Build error occurs in cyclonedds

[takeshi-iwanari]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've read document and no solution were found.

Issue type

Others

Step where the issue is related to

Setup

Environments

• OS: Ubuntu 22.04.1 LTS
• Kernel version: 5.19.0-41-generic
• ROS 2: Humble
• CPU: Intel(R) Core(TM) i7-10750H CPU @ 2.60GHz x 12
• Memory: 32.0 GiB

CARET version

• CARET: v0.4.16.1

Target application

No response

Description

The following error occurs when building CARET

--- stderr: cyclonedds                                                                                      
lto-wrapper: warning: using serial compilation of 18 LTRANS jobs
../../../bin/idlc: symbol lookup error: ../../../bin/idlc: undefined symbol: DDS_XTypes_TypeInformation_desc
gmake[2]: *** [src/tools/ddsperf/CMakeFiles/ddsperf_types_generate.dir/build.make:75: src/tools/ddsperf/ddsperf_types.c] Error 127
gmake[1]: *** [CMakeFiles/Makefile2:491: src/tools/ddsperf/CMakeFiles/ddsperf_types_generate.dir/all] Error 2
gmake: *** [Makefile:156: all] Error 2

Steps to reproduce

Follow the installation process

git clone https://github.com/tier4/caret.git ros2_caret_ws
cd ros2_caret_ws
mkdir src
vcs import src < caret.repos
./setup_caret.sh
source /opt/ros/humble/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
# Build error occurs

Commands

No response

Logs

No response

LTTng trace log file

No response

Screenshots

No response

[takeshi-iwanari]

• From v0.4.16.1, CARET clones ros-humble-cyclonedds because cyclonedds 0.10.x hides some symbols which CARET wants to refer
  • https://github.com/eclipse-cyclonedds/cyclonedds/blob/fe899f265dfa42d6303ef81487e4dfe8b9e203c1/src/core/CMakeLists.txt#L20
  • https://github.com/tier4/caret/pull/121
• In case the version of ros-humble-cyclonedds installed by apt is <= 0.9.x, building cyclonedds in CARET will fail
• How to solve
  • option1: Update cyclonedds
    • sudo apt install ros-humble-cyclonedds
  • option2: Keep cyclonedds <= 0.9.x
    • remove src/eclipse-cyclonedds