Colcon build for an STM32MP1 target

[BaptisteCNL]

Dear ros community,

I'm an absolute beginner in the world of meta-ros, but I used to work with it on my ubuntu laptop. I wanted to create my own ros nodes and execute them on my STM32MP1 board, but I can't find any way to build them on it, that's why I wanted to add colcon build command. I've seen other issues talking about it but I don't understand what I'm doing wrong here.

Describe the bug Unable to bitbake my image when including TOOLCHAIN_HOST_TASK_append = " nativesdk-python3-colcon-common-extensions" to my local.conf file.

To Reproduce Using ROS2 foxy on Dunfell branch. I added meta-ros successfully to my image however, I'm unable to bitbake my image when adding colcon to the build process. Here is the error :

ERROR: Nothing RPROVIDES 'nativesdk-python3-coloredlogs' (but virtual:nativesdk:/home/chenal/Yocto-lab/meta-ros/meta-ros-common/recipes-devtools/colcon/python3-colcon-core_0.6.1.bb RDEPENDS on or otherwise requires it)
ERROR: Required build target 'mybot-image' has no buildable providers.
Missing or unbuildable dependency chain was: ['mybot-image', 'buildtools-tarball', 'nativesdk-python3-colcon-common-extensions', 'nativesdk-python3-colcon-core', 'nativesdk-python3-coloredlogs']

Expected behavior bitbake should successfully build "mybot-image" and colcon build command should be recognized.

[windelbouwman]

There are two ways of using colcon:

1. Use colcon with a yocto SDK (preferred if you ask me)
2. Use colcon on the target device, and compile ros packages on the STM32MP1 core

In case of option 1, you would add the line you specified, and run bitbake -c populate_sdk mybot-image. The resulting SDK will end up in you deploy folder, and when installed and sourced should provide you with colcon on your host PC. This is not yet function, a pull request is waiting to be reviewed/merged, see for example this pull request: https://github.com/ros/meta-ros/pull/988

The problem you are facing specifically is that the python3-coloredlogs package does not have a BBCLASSEXTEND with nativesdk in it.

When choosing option 2, one should add the package python3-colcon-common-extensions to the mybot-image recipe.

[BaptisteCNL]

Thanks a lot for your answer.

I went for option 1 as you recommended (and also because it is inconveniant to build on the target device) However when calling bitbake -c populate_sdk mybot-image, I've got an error which I can't seem to solve (I know it's not related to the original issue but I don't know how to solve this)

Transaction Summary
================================================================================
Install  2764 Packages

Total size: 2.5 G
Installed size: 15 G
Downloading Packages:
Running transaction check
Transaction check succeeded.
Running transaction test
Error: Transaction check error:
  file /usr/include/lauxlib.h conflicts between attempted installs of lua-vendor-dev-0.0.1+2-r0.cortexa7t2hf_neon_vfpv4 and lua-dev-5.3.6-r0.cortexa7t2hf_neon_vfpv4
  file /usr/include/lua.h conflicts between attempted installs of lua-vendor-dev-0.0.1+2-r0.cortexa7t2hf_neon_vfpv4 and lua-dev-5.3.6-r0.cortexa7t2hf_neon_vfpv4
  file /usr/include/luaconf.h conflicts between attempted installs of lua-vendor-dev-0.0.1+2-r0.cortexa7t2hf_neon_vfpv4 and lua-dev-5.3.6-r0.cortexa7t2hf_neon_vfpv4
  file /usr/include/lualib.h conflicts between attempted installs of lua-vendor-dev-0.0.1+2-r0.cortexa7t2hf_neon_vfpv4 and lua-dev-5.3.6-r0.cortexa7t2hf_neon_vfpv4
  file /usr/lib/libboost_chrono.so from install of boost-dev-1.72.0-r0.cortexa7t2hf_neon_vfpv4 conflicts with file from package microstrain-inertial-driver-2.0.6+1-r0.cortexa7t2hf_neon_vfpv4
  file /usr/lib/libboost_filesystem.so from install of boost-dev-1.72.0-r0.cortexa7t2hf_neon_vfpv4 conflicts with file from package microstrain-inertial-driver-2.0.6+1-r0.cortexa7t2hf_neon_vfpv4
  file /usr/lib/libboost_prg_exec_monitor.so from install of boost-dev-1.72.0-r0.cortexa7t2hf_neon_vfpv4 conflicts with file from package microstrain-inertial-driver-2.0.6+1-r0.cortexa7t2hf_neon_vfpv4
  file /usr/lib/libboost_system.so from install of boost-dev-1.72.0-r0.cortexa7t2hf_neon_vfpv4 conflicts with file from package microstrain-inertial-driver-2.0.6+1-r0.cortexa7t2hf_neon_vfpv4
  file /usr/lib/libboost_timer.so from install of boost-dev-1.72.0-r0.cortexa7t2hf_neon_vfpv4 conflicts with file from package microstrain-inertial-driver-2.0.6+1-r0.cortexa7t2hf_neon_vfpv4
  file /usr/lib/libboost_unit_test_framework.so from install of boost-dev-1.72.0-r0.cortexa7t2hf_neon_vfpv4 conflicts with file from package microstrain-inertial-driver-2.0.6+1-r0.cortexa7t2hf_neon_vfpv4

