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micro-ROS / rmw_microxrcedds

RMW implementation using Micro XRCE-DDS middleware.
Apache License 2.0
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runtime error on ROS 2 Crystal #12

Closed iluetkeb closed 3 years ago

iluetkeb commented 5 years ago

I set RMW_IMPLEMENTATION=rmw_microxrcedds, then on ros2 run examples_rclcpp_minimal_publisher publisher_lambda I get the following error:

'failed to resolve symbol 'rmw_get_serialization_format' in shared library '/home/lui3si/ros2_ws/install/lib/librmw_microxrcedds.so', at /tmp/binarydeb/ros-crystal-rmw-implementation-0.6.1/src/functions.cpp:162'

Moreover, I also get the error 'type support not from this implementation, at /home/lui3si/ros2_ws/src/rmw-microxrcedds/rmw_microxrcedds_c/src/rmw_publisher.c:66'

This is on Ubuntu 18.04.

Both rmw_microxrcedds and rosidl_typesupport_microxrcedds are using the "feature/Crystal_update" branch, because master did not compile.

iluetkeb commented 5 years ago

One thing could be that I used the thirdparty fastrtps, whereas ros crystal uses the fastrtps from /opt/ros/... It's both 1.7, but still, who knows.

It would be very good if we could the micro-xrce-dds compile without -DTHIRDPARTY...

BorjaOuterelo commented 5 years ago

Solved in c9d9ad49defb1732f98dcb6cd2df9ed84bce9d73 and 146c19d2e71af37a130fea2965d08643ea1d9454

Those commits: -Add missing crystal new API. -Add the usage of Poco library to choose type support.

Can you try with the branch feature/Crystal_update? You should be able to run either C or CPP examples: -ros2 run int32_publisher_c int32_publisher_c -ros2 run examples_rclcpp_minimal_publisher publisher_lambda

iluetkeb commented 5 years ago

With the recent updates, I now get lui3si@crystal-devel:~/ros2_ws$ ros2 run examples_rclcpp_minimal_publisher publisher_lambda UDP mode => ip: 127.0.0.1 - port: 8888 terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' what(): could not create publisher: type support not from this implementation, at /home/lui3si/ros2_ws/src/rmw-microxrcedds/rmw_microxrcedds_c/src/rmw_publisher.c:64, at /tmp/binarydeb/ros-crystal-rcl-0.6.3/src/rcl/publisher.c:173

If it works on your box, what could be the difference? I'm building with -DTHIRDPARTY, but using rcl and rmw from /opt/ros/crystal/. Are you guys doing the same?

BorjaOuterelo commented 5 years ago

We are not building with -DTHIRDPARTY, we are using colcon build --cmake-args -DBUILD_SHARED_LIBS=ON

I am using the following docker image https://github.com/microROS/docker/blob/feature/Crystal_update/Linux/development/micro-ROS_development/Dockerfile as build environment.

And these are the micro-ROS related repositories added to the Crystal released ones:

# Micro XRCE-DDS
  eProsima/Micro-CDR:
    type: git
    url: https://github.com/eProsima/micro-CDR.git
    # Change2Tag
    version: master
  eProsima/Micro-XRCE-DDS-Client:
    type: git
    url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
    # Change2Tag
    version: master

# MicroROS
  uros/rclc:
    type: git
    url: https://github.com/microROS/rclc.git
    # Change2Tag
    version: feature/Crystal_update
  uros/micro-ROS-demo:
    type: git
    url: https://github.com/microROS/micro-ROS-demos.git
    # Change2Tag
    version: feature/DemoFix
  uros/rmw_microxrcedds:
    type: git
    url: https://github.com/microROS/rmw-microxrcedds.git
    # Change2Tag
    version: feature/Crystal_update
  uros/rosidl_typesupport_microxrcedds:
    type: git
    url: https://github.com/microROS/rosidl_typesupport_microxrcedds.git
    # Change2Tag
    version: feature/Crystal_update
iluetkeb commented 5 years ago

Can you post your full repository YAML spec? When combining the above with the one in the micro-ROS install docs, I get compile errors. Most likely, you have updated version in other repositories as well.

btw, I have tried combining the above with ROS 2 installed from packages, to no avail. So now the next try is compile everything from scratch.

