Local workspace overlay

[marcoag]

Build a package in a local workspace which depends on packages supplied for the platform.

Run the tests for the package - all of them should pass.

For source platforms, this means building the candidate package in a separate workspace from the one used in the installation instructions.

TODO: Create a "dummy" package that ensures that we can target other packages using CMake, link against them, and run executables (tests) that are linked against libraries in the main workspace.

Configuration

• OS: Ubuntu Noble 24.04
• Build type: Binary
• Chip set: ARM64
• DDS: CycloneDDS

Process

Local workspace overlay works

[knmcguire]

Currently working on this with a raspberry pi 5, Ubuntu Noble and binary install of ROS with cyclonedds removed from the skip-tags

[knmcguire]

I used the turtlesim package from this tutorial which has several dependencies:

find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)
find_package(rcl_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)

The build went like this:

$ colcon build
[0.432s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/opt/ros/jazzy' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.432s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/opt/ros/jazzy/opt/gz_math_vendor' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.432s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/opt/ros/jazzy/opt/gz_utils_vendor' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.432s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/opt/ros/jazzy/opt/gz_cmake_vendor' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> turtlesim
[Processing: turtlesim]                             
[Processing: turtlesim]                                     
Finished <<< turtlesim [1min 27s]                              

Summary: 1 package finished [1min 27s]

And I ran the sim with a teleop Terminal 1:

$ . ~/ros2_jazzy/ros2-linux/setup.bash
$ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
$ ros2 run turtlesim turtlesim_node
QSocketNotifier: Can only be used with threads started with QThread
[INFO] [1714738142.413866995] [turtlesim]: Starting turtlesim with node name /turtlesim
[INFO] [1714738142.424644639] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
[WARN] [1714738195.145752275] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal

Terminal 2:

$ . ~/ros2_jazzy/ros2-linux/setup.bash
$ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
$ ros2 run turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.
Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation.
'Q' to quit.

turtle sim runs and can be controlled as expected with no errors

Seems to work!

Some additional things that might need looking into:

When I use rosdep to install dependencies I got a warning:

$ rosdep install -i --from-path src --rosdistro jazzy -y
WARNING: given --rosdistro jazzy but ROS_DISTRO is "rolling". Ignoring environment.

[clalancette]

WARNING: given --rosdistro jazzy but ROS_DISTRO is "rolling". Ignoring environment.

Ah, yeah. This is actually a mistake in the documentation. https://docs.ros.org/en/jazzy/Installation/Alternatives/Ubuntu-Install-Binary.html#install-ros-2 should actually say to download from the pre-release section of https://github.com/ros2/ros2/releases . I'll update that.

[clalancette]

All right, here is the PR: https://github.com/ros2/ros2_documentation/pull/4356 . Once that is reviewed, I'll merge it. I'm going to close this out, thanks for testing!