How to compile microros agent with source code?

[chrisjaxy]

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• Hardware description: <Ubuntu 20.04>
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I want to use ros2 run micro_ros_setup create_agent_ws.sh to get the source code of the agent, and add some logs to view some information. But i found Micro-XRCE-DDS-Agent is in another repository, and it seems that it is not easy to add log to the source code of Micro-XRCE-DDS-Agent to compile. I want to ask, how to easily add log to the source code of Micro-XRCE-DDS-Agent, and then compile the agent.

[pablogs9]

Just create a workspace with the micro-ROS Agent packet and use colcon to build it:

mkdir -p ws/src
cd ws/src
git clone -b [your required branch here] https://github.com/micro-ROS/micro-ROS-Agent
cd ..
apt update && rosdep update && rosdep install --from-paths src --ignore-src -y
colcon build

What do you mean by "add log to the source code"?

[chrisjaxy]

Just create a workspace with the micro-ROS Agent packet and use colcon to build it:

mkdir -p ws/src
cd ws/src
git clone -b [your required branch here] https://github.com/micro-ROS/micro-ROS-Agent
cd ..
apt update && rosdep update && rosdep install --from-paths src --ignore-src -y
colcon build

What do you mean by "add log to the source code"?

I want to try to modify the code of Micro-XRCE-DDS-Agent.Is it possible to use the above method? And compiling with the above method fails. # CMake Error at CMakeLists.txt:51 (find_package): By not providing "Findmicro_ros_msgs.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "micro_ros_msgs", but CMake did not find one.

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

micro_ros_msgsConfig.cmake micro_ros_msgs-config.cmake

[pablogs9]

You are not installing micro_ros_msgs, make sure that apt update && rosdep update && rosdep install --from-paths src --ignore-src -y is running correctly.

If you want to modify Micro XRCE-DDS Agent, just clone the repo and follow the instructions.

[chrisjaxy]

If you want to modify Micro XRCE-DDS Agent, just clone the repo and follow the instructions.

After following the instructions and running the script below. Compiling the agent will report an error, which was normal before.

git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build && cd build
cmake ..
make
sudo make install

# --- stderr: micro_ros_agent
/usr/bin/ld: warning: libfastrtps.so.2, needed by /opt/ros/foxy/lib/librmw_fastrtps_shared_cpp.so, may conflict with libfastrtps.so.2.4.1 /usr/bin/ld: CMakeFiles/micro_ros_agent.dir/src/agent/graph_manager/graph_manager.cpp.o: undefined reference to symbol '_ZN8eprosima8fastrtps5types12ReturnCode_t10RETCODE_OKE' /usr/bin/ld: /opt/ros/foxy/lib/libfastrtps.so.2: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status

[pablogs9]

Try to not source your ROS 2 installation when building the Micro XRCE-DDS Agent

[chrisjaxy]

Try to not source your ROS 2 installation when building the Micro XRCE-DDS Agent

How to do it? I ran the script above, did I make a mistake when compiling the Micro-XRCE-DDS-Agent, or did I make a mistake when compiling the microros agent?

[pablogs9]

Just do no do source /opt/ros/..../setup.sh in the console you are going to build the XRCE-DDS Agent

[chrisjaxy]

Just do no do source /opt/ros/..../setup.sh in the console you are going to build the XRCE-DDS Agent

git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build && cd build
cmake ..
make
sudo make install

How should I uninstall it? It seems that after this, the agent cannot be compiled. I also don't have the source /opt/ros/..../setup.sh before executing the above script.

[pablogs9]

In order to uninstall just remove the files that has been copied to your filesystem, they appears when you run sudo make install

[chrisjaxy]

I didn't have the source /opt/ros/..../setup.sh before executing the above script. Is there a way to compile the source code of the cloned Micro XRCE-DDS Agent when compiling microros_agent?

[chrisjaxy]

If you want to modify Micro XRCE-DDS Agent, just clone the repo and follow the instructions.

After following the instructions and running the script below. Compiling the agent will report an error, which was normal before.

git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build && cd build
cmake ..
make
sudo make install

--- stderr: micro_ros_agent /usr/bin/ld: warning: libfastrtps.so.2, needed by /opt/ros/foxy/lib/librmw_fastrtps_shared_cpp.so, may conflict with libfastrtps.so.2.4.1 /usr/bin/ld: CMakeFiles/micro_ros_agent.dir/src/agent/graph_manager/graph_manager.cpp.o: undefined reference to symbol '_ZN8eprosima8fastrtps5types12ReturnCode_t10RETCODE_OKE' /usr/bin/ld: /opt/ros/foxy/lib/libfastrtps.so.2: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status

Will this happen when you execute it? How did you solve it in the end?

[pablogs9]

The easiest way to build the micro-ROS Agent with a modified version of the inner Micro XRCE-DDS Agent is to fork the former, make your modifications and set this file before building the micro-ROS Agent: https://github.com/micro-ROS/micro-ROS-Agent/blob/da7fb682e9594294302bce5ef404f5dd9618f7b1/micro_ros_agent/cmake/SuperBuild.cmake#L26-L29

[chrisjaxy]

The easiest way to build the micro-ROS Agent with a modified version of the inner Micro XRCE-DDS Agent is to fork the former, make your modifications and set this file before building the micro-ROS Agent:

https://github.com/micro-ROS/micro-ROS-Agent/blob/da7fb682e9594294302bce5ef404f5dd9618f7b1/micro_ros_agent/cmake/SuperBuild.cmake#L26-L29

Thank you for your help. The problem that make install affects the compilation of microros agent. I hope there will be a better solution in the future besides deleting files.