BorjaOuterelo commented 5 years ago

@iluetkeb Did you manage to compile it?

I use the Crystal list:

repositories:
  ament/ament_cmake:
    type: git
    url: https://github.com/ament/ament_cmake.git
    version: 0.6.0
  ament/ament_index:
    type: git
    url: https://github.com/ament/ament_index.git
    version: 0.5.1
  ament/ament_lint:
    type: git
    url: https://github.com/ament/ament_lint.git
    version: 0.6.2
  ament/ament_package:
    type: git
    url: https://github.com/ament/ament_package.git
    version: 0.6.0
  ament/googletest:
    type: git
    url: https://github.com/ament/googletest.git
    version: c8b6f2be853002b9a0abfb30ea537402383bf1f4
  ament/osrf_pycommon:
    type: git
    url: https://github.com/osrf/osrf_pycommon.git
    version: 0.1.6
  ament/uncrustify_vendor:
    type: git
    url: https://github.com/ament/uncrustify_vendor.git
    version: 1.0.0
  eProsima/Fast-CDR:
    type: git
    url: https://github.com/eProsima/Fast-CDR.git
    version: v1.0.8
  eProsima/Fast-RTPS:
    type: git
    url: https://github.com/eProsima/Fast-RTPS.git
    version: b48ce9d2fba6fc94e756da01c58b72f2ad848238
  osrf/osrf_testing_tools_cpp:
    type: git
    url: https://github.com/osrf/osrf_testing_tools_cpp.git
    version: 1.1.0
  ros/class_loader:
    type: git
    url: https://github.com/ros/class_loader.git
    version: 1.2.0
  ros/pluginlib:
    type: git
    url: https://github.com/ros/pluginlib.git
    version: 2.2.1
  ros/resource_retriever:
    type: git
    url: https://github.com/ros/resource_retriever.git
    version: 2.1.0
  ros/ros_environment:
    type: git
    url: https://github.com/ros/ros_environment.git
    version: 2.2.0
  ros/urdfdom_headers:
    type: git
    url: https://github.com/ros/urdfdom_headers.git
    version: 1.0.2
  ros-perception/laser_geometry:
    type: git
    url: https://github.com/ros-perception/laser_geometry.git
    version: 2.0.0
  ros-planning/navigation_msgs:
    type: git
    url: https://github.com/ros-planning/navigation_msgs.git
    version: 2.0.0
  ros-visualization/python_qt_binding:
    type: git
    url: https://github.com/ros-visualization/python_qt_binding.git
    version: 1.0.1
  ros-visualization/qt_gui_core:
    type: git
    url: https://github.com/ros-visualization/qt_gui_core.git
    version: 1.0.3
  ros-visualization/rqt:
    type: git
    url: https://github.com/ros-visualization/rqt.git
    version: 1.0.1
  ros-visualization/rqt_console:
    type: git
    url: https://github.com/ros-visualization/rqt_console.git
    version: 1.0.1
  ros-visualization/rqt_msg:
    type: git
    url: https://github.com/ros-visualization/rqt_msg.git
    version: 1.0.1
  ros-visualization/rqt_plot:
    type: git
    url: https://github.com/ros-visualization/rqt_plot.git
    version: 1.0.2
  ros-visualization/rqt_publisher:
    type: git
    url: https://github.com/ros-visualization/rqt_publisher.git
    version: 1.0.3
  ros-visualization/rqt_py_console:
    type: git
    url: https://github.com/ros-visualization/rqt_py_console.git
    version: 1.0.0
  ros-visualization/rqt_service_caller:
    type: git
    url: https://github.com/ros-visualization/rqt_service_caller.git
    version: 1.0.1
  ros-visualization/rqt_shell:
    type: git
    url: https://github.com/ros-visualization/rqt_shell.git
    version: 1.0.0
  ros-visualization/rqt_srv:
    type: git
    url: https://github.com/ros-visualization/rqt_srv.git
    version: 1.0.1
  ros-visualization/rqt_top:
    type: git
    url: https://github.com/ros-visualization/rqt_top.git
    version: 1.0.0
  ros2/ament_cmake_ros:
    type: git
    url: https://github.com/ros2/ament_cmake_ros.git
    version: 0.5.0
  ros2/common_interfaces:
    type: git
    url: https://github.com/ros2/common_interfaces.git
    version: 0.6.1
  ros2/console_bridge_vendor:
    type: git
    url: https://github.com/ros2/console_bridge_vendor.git
    version: 1.1.0
  ros2/demos:
    type: git
    url: https://github.com/ros2/demos.git
    version: 0.6.1
  ros2/examples:
    type: git
    url: https://github.com/ros2/examples.git
    version: 0.6.1
  ros2/example_interfaces:
    type: git
    url: https://github.com/ros2/example_interfaces.git
    version: 0.6.1
  ros2/geometry2:
    type: git
    url: https://github.com/ros2/geometry2.git
