Could not find ROS middleware implementation 'NOTFOUND'

[tdallapiazza]

Hi, I'm trying to build rmw_implementation but I constantly get the following error:

CMake Error at some/path/install/rmw_implementation_cmake/share/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake:60 (message):
  Could not find ROS middleware implementation 'NOTFOUND'.  Choose one of the
  following:
Call Stack (most recent call first):
  CMakeLists.txt:22 (get_default_rmw_implementation)

I did install fastrtps through the ubuntu repo.

sudo apt install libfastrtps-dev

Even if it sounds not really consistent, I can find .cmake files under /usr/local/share/etc... but the get_default_rmw_implementation macro still doesn't find it (even if it is the default one).

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • From source with colcon
• Version or commit hash:
  • humble branch (413eb313f7e128c6977cd453818e1a39bf70da40)
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • targetting rclcpp but rmw_implementation is a requirement of rcl on which rclcpp also depends

Steps to reproduce issue

In a clean directory, clone all the following repo:

git clone -b humble https://github.com/ros2/ament_cmake_ros.git
git clone -b humble https://github.com/ros2/rosidl_defaults.git
git clone -b humble https://github.com/ros2/rosidl_dds.git
git clone -b humble https://github.com/osrf/osrf_testing_tools_cpp.git
git clone -b humble https://github.com/ros2/performance_test_fixture.git
git clone -b humble https://github.com/ros2/python_cmake_module.git
git clone -b humble https://github.com/ros2/launch.git
git clone -b humble https://github.com/ros2/mimick_vendor.git
git clone -b humble https://github.com/ros2/rcutils.git
git clone -b humble https://github.com/ros2/test_interface_files.git
git clone -b humble https://github.com/ros2/rcpputils.git
git clone -b humble https://github.com/ros2/unique_identifier_msgs.git
git clone -b humble https://github.com/ros2/rosidl.git
git clone -b humble https://github.com/ros2/rosidl_typesupport.git
colcon build
source ./intsall/setup.bash
git clone -b humble https://github.com/ament/ament_index.git
git clone -b humble https://github.com/ros2/libyaml_vendor.git
git clone -b humble https://github.com/ros2/spdlog_vendor.git
git clone -b humble https://github.com/ros2/rcl_logging.git
git clone -b humble https://github.com/ros2/rmw.git
git clone -b humble https://github.com/ros2/rmw_implementation.git
colcon build

Expected behavior

Build successful

Actual behavior

CMake Error as ROS middleware implementation is NOTFOUND

[clalancette]

As it stands, this configuration is probably not going to work. At least, it is not one that we test. If you'd like to compile rclcpp, you should follow the directions in http://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html .

[tdallapiazza]

Hi, So how do I decide to build only a minimal portion of ROS2? I have a node that only depends on rclcpp geometry_msgs packages. (I'm targetting headless embedded systems like Raspberry Pi)

[clalancette]

So how do I decide to build only a minimal portion of ROS2? I have a node that only depends on rclcpp geometry_msgs packages.

You can do colcon build --packages-up-to rclcpp geometry_msgs, which will only build that much of it.

[tdallapiazza]

This is exactly what I was missing! Many thanks!