Building ros1_bridge with vision_msgs installed fails (Melodic + Eloquent)

[asasine]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • Source
• Version or commit hash:
  • b5e4931cefce6cc3351b31b04b0399a6d3bacac4
• DDS implementation:
  • Fast-RTPS (Eloquent default)
• Client library (if applicable):
  • N/A

Steps to reproduce issue

After installing ROS1 Melodic and ROS2 Eloquent, and installing ros-melodic-vision-msgs and ros-eloquent-vision-msgs, building ros1_bridge fails with the following error:

FAILED: CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesisWithPose__factories.cpp.o 
/usr/bin/c++  -Dros1_bridge_EXPORTS -I/home/adam/src/Azure-Compute-Robotics/src/robot/bridge/ros1_bridge/include -Igenerated -I/home/adam/src/Azure-Compute-Robotics/install/ros2/nvapriltags_ros2/include -I/home/adam/src/Azure-Compute-Robotics/install/ros2/azc_msgs/include -I/opt/ros/eloquent/include -I/opt/ros/melodic/include -I/home/adam/src/Azure-Compute-Robotics/install/ros1/azc_msgs/include -I/usr/include/eigen3 -I/home/adam/src/Azure-Compute-Robotics/install/ros1/realsense2_camera/include -I/usr/include/opencv -I/home/adam/src/Azure-Compute-Robotics/install/ros1/ros_sdr_agent_msgs/include -I/usr/include/suitesparse -I/opt/ros/melodic/include/g2o -I/home/adam/src/Azure-Compute-Robotics/install/ros1/wibotic_msg/include -I/usr/include/OGRE/Overlay -I/usr/include/OGRE -g -fPIC   -Wall -Wextra -std=gnu++14 -Wno-unused-parameter -MD -MT CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesisWithPose__factories.cpp.o -MF CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesisWithPose__factories.cpp.o.d -o CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesisWithPose__factories.cpp.o -c generated/vision_msgs__msg__ObjectHypothesisWithPose__factories.cpp
generated/vision_msgs__msg__ObjectHypothesisWithPose__factories.cpp: In static member function ‘static void ros1_bridge::Factory<ROS1_T, ROS2_T>::convert_2_to_1(const ROS2_T&, ROS1_T&) [with ROS1_T = vision_msgs::ObjectHypothesisWithPose_<std::allocator<void> >; ROS2_T = vision_msgs::msg::ObjectHypothesisWithPose_<std::allocator<void> >]’:
generated/vision_msgs__msg__ObjectHypothesisWithPose__factories.cpp:87:26: error: cannot convert ‘const _id_type {aka const std::__cxx11::basic_string<char>}’ to ‘vision_msgs::ObjectHypothesisWithPose_<std::allocator<void> >::_id_type {aka long int}’ in assignment
   ros1_msg.id = ros2_msg.id;
                          ^~

[271/297] Building CXX object CMakeFiles/ros1_bridge.dir/g...erated/vision_msgs__msg__ObjectHypothesis__factories.cpp.o
FAILED: CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesis__factories.cpp.o 
/usr/bin/c++  -Dros1_bridge_EXPORTS -I/home/adam/src/Azure-Compute-Robotics/src/robot/bridge/ros1_bridge/include -Igenerated -I/home/adam/src/Azure-Compute-Robotics/install/ros2/nvapriltags_ros2/include -I/home/adam/src/Azure-Compute-Robotics/install/ros2/azc_msgs/include -I/opt/ros/eloquent/include -I/opt/ros/melodic/include -I/home/adam/src/Azure-Compute-Robotics/install/ros1/azc_msgs/include -I/usr/include/eigen3 -I/home/adam/src/Azure-Compute-Robotics/install/ros1/realsense2_camera/include -I/usr/include/opencv -I/home/adam/src/Azure-Compute-Robotics/install/ros1/ros_sdr_agent_msgs/include -I/usr/include/suitesparse -I/opt/ros/melodic/include/g2o -I/home/adam/src/Azure-Compute-Robotics/install/ros1/wibotic_msg/include -I/usr/include/OGRE/Overlay -I/usr/include/OGRE -g -fPIC   -Wall -Wextra -std=gnu++14 -Wno-unused-parameter -MD -MT CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesis__factories.cpp.o -MF CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesis__factories.cpp.o.d -o CMakeFiles/ros1_bridge.dir/generated/vision_msgs__msg__ObjectHypothesis__factories.cpp.o -c generated/vision_msgs__msg__ObjectHypothesis__factories.cpp
generated/vision_msgs__msg__ObjectHypothesis__factories.cpp: In static member function ‘static void ros1_bridge::Factory<ROS1_T, ROS2_T>::convert_2_to_1(const ROS2_T&, ROS1_T&) [with ROS1_T = vision_msgs::ObjectHypothesis_<std::allocator<void> >; ROS2_T = vision_msgs::msg::ObjectHypothesis_<std::allocator<void> >]’:
generated/vision_msgs__msg__ObjectHypothesis__factories.cpp:79:26: error: cannot convert ‘const _id_type {aka const std::__cxx11::basic_string<char>}’ to ‘vision_msgs::ObjectHypothesis_<std::allocator<void> >::_id_type {aka long int}’ in assignment
   ros1_msg.id = ros2_msg.id;
                          ^~

Expected behavior

ros1_bridge should successfully build by not associating ROS1 and ROS2 versions of vision_msgs/msg/ObjectHypothesisWithPose and vision_msgs/msg/ObjectHypothesis, as the types for the field id do not match.

Actual behavior

ros1_bridge build fails since it tries to associate ROS1 and ROS2 versions of vision_msgs/msg/ObjectHypothesisWithPose and vision_msgs/msg/ObjectHypothesis, despite the types for the field id not matching.

Additional information

ROS1 vision_msgs/msg/ObjectHypothesis uses an int64 for the id field. ROS2 vision_msgs/msg/ObjectHypothesis uses a string for the id field.

The default field matching rules, according to the docs in the repo, indicate automatic message associations are only created when all field types match.

Related discussion in vision_msgs: https://github.com/ros-perception/vision_msgs/issues/39

[gbiggs]

ROS 2 Eloquent is no longer supported. Does this problem occur on a more recent version of ROS 2?

[clalancette]

No response in over two weeks, so closing. Feel free to respond to the last question and reopen.

[cuge1995]

sudo apt-get install ros-melodic-vision-msgs