xacro is not listed as a required dependency

eladpar commented 1 year ago

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Description

Hey it is possible to compile the wrapper without having xacro installed . while the dependency diagnostic_updater stops the compilation

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

    diagnostic_updaterConfig.cmake
    diagnostic_updater-config.cmake

not installing xacro can lead to the following error:

ask exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure("file not found: [Errno 2] No such file or directory: 'xacro'")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py", line 108, in perform
    result = subprocess.run(
  File "/usr/lib/python3.8/subprocess.py", line 493, in run
    with Popen(*popenargs, **kwargs) as process:
  File "/usr/lib/python3.8/subprocess.py", line 858, in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
  File "/usr/lib/python3.8/subprocess.py", line 1704, in _execute_child
    raise child_exception_type(errno_num, err_msg, err_filename)
FileNotFoundError: [Errno 2] No such file or directory: 'xacro'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 4 more times]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute
    self._perform_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions
    evaluated_parameters = evaluate_parameters(context, self.__parameters)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 164, in evaluate_parameters
    output_params.append(evaluate_parameter_dict(context, param))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 71, in evaluate_parameter_dict
    evaluated_value = perform_substitutions(context, list(value))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py", line 114, in perform
    raise SubstitutionFailure(f'file not found: {ex}')
launch.substitutions.substitution_failure.SubstitutionFailure: file not found: [Errno 2] No such file or directory: 'xacro'

my recommendation: add it to required packages in Cmakelists

Steps to Reproduce

1.compile without xacro

Expected Result

working

Actual Result

not working

ZED Camera model

ZED Mini

Environment

LINUX
ARM
JETSON XAVIER NX JETPACK 5.0.2
ROS FOXY

Anything else?

No response

Myzhar commented 1 year ago

@eladpar Xacro is not required to compile the node so it's an error to put it in CMakeLists.txt

It is indeed listed as an exec dependency in package.xml. This allows to automatically install this dependecy with the command rosdep install --from-paths src --ignore-src -r -y

eladpar commented 1 year ago

@eladpar Xacro is not required to compile the node so it's an error to put it in CMakeLists.txt

It is indeed listed as an exec dependency in package.xml. This allows to automatically install this dependecy with the command rosdep install --from-paths src --ignore-src -r -y

oops you are right for some reson the rosdep command didnt work for me closing

stereolabs / zed-ros2-wrapper