On windows (via robostack) can't find connext implementation

[tony-p]

I'm trying to setup the rmw_connextdds on windows (64bit) and during compilation of a CPP package it complains that it can't find the implementation

 CMake Error at C:/bh_test/.pixi/env/Library/share/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake:60 (message):
[4.454s]   Could not find ROS middleware implementation 'rmw_connextdds'.  Choose one
[4.454s]   of the following: rmw_fastrtps_cpp, rmw_fastrtps_dynamic_cpp

I am using a conda pre-compiled rmw_connextdds version provided by robostack. I installed this using pixi tooling (https://prefix.dev/docs/pixi/overview)

Pixi will set up a virtual environment and automatically runs prescribed activation scripts. A minimal pixi.toml to set up the environment with connextdds.

[project]
name = "connextdds"
version = "0.1.0"
description = "test"
authors = []
channels = ["conda-forge", "robostack-staging"]
platforms = ["win-64"]

[target.win-64.activation]
scripts = ["connext_dds.bat", ".pixi/install/setup.bat"]

[tasks]
build = {cmd="colcon build --merge-install --build-base .pixi/build --install-base .pixi/install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_EXECUTABLE=$CONDA_PREFIX/python -DPython3_EXECUTABLE=$CONDA_PREFIX/python" }
test = {cmd="colcon test --merge-install --build-base .pixi/build --install-base .pixi/install"}

[dependencies]
# Base
python = "3.10.*"
# ROS
ros-humble-desktop = "0.10.*"
ros-humble-rmw-connextdds = "*"
ros-humble-rmw-connextdds-common = "*"
ros-humble-rti-connext-dds-cmake-module = "*"

# Build Tools
cmake = "*"
pkg-config = "*"
make = "*"
ninja = "*"
colcon-common-extensions = "*"
catkin_tools = "*"

# Platform dependent build chain
[target.win-64.dependencies]
vs2022_win-64 = "19.*"

Where the connextdds.bat is

call "c:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat"
set RMW_IMPLEMENTATION=rmw_connextdds
set CONNEXTDDS_DIR=${NDDSHOME}

[clalancette]

Sorry, I'm not super familiar with Robostack or Pixie. I'll suggest you open up an issue using the guidelines at https://robostack.github.io/support.html

[tony-p]

I have asked on the gitter from robostack, but seems nobody there has experience with the connextdds.

robostack is just a set of precompiled binaries to work in a virtual environment. Pixi is just a tool to manage that virtual environment.

What could be the cause for the implementation not being found? Does c:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat expect a system wide path and not limited to a virtual environment? Do certain ROS packages need to be rebuilt? is it sensitive to MSVC version?

All the environment variables set by rtisetenv_x64Win64VS2017.bat are set inside the virtual environment

[sloretz]

@mjcarroll would you be willing to try this on a windows machine? 🧇