Error Summary
-------------

I also tried option 2 and it worked for me (I removedTOOLCHAIN_HOST_TASK_append = " nativesdk-python3-colcon-common-extensions" and added IMAGE_INSTALL_append = " cmake python3-colcon-common-extensions" instead) However when calling colcon build it gives me the following errors : CMAKE_CXX_COMPILER not set, after EnableLanguage But I would rather go for option 1 if I can.

[windelbouwman]

Thats an interesting error, it looks like the boost dynamic libraries are included in the microstrain-inertial-driver package, clearly, the so files of boost should be contained in the boost package, so something odd is happening in the microstrain-initial-driver package. You could check its work folder, and inspect the contents of the image subfolder to see what's contained in this package.

[BaptisteCNL]

Thanks for your reply. SDK is now fully generated. I built the environment by running the .sh script, then sourced the output files without error. I have an other error which is :

File "/home/chenal/Yocto-lab/Wellbot_environment/sysroots/cortexa7t2hf-neon-vfpv4-oe-linux-gnueabi/usr/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py", line 21, in <module>
    from ament_package.templates import get_environment_hook_template_path
ModuleNotFoundError: No module named 'ament_package'

Which I passed by adding

I added :

TOOLCHAIN_TARGET_TASK_append = " \
    ament-cmake \
    ament-cmake-auto \
    ament-cmake-core \
    ament-cmake-export-definitions \
    ament-cmake-export-dependencies \
    ament-cmake-export-include-directories \
    ament-cmake-export-interfaces \
    ament-cmake-export-libraries \
    ament-cmake-export-link-flags \
    ament-cmake-export-targets \
    ament-cmake-gmock \
    ament-cmake-google-benchmark \
    ament-cmake-gtest \
    ament-cmake-include-directories \
    ament-cmake-libraries \
    ament-cmake-nose \
    ament-cmake-pytest \
    ament-cmake-python \
    ament-cmake-ros \
    ament-cmake-target-dependencies \
    ament-cmake-test \
    ament-cmake-version \
    ament-lint-auto \
    foonathan-memory-staticdev \
"

TOOLCHAIN_HOST_TASK_append = " \
    nativesdk-ament-package \
    nativesdk-python3-numpy \
"

But I now have the same issu with the SDK than when trying to colcon build on my target. When calling colcon build on any node I have this error :

CMake Error at /usr/share/cmake-3.16/Modules/CMakeDetermineCCompiler.cmake:49 (message):
  Could not find compiler set in environment variable CC:

  arm-oe-linux-gnueabi-gcc -mthumb -mfpu=neon-vfpv4 -mfloat-abi=hard
  -mcpu=cortex-a7
  --sysroot=/home/chenal/Yocto-lab/Wellbot_SDK/sysroots/cortexa7t2hf-neon-vfpv4-oe-linux-gnueabi.
Call Stack (most recent call first):
  CMakeLists.txt:5 (project)

CMake Error: CMAKE_C_COMPILER not set, after EnableLanguage
CMake Error: CMAKE_CXX_COMPILER not set, after EnableLanguage

Once again, thanks a lot for your help and your work.

