anaelle-sw commented 3 years ago

Hi! We are currently trying to migrate our project from ROS2 Foxy to Rolling. The problem is I am not able to build any Arduino code once micro-ROS Rolling is installed.

Setup

Ubuntu 20.04, ROS2 Rolling
Arduino 1.8.13

Steps to reproduce

I wanted to re-installed micro-ROS from scratch to be sure no Foxy code will be remaining and creating some conflict. So I removed the library installation at ~/Arduino/libraries/micro_ros_arduino and did this:

# patch teensyduino
cd ~/arduino-1.8.13/hardware/teensy/avr/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/main/extras/patching_boards/platform_teensy.txt > platform.txt

# install micro_ros_arduino
cd ~/Arduino/libraries/micro_ros_arduino
sudo docker pull microros/micro_ros_arduino_builder:rolling
sudo docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builder:rolling

The build went well. Then I open an example from this repo with Arduino IDE and try to build it.

Issue

The build of the .ino code failed with error undefined reference for every rclc function. For instance, when building the publisher example, I got the following errors:

/tmp/arduino_build_453459/sketch/micro-ros_publisher.ino.cpp.o: In function `timer_callback(rcl_timer_t*, long long)':
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:36: undefined reference to `rcl_publish'
/tmp/arduino_build_453459/sketch/micro-ros_publisher.ino.cpp.o: In function `set_microros_transports':
/home/anaelle/Arduino/libraries/micro_ros_arduino/src/micro_ros_arduino.h:32: undefined reference to `rmw_uros_set_custom_transport'
/tmp/arduino_build_453459/sketch/micro-ros_publisher.ino.cpp.o: In function `setup':
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:49: undefined reference to `rcutils_get_default_allocator'
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:52: undefined reference to `rclc_support_init'
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:55: undefined reference to `rclc_node_init_default'
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:58: undefined reference to `rosidl_typesupport_c__get_message_type_support_handle__std_msgs__msg__Int32'
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:58: undefined reference to `rclc_publisher_init_default'
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:66: undefined reference to `rclc_timer_init_default'
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:73: undefined reference to `rclc_executor_init'
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:74: undefined reference to `rclc_executor_add_timer'
/tmp/arduino_build_453459/sketch/micro-ros_publisher.ino.cpp.o: In function `loop':
/tmp/arduino_modified_sketch_797093/micro-ros_publisher.ino:81: undefined reference to `rclc_executor_spin_some'

I double checked that I was building the example code from the main branch, and that the library installation was complete. Did I made some mistakes switching from Foxy to Rolling? Are some includes missing? Thank you very much for your help!

pablogs9 commented 3 years ago

Hello @anaelle-sw I just have tested if I'm able to build the int32_publisher example with main branch. In fact, it is built in the CI and yesterday morning it has passed.

I'm going to replicate your steps in a clean environment (using the Arduino CLI, I guess that it will work with all tools) and I will come back in a while.

In any case, Rolling is an unstable release, do you have any good reason for using it?

anaelle-sw commented 3 years ago

Ok, thank you. I have build micro-ROS yesterday evening by just doing the docker pull and docker run steps. And I just have it tried again this morning, but after removing the previous installation.

Yes, for now, Rolling is quite interesting for us because of some features that won't be available on Foxy.

pablogs9 commented 3 years ago

This is a clean installation and builds of the publisher demo using main for Teensy 3.1/3.2:

https://asciinema.org/a/QBYuYOEdMoAHguv0DMbBhhgb7

I do a couple of tricks here, let me explain:

00:00 to 00:32: install dependencies in docker
00:32 to 01:12: install arduino-cli, install a random library for creating the required folders, and then I clone this repo in branch main
01:12 to 03:58: install teensy support in Arduino CLI in the most unorthodox way (install the teensy support for the Arduino IDE and copying the required files in the Arduino CLI installation)
03:58: patching the platform_teensy.txt
04:41: check the boards are installed ok
04:56: first build of the example. fails because it cant open the teensy loader (GUI) inside the docker
06:31: fake the teensy_post_compile with a true to avoid the teensy loader being used
06:38: successful build of the example

I know that this is a bit tricky and you don't need to do all these steps. I have followed what we do in the CI: https://github.com/micro-ROS/micro_ros_arduino/blob/foxy/.github/workflows/ci.yml

Now, I'm going to replicate the step of regenerating the library like you are doing, with:

sudo docker pull microros/micro_ros_arduino_builder:rolling
sudo docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builder:rolling

pablogs9 commented 3 years ago

Are you adding some custom package to the micro-ROS library generation or you are running the

sudo docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builder:rolling

in a clean clone of this repo?

anaelle-sw commented 3 years ago

Thanks for your answer, I will try to follow these steps and will let you know. Yes we need custom messages and to change the .meta file. After cloning the repo, this is what I do:

# custom build
cat ~/project_repo/src/.../colcon_lowmem.meta > ~/Arduino/libraries/micro_ros_arduino/extras/library_generation/colcon_lowmem.meta
# custom messages
cp -r ~/project_repo/src/custom_msgs_pkg ~/Arduino/libraries/micro_ros_arduino/extras/library_generation/extra_packages

And then I run docker pull and docker run steps

pablogs9 commented 3 years ago

ok, maybe your library building is failing for some reason.

