Could not find ROS middleware implementation

scch1092 commented 2 years ago

Issue template

Hardware description: Ubuntu 20.04, teensy 4.1
RTOS: Arduino
Installation type: VS-Code + PlatformIO (extension for VS-Code)
Version or commit hash: galactic

Steps to reproduce the issue

Step 1: Copy the contents of the micro_ros_publisher example. Step 2: platform.ini

[env:teensy41]
platform = teensy
board = teensy41
framework = arduino

board_microros_distro = galactic
board_microros_transport = serial
board_microros_user_meta = colcon.meta

lib_deps =
    https://github.com/micro-ROS/micro_ros_platformio.git

Step3: pio lib install Step4: pio run

Expected behavior

Build the packages

Actual behavior

Build fails with the following output:

--- stderr: rmw_implementation
CMake Error at /home/scch1092/example/.pio/libdeps/teensy41/micro_ros_platformio/build/mcu/install/share/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake:60 (message):
  Could not find ROS middleware implementation 'rmw_fastrtps_cpp'.  Choose
  one of the following: rmw_microxrcedds
Call Stack (most recent call first):
  CMakeLists.txt:22 (get_default_rmw_implementation)

---
Failed   <<< rmw_implementation [0.44s, exited with code 1]

Additional information

$ env | grep ROS

ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_LOCALHOST_ONLY=0
ROS_DISTRO=galactic

$ env | grep RMW

RMW_IMPLEMENTATION=rmw_fastrtps_cpp

env | grep AMENT_PREFIX_PATH

AMENT_PREFIX_PATH=/home/scch1092/ros2_ws/install/micro_ros_agent:/home/scch1092/ros2_ws/install/micro_ros_msgs:/opt/ros/galactic

Acuadros95 commented 2 years ago

RMW_IMPLEMENTATION=rmw_fastrtps_cpp

Do you have fast rtps installed? What is your output for apt list --installed | grep fastrtps?

Anyway, you can manually set export RMW_IMPLEMENTATION=rmw_microxrcedds to build micro-ROS.

scch1092 commented 2 years ago

apt list --installed | grep fastrtps

ros-galactic-fastrtps-cmake-module/focal,now 1.2.1-2focal.20220430.052920 amd64 [installed,automatic]
ros-galactic-fastrtps/focal,now 2.3.4-1focal.20220430.111237 amd64 [installed,automatic]
ros-galactic-rmw-fastrtps-cpp/focal,now 5.0.2-1focal.20220729.231320 amd64 [installed,automatic]
ros-galactic-rmw-fastrtps-shared-cpp/focal,now 5.0.2-1focal.20220729.230057 amd64 [installed,automatic]
ros-galactic-rosidl-typesupport-fastrtps-c/focal,now 1.2.1-2focal.20220726.200223 amd64 [installed,automatic]
ros-galactic-rosidl-typesupport-fastrtps-cpp/focal,now 1.2.1-2focal.20220726.195810 amd64 [installed,automatic]

Anyway, you can manually set export RMW_IMPLEMENTATION=rmw_microxrcedds to build micro-ROS.

I will try it, thanks!

scch1092 commented 2 years ago

Anyway, you can manually set export RMW_IMPLEMENTATION=rmw_microxrcedds to build micro-ROS.

No luck, still the same problem

pablogs9 commented 2 years ago

Could you try to build a micro-ROS environment without sourcing the ROS 2 installation?

Acuadros95 commented 2 years ago

Hi @scch1092,

This PR should fix your issue: https://github.com/micro-ROS/micro_ros_platformio/pull/62 Please check it out and provide feedback

scch1092 commented 2 years ago

Hello, thank you for the feedback. It seems that it is probably my computer. On another computer I was able to create the libraries and flash them to the MCU.

Acuadros95 commented 2 years ago

The problem was related to setting RMW_IMPLEMENTATION=rmw_fastrtps_cpp by default.

The PR should fix the build process in that case, you should be able to compile in your computer.

Closing!

micro-ROS / micro_ros_platformio