ROS foxy PCL ROS

Darshit Desai

Hi for VOXL2 I have tried installing PCL ROS for foxy it always gives an error unable to locate packages, may I know any alternatives or plans to include this? I checked the same in my native desktop ubuntu18.04+foxy, it is able to install the same

Darshit Desai

@Moderator it seems that since the voxl-ros2-foxy is just using a rosinstall generator its just installing lesser than bare bones foxy which is needed for building mpatoros2. If I mention pcl_ros in the rosdep install line and the rosinstall generator line would that also make a .deb file with that installed in it?

#!/bin/bash
#
# builds everything without installing
#
# Modal AI Inc. 2023
# author: zachary.lowell@ascendengineer.com


set -e

AVAILABLE_PLATFORMS="qrb5165"

print_usage(){
    echo ""
    echo " Build the current project based on platform target."
    echo ""
    echo " Usage:"
    echo ""
    echo "  ./build.sh qrb5165"
    echo "        Build 64-bit binaries for qrb5165"
    echo ""
    echo ""
}



case "$1" in
    qrb5165)
        ROS_DIST="foxy"
        ;;

    *)
        print_usage
        exit 1
        ;;
esac

current_dir=$(pwd)

sudo apt purge --auto-remove -y cmake
sudo apt update
sudo apt install --fix-missing
sudo apt install -y python3-pip
sudo apt install -y software-properties-common
sudo apt install -y ca-certificates gpg wget
sudo apt-get update

# manually obtain copy of keyring
test -f /usr/share/doc/kitware-archive-keyring/copyright || wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null

echo "adding kitware repository to sources"
echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ bionic main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
sudo apt-get update

#sudo apt-get install kitware-archive-keyring

sudo apt install -y cmake
sudo apt install -y qtcreator qtbase5-dev qt5-qmake
python3 -m pip install lark

ROS_PKG=ros_base
ROS_DISTRO=foxy
# Core ROS2 workspace - the "underlay"
ROS_BUILD_ROOT=/opt/ros/${ROS_DISTRO}-src
ROS_INSTALL_ROOT=/opt/ros/${ROS_DISTRO}

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# Add the ROS 2 apt repository
sudo apt-get update
sudo apt-get install -y --no-install-recommends \
                curl \
                wget \
                gnupg2 \
                lsb-release
sudo rm -rf /var/lib/apt/lists/*

wget --no-check-certificate https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
sudo apt-key add ros.asc
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

# install development packages
sudo apt-get update
sudo apt-get install -y libeigen3-dev
sudo cp -r /usr/include/eigen3/Eigen /usr/include
sudo apt-get install -y --no-install-recommends \
                build-essential \
                git \
                libbullet-dev \
                libpython3-dev \
                python3-flake8 \
                python3-pip \
                python3-pytest-cov \
                python3-rosdep \
                python3-setuptools \
                python3-vcstool \
                python3-rosinstall-generator \
                python3-numpy \
		libasio-dev \
                libtinyxml2-dev \
                libcunit1-dev
sudo rm -rf /var/lib/apt/lists/*

# install some pip packages needed for testing
python3 -m pip install -U \
                colcon-common-extensions \
                argcomplete \
                flake8-blind-except \
                flake8-builtins \
                flake8-class-newline \
                flake8-comprehensions \
                flake8-deprecated \
                flake8-docstrings \
                flake8-import-order \
                flake8-quotes \
                pytest-repeat \
                pytest-rerunfailures \
                pytest

# compile yaml-cpp-0.6, which some ROS packages may use (but is not in the 18.04 apt repo)
git clone --branch yaml-cpp-0.6.0 https://github.com/jbeder/yaml-cpp yaml-cpp-0.6 && \
    cd yaml-cpp-0.6 && \
    mkdir build && \
    cd build && \
    cmake -DBUILD_SHARED_LIBS=ON .. && \
    make -j$(nproc) && \
    sudo cp libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/ && \
    sudo ln -s /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6
    

