Building with colcon (ROS2)

[Necro-U]

I am tryingn to build opencv with colcon. But when i try to build it can't find my opencv.

Operating system Pop-os 22.04

Versions Rust : 1.76.0 Opencv : 4.9.0-dev ROS : ROS2 Humble ( I am using r2r

I have installed opencv with package ( apt ) .

The commend:

colcon build --packages-select ehlikesf

And Error:

Starting >>> ehlikesf --- stderr: ehlikesf
warning: profiles for the non root package will be ignored, specify profiles at the workspace root: package: /home/hikmetli/Projects/ehlikesf/src/ehli_kesf_calisma_alani/ehlikesf/ground_station/Cargo.toml workspace: /home/hikmetli/Projects/ehlikesf/src/ehli_kesf_calisma_alani/ehlikesf/Cargo.toml warning: profiles for the non root package will be ignored, specify profiles at the workspace root: package: /home/hikmetli/Projects/ehlikesf/src/ehli_kesf_calisma_alani/ehlikesf/ahrar/Cargo.toml workspace: /home/hikmetli/Projects/ehlikesf/src/ehli_kesf_calisma_alani/ehlikesf/Cargo.toml Compiling zenoh-link v0.10.0-rc Compiling opencv v0.86.1 Compiling r2r v0.7.5 error: failed to run custom build command for opencv v0.86.1