Could you do the following steps?

Clone this repo: git clone -b main https://github.com/micro-ROS/micro_ros_arduino in your library folder
Add your custom meta and messages
Paste here the output of an git status
Run sudo docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builder:rolling
Paste here the output of another git status

Maybe an error in your meta or in any of your messages is making the build fail. Is possible also to paste here the output of the docker run command?

anaelle-sw commented 3 years ago

Actually, the .meta is the same that I used before for Foxy version! II didn't see that it has some changes for Rolling. I changed this and let you know whether it solves the problem.

First git status returns:

On branch main
Your branch is up to date with 'origin/main'.

Changes not staged for commit:
  (use "git add <file>..." to update what will be committed)
  (use "git restore <file>..." to discard changes in working directory)
    modified:   extras/library_generation/colcon_lowmem.meta

Untracked files:
  (use "git add <file>..." to include in what will be committed)
    extras/library_generation/extra_packages/wyca_msgs/

no changes added to commit (use "git add" and/or "git commit -a")

The library is currently building, it may take a dozen of minutes...

pablogs9 commented 3 years ago

In order to reduce the library building time remember to use -p to just build the library for your platform.

sudo docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builder:rolling -p teensy32

Regarding the meta, please share it here, we have changed a couple of things this week regarding the transports.

anaelle-sw commented 3 years ago

The meta I had before:

{
    "names": {
        "tracetools": {
            "cmake-args": [
                "-DTRACETOOLS_DISABLED=ON",
                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
            ]
        },
        "rosidl_typesupport": {
            "cmake-args": [
                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
            ]
        },
        "rcl": {
            "cmake-args": [
                "-DBUILD_TESTING=OFF",
                "-DRCL_COMMAND_LINE_ENABLED=OFF",
                "-DRCL_LOGGING_ENABLED=OFF"
            ]
        }, 
        "rcutils": {
            "cmake-args": [
                "-DENABLE_TESTING=OFF",
                "-DRCUTILS_NO_FILESYSTEM=ON",
                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
                "-DRCUTILS_NO_64_ATOMIC=ON",
                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
            ]
        },
        "microxrcedds_client": {
            "cmake-args": [
                "-DUCLIENT_PIC=OFF",
                "-DUCLIENT_PROFILE_UDP=OFF",
                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
                "-DUCLIENT_PROFILE_SERIAL=ON",
                "-DUCLIENT_EXTERNAL_SERIAL=ON"
            ]
        },
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=3",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=2",
                "-DRMW_UXRCE_MAX_SERVICES=1",
                "-DRMW_UXRCE_MAX_CLIENTS=0",
                "-DRMW_UXRCE_MAX_HISTORY=1",
                "-DRMW_UXRCE_TRANSPORT=custom_serial"
            ]
        }
    }
}

The new one (based on the current version in main branch):

{
    "names": {
        "tracetools": {
            "cmake-args": [
                "-DTRACETOOLS_DISABLED=ON",
                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
            ]
        },
        "rosidl_typesupport": {
            "cmake-args": [
                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
            ]
        },
        "rcl": {
            "cmake-args": [
                "-DBUILD_TESTING=OFF",
                "-DRCL_COMMAND_LINE_ENABLED=OFF",
                "-DRCL_LOGGING_ENABLED=OFF"
            ]
        },
        "rcutils": {
            "cmake-args": [
                "-DENABLE_TESTING=OFF",
                "-DRCUTILS_NO_FILESYSTEM=ON",
                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
                "-DRCUTILS_NO_64_ATOMIC=ON",
                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
            ]
        },
        "microxrcedds_client": {
            "cmake-args": [
                "-DUCLIENT_PIC=OFF",
                "-DUCLIENT_PROFILE_UDP=OFF",
                "-DUCLIENT_PROFILE_TCP=OFF",
                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
                "-DUCLIENT_PROFILE_SERIAL=OFF",
                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"
            ]
        },
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=3",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=2",
                "-DRMW_UXRCE_MAX_SERVICES=1",
                "-DRMW_UXRCE_MAX_CLIENTS=0",
                "-DRMW_UXRCE_MAX_HISTORY=1",
                "-DRMW_UXRCE_TRANSPORT=custom"
            ]
        }
    }
}

anaelle-sw commented 3 years ago

So, it is entirely my bad, the .ino code builds properly when micro-ROS is built with the correctly updated meta file. Sorry for bothering you because of this mistake. Thanks a lot for helping

pablogs9 commented 3 years ago

Ooook don't worry! Please give us feedback about the Rolling release, you are the only ones using it, as far as I know.

micro-ROS / micro_ros_arduino

Build errors 'undefined reference' with ROS2 Rolling release #117

Setup

Steps to reproduce

Issue