    version: 0.10.1
  ros2/kdl_parser:
    type: git
    url: https://github.com/ros2/kdl_parser.git
    version: 2.2.0
  ros2/launch:
    type: git
    url: https://github.com/ros2/launch.git
    version: 0.7.3
  ros2/libyaml_vendor:
    type: git
    url: https://github.com/ros2/libyaml_vendor.git
    version: 1.0.0
  ros2/message_filters:
    type: git
    url: https://github.com/ros2/message_filters.git
    version: 3.0.0
  ros2/orocos_kinematics_dynamics:
    type: git
    url: https://github.com/ros2/orocos_kinematics_dynamics.git
    version: 3.1.0
  ros2/poco_vendor:
    type: git
    url: https://github.com/ros2/poco_vendor.git
    version: 1.1.1
  ros2/rcl_logging:
    type: git
    url: https://github.com/ros2/rcl_logging.git
    version: 0.1.0
  ros2/rcl:
    type: git
    url: https://github.com/ros2/rcl.git
    version: 0.6.3
  ros2/rcl_interfaces:
    type: git
    url: https://github.com/ros2/rcl_interfaces.git
    version: 0.6.1
#  ros2/rclc:
#    type: git
#    url: https://github.com/ros2/rclc.git
#    version: master
  ros2/rclcpp:
    type: git
    url: https://github.com/ros2/rclcpp.git
    version: 0.6.2
  ros2/rclpy:
    type: git
    url: https://github.com/ros2/rclpy.git
    version: 0.6.1
  ros2/rcutils:
    type: git
    url: https://github.com/ros2/rcutils.git
    version: 0.6.1
  ros2/realtime_support:
    type: git
    url: https://github.com/ros2/realtime_support.git
    version: 0.6.0
  ros2/rmw:
    type: git
    url: https://github.com/ros2/rmw.git
    version: 0.6.1
  ros2/rmw_connext:
    type: git
    url: https://github.com/ros2/rmw_connext.git
    version: 0.6.1
  ros2/rmw_fastrtps:
    type: git
    url: https://github.com/ros2/rmw_fastrtps.git
    version: 0.6.1
  ros2/rmw_implementation:
    type: git
    url: https://github.com/ros2/rmw_implementation.git
    version: 0.6.1
  ros2/rmw_opensplice:
    type: git
    url: https://github.com/ros2/rmw_opensplice.git
    version: 0.6.2
  ros2/robot_state_publisher:
    type: git
    url: https://github.com/ros2/robot_state_publisher.git
    version: 2.1.0
  ros2/ros1_bridge:
    type: git
    url: https://github.com/ros2/ros1_bridge.git
    version: 0.6.1
  ros2/ros2cli:
    type: git
    url: https://github.com/ros2/ros2cli.git
    version: 0.6.2
  ros2/rosidl:
    type: git
    url: https://github.com/ros2/rosidl.git
    version: 0.6.2
  ros2/rosidl_dds:
    type: git
    url: https://github.com/ros2/rosidl_dds.git
    version: 0.6.0
  ros2/rosidl_defaults:
    type: git
    url: https://github.com/ros2/rosidl_defaults.git
    version: 0.6.0
  ros2/rosidl_python:
    type: git
    url: https://github.com/ros2/rosidl_python.git
    version: 0.6.1
  ros2/rosidl_typesupport:
    type: git
    url: https://github.com/ros2/rosidl_typesupport.git
    version: 0.6.1
  ros2/rosidl_typesupport_connext:
    type: git
    url: https://github.com/ros2/rosidl_typesupport_connext.git
    version: 0.6.3
  ros2/rosidl_typesupport_fastrtps:
    type: git
    url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
    version: 0.6.0
  ros2/rosidl_typesupport_opensplice:
    type: git
    url: https://github.com/ros2/rosidl_typesupport_opensplice.git
    version: 0.6.1
  ros2/rviz:
    type: git
    url: https://github.com/ros2/rviz.git
    version: 5.0.0
  ros2/sros2:
    type: git
    url: https://github.com/ros2/sros2.git
    version: 0.6.0
  ros2/system_tests:
    type: git
    url: https://github.com/ros2/system_tests.git
    version: 0.6.0
  ros2/tinyxml_vendor:
    type: git
    url: https://github.com/ros2/tinyxml_vendor.git
    version: 0.5.0
  ros2/tinyxml2_vendor:
    type: git
    url: https://github.com/ros2/tinyxml2_vendor.git
    version: 0.6.0
  ros2/tlsf:
    type: git
    url: https://github.com/ros2/tlsf.git
    version: 0.5.0
#  ros2/tutorials:
#    type: git
#    url: https://github.com/ros2/tutorials.git
#    version: master
  ros2/unique_identifier_msgs:
    type: git
    url: https://github.com/ros2/unique_identifier_msgs.git
    version: 2.0.0
  ros2/urdf:
    type: git
    url: https://github.com/ros2/urdf.git
    version: 2.2.0
  ros2/urdfdom:
    type: git
    url: https://github.com/ros2/urdfdom.git
    version: 2.1.0
  ros2/yaml_cpp_vendor:
    type: git
    url: https://github.com/ros2/yaml_cpp_vendor.git
    version: 5.0.0

