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ros2-java / ros2_java

Java and Android bindings for ROS2
Apache License 2.0
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Compile error with main branch, Ubuntu focal #194

Open ahmadnav opened 2 years ago

ahmadnav commented 2 years ago

Finished <<< ament_cmake_export_jni_libraries [0.15s]
Finished <<< ament_cmake_export_jars [0.16s] --- stderr: rcutils
CMake Error at CMakeLists.txt:187 (find_package): By not providing "Findmimick_vendor.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "mimick_vendor", but CMake did not find one.

Could not find a package configuration file provided by "mimick_vendor" with any of the following names:

mimick_vendorConfig.cmake
mimick_vendor-config.cmake

Add the installation prefix of "mimick_vendor" to CMAKE_PREFIX_PATH or set "mimick_vendor_DIR" to a directory containing one of the above files. If "mimick_vendor" provides a separate development package or SDK, be sure it has been installed.

Failed <<< rcutils [0.42s, exited with code 1] Aborted <<< rosidl_parser [0.45s] Aborted <<< fastrtps [2.73s]

Summary: 69 packages finished [9.13s] 1 package failed: rcutils 2 packages aborted: fastrtps rosidl_parser 2 packages had stderr output: fastrtps rcutils 34 packages not processed

ahmadnav commented 2 years ago

I have double checked that the package mimick_vendor has been installed, I have tried

ahmadnav commented 2 years ago

This error can be resolved by setting the following in cmake, after making mimick_vendor from source set(mimick_vendor_DIR /home/ros2_android_dep/install/mimick_vendor/share/mimick_vendor/cmake) set(mimick_DIR /home/ros2_android_dep/install/mimick_vendor/lib/cmake/mimick/)

jacobperron commented 2 years ago

I presume you are following the build instructions for Android, is this correct?

We worked around the issue with mimick in our CI by not building tests for some packages. This is done by creating a colcon.meta file in the workspace with the following contents:

https://github.com/ros2-java/ros2_java/blob/5134c544c16ca4045d9da5915fdf38f9d2410c3f/.github/workflows/build_and_test.yml#L37-L61

I think we should update the README to reflect the changes in the CI script.

ahmadnav commented 2 years ago

I presume you are following the build instructions for Android, is this correct?

We worked around the issue with mimick in our CI by not building tests for some packages. This is done by creating a colcon.meta file in the workspace with the following contents:

https://github.com/ros2-java/ros2_java/blob/5134c544c16ca4045d9da5915fdf38f9d2410c3f/.github/workflows/build_and_test.yml#L37-L61

I think we should update the README to reflect the changes in the CI script.

That's true. Thanks Jacob I would also like to add the you have to add -DBOOST_ROOT=/opt/boost/boost_1_77_0/boost \ -DBOOST_INCLUDEDIR=/opt/boost/boost_1_77_0/boost\ as a Cmake arg other wise asio.hpp is not detected. You have to use ndk 21+ as the <18 cause a compile error, failing basic test.

ahmadnav commented 2 years ago

I have gotten the same issue with spdlog_vendor, will update when I find the solution. After setting -Dspdlog_vendor_DIR=/opt/ros/galactic/share/spdlog_vendor/cmake the error than changes to CMake Error at CMakeLists.txt:19 (find_package): By not providing "Findspdlog.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "spdlog", but CMake did not find one.

Could not find a package configuration file provided by "spdlog" with any of the following names:

spdlogConfig.cmake
spdlog-config.cmake

Add the installation prefix of "spdlog" to CMAKE_PREFIX_PATH or set "spdlog_DIR" to a directory containing one of the above files. If "spdlog" provides a separate development package or SDK, be sure it has been installed.

I have no solution for this at the moment as there is no such files as spdlogConfig.cmake or spdlog-config.cmake

jacobperron commented 2 years ago

We shouldn't need spdlog as I'm pretty sure we're not relying on rcl_logging.

I'll try going through the Android setup myself and see if I can update the instructions for a smoother experience.

ahmadnav commented 2 years ago

We shouldn't need spdlog as I'm pretty sure we're not relying on rcl_logging.

I'll try going through the Android setup myself and see if I can update the instructions for a smoother experience.

Thanks Jacob, Now I get the following error;

eProsima/Fast-DDS/src/cpp/rtps/transport/UDPChannelResource.h:18:10: fatal error: 'asio.hpp' file not found

I definitely have boost and libiso installed, and can see asio.hpp in /usr/include.

ahmadnav commented 2 years ago

@jacobperron

--- stderr: rcl
CMake Error at cmake/get_default_rcl_logging_implementation.cmake:43 (find_package): By not providing "Findrcl_logging_spdlog.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "rcl_logging_spdlog", but CMake did not find one.

Could not find a package configuration file provided by "rcl_logging_spdlog" with any of the following names:

rcl_logging_spdlogConfig.cmake
rcl_logging_spdlog-config.cmake

Add the installation prefix of "rcl_logging_spdlog" to CMAKE_PREFIX_PATH or set "rcl_logging_spdlog_DIR" to a directory containing one of the above files. If "rcl_logging_spdlog" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:18 (get_default_rcl_logging_implementation)

Failed <<< rcl [0.47s, exited with code 1]

Looks like SPDLog is necessary

###############

/home//ros2_android_ws/src/eProsima/Fast-DDS/src/cpp/utils/IPFinder.cpp:165:9: error: use of undeclared identifier 'getifaddrs'; did you mean 'ifaddrs'? if (getifaddrs(&ifaddr) == -1) ^ /opt/ndk/android-ndk-r21e/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/include/ifaddrs.h:45:8: note: 'ifaddrs' declared here struct ifaddrs { ^ /home//ros2_android_ws/src/eProsima/Fast-DDS/src/cpp/utils/IPFinder.cpp:223:5: error: use of undeclared identifier 'freeifaddrs' freeifaddrs(ifaddr); ^

Solution: ANDROID_NDK=/opt/ndk/android-ndk-r21e Set API >=24

ahmadnav commented 2 years ago

As for the asio.hpp issue you need to git submodule update --init --recursive within the Fast-DDS directory, to get the asio libraries under thirdparty (which are currently link folders so aren't cloned) than add 

    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/thirdparty/asio/asio/include>
    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/thirdparty/tinyxml2>

within target_include_directories(${PROJECT_NAME} PUBLIC ) in eProsima/Fast-DDS/src/cpp/CMakeLists.txt

ahmadnav commented 2 years ago

@jacobperron I can't seem to find a solution to the spd log issue. Not sure why spdlog_vendor requires spdlog as well

EDIT set(RCL_LOGGING_IMPLEMENTATION rcl_logging_noop) in rcl CMAKE removes this dependency otherwise the get_default_rcl_logging_implementation() call brings it in. This allows for ignoring spdlog. Its finally compiled now.