl_logging_noop rcutils rmw rmw_implementation rmw_microxrcedds rosgraph_msgs rosidl_runtime_c rosidl_typesupport_c rosidl_typesupport_microxrcedds_c statistics_msgs std_msgs std_srvs test_msgs unique_identifier_msgs 22 packages not processed make[3]: [libmicroros.mk:33: colcon_compile] Error 1 make[3]: Leaving directory '/home/veeran/microros_ws/firmware/freertos_apps/microros_esp32_extensions' make[2]: [esp-idf/main/CMakeFiles/libmicroros.dir/build.make:89: libmicroros-prefix/src/libmicroros-stamp/libmicroros-build] Error 2 make[2]: Leaving directory '/home/veeran/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build' make[1]: [CMakeFiles/Makefile2:3862: esp-idf/main/CMakeFiles/libmicroros.dir/all] Error 2 make[1]: Leaving directory '/home/veeran/microros_ws/firmware/freertos_apps/microros_esp32_extensions/build' make: [Makefile:139: all] Error 2 [ros2run]: Process exited with failure 2

flux0-0 commented 2 months ago

i can't use ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888, It seems that the data is not sent through this port how can I fix it but not use serial ?