Build Error on Humble

[alberthli]

Describe the bug When following the build instructions in the manual, I run into the following error:

Finished <<< canopen_fake_slaves [6.34s]                                                                    
--- stderr: canopen_core                                
/root/dev_ws/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp: In member function 'void ros2_canopen::node_interfaces::NodeCanopenDriver<NODETYPE>::demand_set_master() [with NODETYPE = rclcpp::Node]':
/root/dev_ws/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:30:32: error: cannot convert 'rclcpp::QoS' to 'const rmw_qos_profile_t&' {aka 'const rmw_qos_profile_s&'}
   30 |     init_service_name, rclcpp::QoS(10), client_cbg_);
      |                                ^~~~~~~
      |                                |
      |                                rclcpp::QoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /root/dev_ws/src/ros2_canopen/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver.hpp:33,
                 from /root/dev_ws/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:14:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of 'typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = canopen_interfaces::srv::CONode; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<canopen_interfaces::srv::CONode> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]'
  127 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/root/dev_ws/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp: In member function 'void ros2_canopen::node_interfaces::NodeCanopenDriver<NODETYPE>::demand_set_master() [with NODETYPE = rclcpp_lifecycle::LifecycleNode]':
/root/dev_ws/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:73:32: error: cannot convert 'rclcpp::QoS' to 'const rmw_qos_profile_t&' {aka 'const rmw_qos_profile_s&'}
   73 |     init_service_name, rclcpp::QoS(10), client_cbg_);
      |                                ^~~~~~~
      |                                |
      |                                rclcpp::QoS
In file included from /opt/ros/humble/include/rclcpp_lifecycle/rclcpp_lifecycle/lifecycle_node.hpp:996,
                 from /root/dev_ws/src/ros2_canopen/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver.hpp:34,
                 from /root/dev_ws/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:14:
/opt/ros/humble/include/rclcpp_lifecycle/rclcpp_lifecycle/lifecycle_node_impl.hpp:103:29: note:   initializing argument 2 of 'typename rclcpp::Client<ServiceT>::SharedPtr rclcpp_lifecycle::LifecycleNode::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = canopen_interfaces::srv::CONode; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<canopen_interfaces::srv::CONode> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]'
  103 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
gmake[2]: *** [CMakeFiles/node_canopen_driver.dir/build.make:76: CMakeFiles/node_canopen_driver.dir/src/node_interfaces/node_canopen_driver.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:211: CMakeFiles/node_canopen_driver.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< canopen_core [7.43s, exited with code 2]

Summary: 19 packages finished [37.1s]
  1 package failed: canopen_core
  3 packages had stderr output: canopen_core franka_startup lely_core_libraries
  8 packages not processed

To Reproduce Minimal reproducible example uses this Dockerfile:

# syntax=docker/dockerfile:1

FROM osrf/ros:humble-desktop-full-jammy
SHELL ["/bin/bash", "-c"]
ENV TZ=America/Los_Angeles
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone

# installing essential dependencies
RUN apt-get update -y
RUN apt-get install -y \
    build-essential \
    cmake

# clone and build
WORKDIR /root/dev_ws/src
RUN git clone https://github.com/ros-industrial/ros2_canopen.git
WORKDIR /root/dev_ws
RUN rosdep install --from-paths src/ros2_canopen --ignore-src -r -y
RUN source /opt/ros/humble/setup.bash && colcon build --parallel-workers $(nproc)

# source ros2
RUN echo "source /opt/ros/humble/setup.bash; source /root/dev_ws/install/setup.sh" >> ~/.bashrc

# setting up Peak CANController
RUN modprobe peak_usb
RUN ip link set can0 up type can bitrate 1000000
RUN ip link set can0 txqueuelen 1000
RUN ip link set up can0

Expected behavior The build should complete without error.

Setup: In the Docker container, we are running Ubuntu 22.04 and ROS2 Humble. The machine itself has the following specs:

• Device: Nuc 10
• OS: Ubuntu 22.04
• ROS-Distro: N/A (only running in Docker)
• Branch/Commit: Master (commit faca729)

Additional context If we switch to the Humble branch significantly behind master, we can build successfully with some warnings.

libtool: warning: relinking 'liblely-tap.la'                                                                                                                                                               
libtool: warning: relinking 'liblely-util.la'                                                                                                                                                              
libtool: warning: relinking 'liblely-can.la'                                                                                                                                                               
libtool: warning: relinking 'liblely-co.la'                                                                                                                                                                
libtool: warning: relinking 'liblely-io.la'                                                                                                                                                                
libtool: warning: relinking 'liblely-ev.la'                                                                                                                                                                
libtool: warning: relinking 'liblely-io2.la'                                                                                                                                                               
libtool: warning: relinking 'liblely-coapp.la'  

It would be helpful to release pre-built binaries as is done with Rolling.

[ipa-vsp]

Hi @alberthli,

The rclcpp::QoS error is expected if you use the master branch with ROS2 Humble. Therefore please use the humble branch.

In ROS2 Rolling rmw_qos_profile_tis deprecated.

We are planning the release pre-built binaries for Humble, but there is no fixed timeline yet.

[ipa-vsp]

I have synched the latest changes with the humble branch.

[alberthli]

Thanks, this solved the problem - I would suggest updating the instructions in the manual to include specifying the branch in the git commands depending on the ROS2 distro.

[sandropp]

hi, i also have this question, how to use the humble branch? with this command: git checkout -b humble. but error still up.