and the micro-ROS ones:

repositories:
# Micro XRCE-DDS
  eProsima/Micro-CDR:
    type: git
    url: https://github.com/eProsima/micro-CDR.git
    # Change2Tag
    version: master
  eProsima/Micro-XRCE-DDS-Client:
    type: git
    url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
    # Change2Tag
    version: master

# MicroROS
  uros/rclc:
    type: git
    url: https://github.com/microROS/rclc.git
    # Change2Tag
    version: feature/Crystal_update
  uros/micro-ROS-demo:
    type: git
    url: https://github.com/microROS/micro-ROS-demos.git
    # Change2Tag
    version: feature/DemoFix
  uros/rmw_microxrcedds:
    type: git
    url: https://github.com/microROS/rmw-microxrcedds.git
    # Change2Tag
    version: feature/Crystal_update
  uros/rosidl_typesupport_microxrcedds:
    type: git
    url: https://github.com/microROS/rosidl_typesupport_microxrcedds.git
    # Change2Tag
    version: feature/Crystal_update

The ones present in https://raw.githubusercontent.com/microROS/micro-ROS-doc/feature/RepoListUpdate/Installation/repos/client_minimum.repos are a selected subset of these lists, containing just the required content for the Client. And there is an analogous one for the Agent.

BorjaOuterelo commented 5 years ago

btw, I have tried combining the above with ROS 2 installed from packages, to no avail. So now the next try is compile everything from scratch.

I always compile from sources. I may need to have a look that issue with the ROS 2 installed from packages.

pablogs9 commented 3 years ago

Closing due Crystal in EOL: https://index.ros.org/doc/ros2/Releases/