micro-ros_subscriber_twist example Arduino .ino project fails to compile

[igillespie]

Issue template

• Hardware description: Arduino DUE
• Installation type: micro-ros-arduino
• Version or commit hash: ros2-galactic

Steps to reproduce the issue

Install micro_ros_arduino-2.0.2-galactic into Arduino 1.8.19 IDE's libraries directory. Go to File > Examples > micro_ros_arduino > micro-ros_subscriber_twist Try to compile the project.

Expected behavior

Compilation finishes successfully.

Actual behavior

I see this in the log:

Arduino: 1.8.19 (Mac OS X), Board: "Arduino Due (Programming Port)"

Library micro_ros_arduino-2.0.2-galactic has been declared precompiled:
Using precompiled library in /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/src/cortex-m3
The platform does not support 'compiler.libraries.ldflags' for precompiled libraries.
sketch/micro-ros_subscriber_twist.ino.cpp.o: In function `set_microros_transports':
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/src/micro_ros_arduino.h:32: undefined reference to `rmw_uros_set_custom_transport'
sketch/micro-ros_subscriber_twist.ino.cpp.o: In function `setup':
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:45: undefined reference to `rcutils_get_default_allocator'
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:48: undefined reference to `rclc_support_init'
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:51: undefined reference to `rclc_node_init_default'
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:54: undefined reference to `rosidl_typesupport_c__get_message_type_support_handle__geometry_msgs__msg__Twist'
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:54: undefined reference to `rclc_subscription_init_default'
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:61: undefined reference to `rclc_executor_init'
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:62: undefined reference to `rclc_executor_add_subscription'
sketch/micro-ros_subscriber_twist.ino.cpp.o: In function `loop':
/Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:68: undefined reference to `rclc_executor_spin_some'
collect2: error: ld returned 1 exit status
exit status 1
Error compiling for board Arduino Due (Programming Port).

This report would have more information with "Show verbose output during compilation" option enabled in File -> Preferences.

Additional information

I have run installed the SAMD platforms.txt file. I have also tried this using Arduino IDE on Linux Ubuntu 20.04 where I see the same error message.

Thanks for any help or insight you can provide!

[pablogs9]

Can you check which platform.txt are your board using? For sure it is a matter of modifying this file because this patching process is just to handle ldflags.

Could you identify which file should be modified so we can update the README.md?

This link can provide some tips.

CC: @lukicdarkoo was the original contributor of the Arduino DUE port, maybe he can provide some help

[igillespie]

Thanks for the help. Here is what the platforms.txt I'm using looks like. Please let me know if you have any suggestions on what I might try.

# Arduino SAM Core and platform.
# ------------------------------
#
# For more info:
# https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5-3rd-party-Hardware-specification

name=Arduino ARM (32-bits) Boards
version=1.6.12

# SAM3 compile variables
# ----------------------

compiler.warning_flags=-w
compiler.warning_flags.none=-w
compiler.warning_flags.default=
compiler.warning_flags.more=-Wall
compiler.warning_flags.all=-Wall -Wextra

compiler.path={runtime.tools.arm-none-eabi-gcc-4.8.3-2014q1.path}/bin/
compiler.c.cmd=arm-none-eabi-gcc
compiler.c.flags=-c -g -Os {compiler.warning_flags} -std=gnu11 -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -Dprintf=iprintf -MMD
compiler.c.elf.cmd=arm-none-eabi-gcc
compiler.c.elf.flags=-Os -Wl,--gc-sections
compiler.S.cmd=arm-none-eabi-gcc
compiler.S.flags=-c -g -x assembler-with-cpp -MMD
compiler.cpp.cmd=arm-none-eabi-g++
compiler.cpp.flags=-c -g -Os {compiler.warning_flags} -std=gnu++11 -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -MMD
compiler.ar.cmd=arm-none-eabi-ar
compiler.ar.flags=rcs
compiler.objcopy.cmd=arm-none-eabi-objcopy
compiler.objcopy.eep.flags=-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0
compiler.elf2hex.flags=-O binary
compiler.elf2hex.cmd=arm-none-eabi-objcopy
compiler.ldflags=
compiler.size.cmd=arm-none-eabi-size
compiler.define=-DARDUINO=
compiler.combine.flags=-u _sbrk -u link -u _close -u _fstat -u _isatty -u _lseek -u _read -u _write -u _exit -u kill -u _getpid

# This can be overridden in boards.txt
build.extra_flags=

# These can be overridden in platform.local.txt
compiler.c.extra_flags=
compiler.c.elf.extra_flags=
compiler.cpp.extra_flags=
compiler.S.extra_flags=
compiler.ar.extra_flags=
compiler.elf2hex.extra_flags=
compiler.libraries.ldflags=

compiler.libsam.c.flags="-I{build.system.path}/libsam" "-I{build.system.path}/CMSIS/CMSIS/Include/" "-I{build.system.path}/CMSIS/Device/ATMEL/"

# USB Flags
# ---------
build.usb_flags=-DUSB_VID={build.vid} -DUSB_PID={build.pid} -DUSBCON '-DUSB_MANUFACTURER={build.usb_manufacturer}' '-DUSB_PRODUCT={build.usb_product}'

