[Kirkstone] (humble) mrpt2 building not work

Describe the bug I am building on meta-ros kirkstone and encountering the following error when running bitbake mrpt2:

ERROR: Nothing PROVIDES 'ROS_UNRESOLVED_DEP-liboctomap-dev' (but /home/myname/yocto-orin/brain_base/my-build/build/../layers/meta-ros/meta-ros2-humble/generated-recipes/mrpt2/mrpt2_2.13.5-1.bb DEPENDS on or otherwise requires it)

To resolve this error, I added the following to ros-distro.inc: ROS_UNRESOLVED_DEP-liboctomap-dev = "octomap"

After applying this change and running bitbake again, I encountered a new error:

| -- Found Python3: /usr/bin/python3 (found version "3.8.10") found components: Interpreter | Traceback (most recent call last): | File "/home/myname/yocto-orin/brain_base/my-build/build/tmp-glibc/work/armv8a-oe-linux/mrpt2/2.13.5-1-r0/recipe-sysroot/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'

To address this, I modified the mrpt2_2.13.5-1.bb file as follows:

inherit setuptools3  
DEPENDS += "ament-package-native ament-package"

Despite these changes, I encountered additional errors. To resolve each error, I had to repeatedly add more lines to the recipe.

inherit setuptools3 pkgconfig autotools cuda

EXTRA_OECMAKE += "-DENTYPO_TTF_FILE=${S}/3rdparty/nanogui/resources/entypo.ttf"
EXTRA_OECMAKE += "-DROBOTO_BOLD_TTF_FILE=${S}/3rdparty/nanogui/resources/Roboto-Bold.ttf"
EXTRA_OECMAKE += "-DROBOTO_REGULAR_TTF_FILE=${S}/3rdparty/nanogui/resources/Roboto-Regular.ttf"
CFLAGS += "-I${STAGING_DIR_TARGET}/usr/include"

do_configure:prepend() {
    source ${STAGING_DIR_HOST}/usr/share/rosidl_typesupport_c/local_setup.bash
}

DEPENDS += " \
    ament-package-native ament-package \
    ament-cmake-libraries \
    ament-cmake-export-definitions \
 ... (Omitted for brevity)
"

However, with every error fixed, new errors kept arising. This has led me to suspect that I might be approaching this problem incorrectly.

So, I would like to report that I am unable to successfully build mrpt2 using bitbake and seek guidance on how to resolve this issue. Could you please help me with this problem?

To Reproduce I started the build with the command: kas build ../kas/oeros-kirkstone-humble-jetson-agx-xavier-devkit.yml and added several layers to the configuration. All additional layers were cloned using git clone -b kirkstone <layers>. Additional layers outside of meta-ros:

    ${TOPDIR}/../layers/meta-qt5 \
    ${TOPDIR}/../layers/meta-lmp/meta-lmp-base \
    ${TOPDIR}/../layers/meta-updater \
    ${TOPDIR}/../layers/meta-security \
    ${TOPDIR}/../layers/meta-security/meta-tpm \

Expected behavior bitbake mrpt2 succeed

ros / meta-ros

[Kirkstone] (humble) mrpt2 building not work #1267