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ruddyscent / qurtle

GNU General Public License v3.0
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Most of the RMW is not available #4

Closed ruddyscent closed 1 year ago

ruddyscent commented 1 year ago

Only rmw_fastrtps_cpp works, rmw_connext_cpp, rmw_cyclonedds_cpp, rmw_gurumdds_cpp do not work with the following error message:

RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run demo_nodes_cpp listener
[ERROR] [1693444469.702161959] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_connext_cpp'), with error message 'failed to find shared library 'rmw_connext_cpp', at /tmp/binarydeb/ros-foxy-rmw-implementation-1.0.3/src/functions.cpp:73', exiting with 1., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/rmw_implementation_identifier_check.c:139
ruddyscent commented 1 year ago

DDSs other than rmw_fastrtps_cpp must be installed separately following the steps below: https://docs.ros.org/en/foxy/Installation/DDS-Implementations.html

ruddyscent commented 1 year ago

I have confirmed that ROS 2 nodes running on a Jetson Xavier NX and Docker on linux/amd64 succeed in communicating of ros2 run demo_nodes_cpp talker/listener with Eclipse Cyclone DDS.

I installed rmw_cyclonedds_cpp with:

sudo apt install ros-foxy-rmw-cyclonedds-cpp

and set the environment variable with:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ruddyscent commented 1 year ago

rmw_connextdds_cpp asks for a license agreement during installation. Due to the difficulty of automating this process, rmw_connextdds_cpp is not considered for installation.

ruddyscent commented 1 year ago

When you run the rmw_gurumdds_cpp node, you will get an error message that license verification is required:

# export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
# ros2 run demo_nodes_cpp listener
23-09-03 05:59:12.208 599010 599010 E  [License] Invalid license
23-09-03 05:59:12.208 599010 599010 E  [License] Reason: No license for feature(gurumdds-x86_64-linux)
23-09-03 05:59:12.208 599010 599010 E  [License] Please contact us via email below for license extension and inquiries.
23-09-03 05:59:12.208 599010 599010 E  [License] email: contact@gurum.cc

We also exclude rmw_gurumdds_cpp from consideration for installation, as it requires a separate license acquisition process.

ruddyscent commented 1 year ago

There are reports that rmw_cyclonedds_cpp fixes issues with the default DDS, rmw_fastrtps_cpp.