# Default usb manufacturer will be replaced at compile time using
# numeric vendor ID if available or by board's specific value.
build.usb_manufacturer="Unknown"

# SAM3 compile patterns
# ---------------------

## Compile c files
recipe.c.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.c.flags} -mcpu={build.mcu} -mthumb -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {compiler.libsam.c.flags} {includes} "{source_file}" -o "{object_file}"

## Compile c++ files
recipe.cpp.o.pattern="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -mthumb -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {compiler.libsam.c.flags} {includes} "{source_file}" -o "{object_file}"

## Compile S files
recipe.S.o.pattern="{compiler.path}{compiler.S.cmd}" {compiler.S.flags} -mcpu={build.mcu} -mthumb -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.S.extra_flags} {build.extra_flags} {compiler.libsam.c.flags} {includes} "{source_file}" -o "{object_file}"

## Create archives
# archive_file_path is needed for backwards compatibility with IDE 1.6.5 or older, IDE 1.6.6 or newer overrides this value
archive_file_path={build.path}/{archive_file}
recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"

## Combine gc-sections, archives, and objects
recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" -mcpu={build.mcu} -mthumb {compiler.c.elf.flags} "-T{build.variant.path}/{build.ldscript}" "-Wl,-Map,{build.path}/{build.project_name}.map" {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" "-L{build.path}" -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--start-group {compiler.combine.flags} {object_files} {compiler.libraries.ldflags} "{build.variant.path}/{build.variant_system_lib}" "{build.path}/{archive_file}" -Wl,--end-group -lm -lgcc

## Create output (.bin file)
recipe.objcopy.bin.pattern="{compiler.path}{compiler.elf2hex.cmd}" {compiler.elf2hex.flags} {compiler.elf2hex.extra_flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.bin"

## Save hex
recipe.output.tmp_file={build.project_name}.bin
recipe.output.save_file={build.project_name}.{build.variant}.bin

## Compute size
recipe.size.pattern="{compiler.path}{compiler.size.cmd}" -A "{build.path}/{build.project_name}.elf"
recipe.size.regex=\.text\s+([0-9]+).*

# SAM3 Uploader tools
# -------------------

# BOSSA
tools.bossac.path={runtime.tools.bossac.path}
tools.bossac.cmd=bossac
tools.bossac.cmd.windows=bossac.exe

tools.bossac.upload.params.verbose=-i -d
tools.bossac.upload.params.quiet=
tools.bossac.upload.params.verify=-v
tools.bossac.upload.pattern="{path}/{cmd}" {upload.verbose} --port={serial.port.file} -U {upload.native_usb} -e -w {upload.verify} -b "{build.path}/{build.project_name}.bin" -R

tools.bossac_remote.upload.pattern=/usr/bin/run-bossac {upload.verbose} --port=ttyATH0 -U {upload.native_usb} -e -w -v -b /tmp/sketch.bin -R

[lukicdarkoo]

It looks related to: https://github.com/arduino/ArduinoCore-sam/pull/115

[igillespie]

I see, looks like I can incorporate the changes seen here into my platform.txt file. Am I understanding correctly?

EDIT/UPDATE: It appears I already have that code in platform.txt. Anyone have any good ideas on how to solve this?

[igillespie]

Ok, so I was installing the platforms.txt file in the wrong place on my Mac.

For anyone who has this issue in the future, on my Mac, I had to put the modified file here: ~//Library/Arduino15/packages/arduino/hardware/sam (after I installed the Due board via the Arduino Boards Manager).

This made this warning, "The platform does not support 'compiler.libraries.ldflags' for precompiled libraries." go away. However, I still can't compile. I have these errors like from the original post:

sketch/micro-ros_subscriber_twist.ino.cpp.o: In functionset_microros_transports': /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/src/micro_ros_arduino.h:32: undefined reference to rmw_uros_set_custom_transport' sketch/micro-ros_subscriber_twist.ino.cpp.o: In functionsetup': /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:45: undefined reference to rcutils_get_default_allocator' /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:48: undefined reference torclc_support_init' /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:51: undefined reference to rclc_node_init_default' /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:54: undefined reference torosidl_typesupport_cget_message_type_support_handlegeometry_msgsmsgTwist' /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:54: undefined reference to rclc_subscription_init_default' /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:61: undefined reference torclc_executor_init' /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:62: undefined reference to rclc_executor_add_subscription' sketch/micro-ros_subscriber_twist.ino.cpp.o: In functionloop': /Users/iang/Documents/Arduino/libraries/micro_ros_arduino-2.0.2-galactic/examples/micro-ros_subscriber_twist/micro-ros_subscriber_twist.ino:68: undefined reference to rclc_executor_spin_some' collect2: error: ld returned 1 exit status exit status 1

[igillespie]

I tried one last thing. I deleted my micro_ros_arduino library and re-installed from master here. Then I opened the original example and it compiled! YAY!

Thank you for the help everyone. I'm closing this.