[BaptisteCNL]

Adding

TOOLCHAIN_TARGET_TASK_append = " \
    ament-cmake \
"

did the trick for me and I could genereate an SDK. However I still had C and CXX flag issues when calling colcon build so I decided to go for an other solution.

[BaptisteCNL]

I'm using Yocto to compile my nodes. I took examples of the files present in meta ROS and managed to compile an image with my packages. I added the package bb recipe and bbappend files to the meta-ros folder where other generated recipes are, and I added my package name to the superflore-ros-distro.inc file. I also tried adding IMAGE_INSTALL_append = " my-ros-package" to my image recipe.

When using the generated image on my STM32MP157C-DK2, I see some files named "my-ros-package" in the /usr/share/ament_index/resource_index/ folder but the folder /usr/share/my-ros-package/ isn't in my filesystem. (all meta-ros ros packages and nodes are in the /usr/share/ folder with their relatives files eg : launch.py, install.sh, ...) Do you have an idea of what am I missing for my-ros-package to be usable in my image ?

Once again thank you for your time and your help.

[BaptisteCNL]

What finally did the trick for me was adding thoses lines to my bb append file (instead of the superflore-ros-distro.inc file) :

ROS_SUPERFLORE_GENERATED_RECIPES += " imu-sensor "
ROS_SUPERFLORE_GENERATED_RECIPE_BASENAMES_WITH_COMPONENT += " imu-sensor/imu-sensor_1 "
ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES = " imu-sensor "
ROS_SUPERFLORE_GENERATED_RECIPES_FOR_COMPONENTS = " imu-sensor "

[jsb9945]

Hello, can may I ask you a question?

I entered the code below in the local.conf file and built the image.

''' TOOLCHAIN_TARGET_TASK_append = " \ ament-cmake \ " '''

However, the following error occurred. How can i solve this?

(wrlinuxsdk-x86_64-aarch64) wkdtjdqls@wkdtjdqls-MS-7C94:~/ros2_ws$ colcon build Starting >>> cpp_pubsub --- stderr: cpp_pubsub Traceback (most recent call last): File "/opt/windriver/wrlinux/21.20/sysroots/cortexa53-wrs-linux/usr/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py", line 21, in from ament_package.templates import get_environment_hook_template_path ModuleNotFoundError: No module named 'ament_package' CMake Error at /opt/windriver/wrlinux/21.20/sysroots/cortexa53-wrs-linux/usr/share/ament_cmake_core/cmake/ament_cmake_package_templates-extras.cmake:41 (message): execute_process(/opt/windriver/wrlinux/21.20/sysroots/x86_64-wrlinuxsdk-linux/usr/bin/python3 /opt/windriver/wrlinux/21.20/sysroots/cortexa53-wrs-linux/usr/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py /home/wkdtjdqls/ros2_ws/build/cpp_pubsub/ament_cmake_package_templates/templates.cmake) returned error code 1 Call Stack (most recent call first): /opt/windriver/wrlinux/21.20/sysroots/cortexa53-wrs-linux/usr/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake:41 (include) /opt/windriver/wrlinux/21.20/sysroots/cortexa53-wrs-linux/usr/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake:15 (find_package) /opt/windriver/wrlinux/21.20/sysroots/cortexa53-wrs-linux/usr/share/ament_cmake/cmake/ament_cmakeConfig.cmake:41 (include) CMakeLists.txt:13 (find_package) --- Failed <<< cpp_pubsub [0.07s, exited with code 1] Summary: 0 packages finished [0.15s] 1 package failed: cpp_pubsub 1 package had stderr output: cpp_pubsub

Thank you.