Caused by: process didn't exit successfully: /home/hikmetli/Projects/ehlikesf/src/ehli_kesf_calisma_alani/ehlikesf/target/colcon/build/opencv-cc16ec358b318a6f/build-script-build (exit status: 101) --- stderr === Crate version: Some("0.86.1") === Environment configuration: === OPENCV_PACKAGE_NAME = None === OPENCV_PKGCONFIG_NAME = None === OPENCV_CMAKE_NAME = None === OPENCV_CMAKE_BIN = None === OPENCV_VCPKG_NAME = None === OPENCV_LINK_LIBS = None === OPENCV_LINK_PATHS = None === OPENCV_INCLUDE_PATHS = None === OPENCV_DISABLE_PROBES = None === OPENCV_MSVC_CRT = None === CMAKE_PREFIX_PATH = Some("/home/hikmetli/Projects/ehlikesf/install/px4_msgs:/opt/ros/humble") === OpenCV_DIR = None === PKG_CONFIG_PATH = None === VCPKG_ROOT = None === VCPKGRS_DYNAMIC = None === VCPKGRS_TRIPLET = None === OCVRS_DOCS_GENERATE_DIR = None === DOCS_RS = None === PATH = Some("/home/hikmetli/.pyenv/versions/3.9.1/bin:/home/hikmetli/.pyenv/plugins/pyenv-virtualenv/shims:/home/hikmetli/.pyenv/shims:/home/hikmetli/.pyenv/bin:/opt/ros/humble/bin:/home/hikmetli/.pyenv/plugins/pyenv-virtualenv/shims:/home/hikmetli/.pyenv/bin:/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:/home/hikmetli/.cargo/bin:/home/hikmetli/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:~/flutter/bin:/home/hikmetli/.pub-cache/bin:~/flutter/bin:/home/hikmetli/.pub-cache/bin") === Enabled features: === CLANG_RUNTIME === HIGHGUI === IMGCODECS === IMGPROC === VIDEOIO === Detected probe priority based on environment vars: pkg_config: false, cmake: true, vcpkg: false === Probing the OpenCV library in the following order: environment, cmake, pkg_config, vcpkg_cmake, vcpkg === Can't probe using: environment, continuing with other methods because: Some environment variables are missing === Probing OpenCV library using cmake === cmake ninja probe command: cd "/home/hikmetli/Projects/ehlikesf/src/ehli_kesf_calisma_alani/ehlikesf/target/colcon/build/opencv-34127a3c1386513d/out/cmake_probe_build" && "cmake" "-S" "/home/hikmetli/.cargo/registry/src/index.crates.io-6f17d22bba15001f/opencv-0.86.1/cmake" "-DOCVRS_PACKAGE_NAME=OpenCV" "-DCMAKE_BUILD_TYPE=Release" "-G" "Ninja" === Successfully probed using: cmake === OpenCV library configuration: Library { include_paths: [], version: Version { major: 0, minor: 0, patch: 0, }, cargo_metadata: [ "cargo:rustc-link-search=/usr/local/lib", "cargo:rustc-link-lib=opencv_gapi", "cargo:rustc-link-lib=opencv_stitching", "cargo:rustc-link-lib=opencv_alphamat", "cargo:rustc-link-lib=opencv_aruco", "cargo:rustc-link-lib=opencv_bgsegm", "cargo:rustc-link-lib=opencv_bioinspired", "cargo:rustc-link-lib=opencv_ccalib", "cargo:rustc-link-lib=opencv_dnn_objdetect", "cargo:rustc-link-lib=opencv_dnn_superres", "cargo:rustc-link-lib=opencv_dpm", "cargo:rustc-link-lib=opencv_face", "cargo:rustc-link-lib=opencv_freetype", "cargo:rustc-link-lib=opencv_fuzzy", "cargo:rustc-link-lib=opencv_hdf", "cargo:rustc-link-lib=opencv_hfs", "cargo:rustc-link-lib=opencv_img_hash", "cargo:rustc-link-lib=opencv_intensity_transform", "cargo:rustc-link-lib=opencv_line_descriptor", "cargo:rustc-link-lib=opencv_mcc", "cargo:rustc-link-lib=opencv_quality", "cargo:rustc-link-lib=opencv_rapid", "cargo:rustc-link-lib=opencv_reg", "cargo:rustc-link-lib=opencv_rgbd", "cargo:rustc-link-lib=opencv_saliency", "cargo:rustc-link-lib=opencv_signal", "cargo:rustc-link-lib=opencv_stereo", "cargo:rustc-link-lib=opencv_structured_light", "cargo:rustc-link-lib=opencv_superres", "cargo:rustc-link-lib=opencv_surface_matching", "cargo:rustc-link-lib=opencv_tracking", "cargo:rustc-link-lib=opencv_videostab", "cargo:rustc-link-lib=opencv_viz", "cargo:rustc-link-lib=opencv_wechat_qrcode", "cargo:rustc-link-lib=opencv_xfeatures2d", "cargo:rustc-link-lib=opencv_xobjdetect", "cargo:rustc-link-lib=opencv_xphoto", "cargo:rustc-link-lib=opencv_shape", "cargo:rustc-link-lib=opencv_highgui", "cargo:rustc-link-lib=opencv_datasets", "cargo:rustc-link-lib=opencv_plot", "cargo:rustc-link-lib=opencv_text", "cargo:rustc-link-lib=opencv_ml", "cargo:rustc-link-lib=opencv_phase_unwrapping", "cargo:rustc-link-lib=opencv_optflow", "cargo:rustc-link-lib=opencv_ximgproc", "cargo:rustc-link-lib=opencv_video", "cargo:rustc-link-lib=opencv_videoio", "cargo:rustc-link-lib=opencv_imgcodecs", "cargo:rustc-link-lib=opencv_objdetect", "cargo:rustc-link-lib=opencv_calib3d", "cargo:rustc-link-lib=opencv_dnn", "cargo:rustc-link-lib=opencv_features2d", "cargo:rustc-link-lib=opencv_flann", "cargo:rustc-link-lib=opencv_photo", "cargo:rustc-link-lib=opencv_imgproc", "cargo:rustc-link-lib=opencv_core", ], } thread 'main' panicked at /home/hikmetli/.cargo/registry/src/index.crates.io-6f17d22bba15001f/opencv-0.86.1/build.rs:354:9: Unsupported OpenCV version: 0.0.0, must be from 3.2, 3.4 or 4.x branch note: run with RUST_BACKTRACE=1 environment variable to display a backtrace warning: build failed, waiting for other jobs to finish... gmake[2]: [CMakeFiles/cargo_target.dir/build.make:70: CMakeFiles/cargo_target] Error 101 gmake[1]: [CMakeFiles/Makefile2:164: CMakeFiles/cargo_target.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2

Failed <<< ehlikesf [28.7s, exited with code 2]

Summary: 0 packages finished [29.4s] 1 package failed: ehlikesf 1 package had stderr output: ehlikesf

[twistedfall]

It's difficult to say what exactly goes wrong with your setup, but the crate build script needs a way to find installed OpenCV and if it's installed to a non-standard location without any cmake or pkgconfig files to help it then you'll need to provide the correct paths yourself using the environment variables described here: https://github.com/twistedfall/opencv-rust?tab=readme-ov-file#environment-variables

[Necro-U]

I want to ask sometinhg about setting environments. I created a config.toml file to set these variables. Will this method work? Or will it set the environments after building?

[twistedfall]

The environment variables only have effect during build, not in runtime. The build script only reads variables from the environment, so you need a way to transfer these from cargo.toml to the build script environment. I think cargo can do this for you, but I’ve never tried it myself: https://doc.rust-lang.org/cargo/reference/config.html#env

[Necro-U]

yes I have tried this but it is not working. Still opencv cannot found. Are there any other suggestions ?

[Necro-U]

oh wait i tried on the root folder now it works but i have another issue. It complains about clang;

a libclang shared library is not loaded on this thread.

[Necro-U]

I found this, thank you :smile: .