# https://answers.ros.org/question/325245/minimal-ros2-installation/?answer=325249#post-id-325249
sudo mkdir -p ${ROS_BUILD_ROOT}/src && \
  cd ${ROS_BUILD_ROOT}
sudo sh -c "rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} pcl_ros pcl_conversions launch_xml launch_yaml example_interfaces > ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
    vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall"

# download unreleased packages
sudo sh -c "git clone --branch ros2 https://github.com/Kukanani/vision_msgs ${ROS_BUILD_ROOT}/src/vision_msgs && \
    git clone --branch ${ROS_DISTRO} https://github.com/ros2/demos demos && \
    cp -r demos/demo_nodes_cpp ${ROS_BUILD_ROOT}/src && \
    cp -r demos/demo_nodes_py ${ROS_BUILD_ROOT}/src && \
    rm -r -f demos"

# install dependencies using rosdep
sudo apt-get update
    cd ${ROS_BUILD_ROOT}
sudo rm -rf /etc/ros/rosdep/sources.list.d/20-default.list
sudo rosdep init
    rosdep update && \
    rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers qt_gui" pcl_ros pcl_conversions && \
    sudo rm -rf /var/lib/apt/lists/*

# build it!
sudo mkdir -p ${ROS_INSTALL_ROOT}
# sudo required to write build logs
sudo colcon build --merge-install --install-base ${ROS_INSTALL_ROOT} --packages-skip vision_msgs_rviz_plugins

cd $current_dir

mkdir -p misc_files/opt/ros/${ROS_DIST}/
cp -r /opt/ros/foxy/*  misc_files/opt/ros/${ROS_DIST}/
chmod -R 777 misc_files

Darshit Desai

@Moderator I have tried building from source the pcl_conversions and pcl_msgs interfaces and using it in my workspace but when I try to build it, I get this very huge error which I cannot understand the context, So I thought that pcl_conversions might be causing that error so I removed that package entirely from my workspace and modified my code not to use it, and I almost get the same huge error. I am not sure why?

It is able to build one package which just does a simple static tf transform but other than that it is not able to build the ones doing rigid body transformations.

I have attached the files of the simple tf static publisher package here which the ros2 foxy is able to build: https://drive.google.com/drive/folders/1ztfUPCP5LBFMhwHVekq7Z8GiAV2sKDT7?usp=sharing

I am also able to build the pcl_conversions and pcl_msgs from source in my workspace successfully, the tee'd output is here: https://drive.google.com/file/d/1uUnfCSvEmzaRdQDuqrffW-mAJky9wCao/view?usp=drive_link

The only main package which is the backbone of my sensor fusion code isn't able to build both with the pcl_conversions package included and without it which just uses vanilla ros functions, their package links are here,
pcl_msgs: https://github.com/ros-perception/pcl_msgs/tree/ros2
pcl_conversions: https://github.com/ros-perception/perception_pcl/tree/ros2

Vanilla ros function rigid body transformer tee'd error file: https://drive.google.com/file/d/1yVQS8FGBL1S6wfqPgEWjVe9JiV7SbR4g/view?usp=drive_link
Package link: https://drive.google.com/drive/folders/1e_ucTv8ohAXtaPGEpLEprF6KQB8hN_O9?usp=sharing

PCL_conversion included rigid body transformer tee'd build error file: https://drive.google.com/file/d/1uL2qk2i4GmZD0wu4TtNs3l_ACGUiZLCA/view?usp=sharing
package link: https://drive.google.com/drive/folders/1Ep-Vn_Hr-xDXreqI9nW1r5lzcfx929Z1?usp=sharing

Note installing packages from source is very tedious I don't know why the functionality of apt install was removed and the ros2-foxy is being built from a rosinstall generator, but doing such a thing makes the use of ros2 limited to just mpatoros2 node which isn't much because I still need to install a docker container now to use ros2 libraries if this doesn't work. (https://gitlab.com/voxl-public/voxl-sdk/third-party/voxl-ros2-foxy/-/blob/master/build.sh?ref_type=heads#L139)

Moderator

@Darshit-Desai We will see if others have any insight on how to solve your compilation issues. It's likely though we do not have more insight than you would have as the developer. A Docker may be your best approach for custom ROS installs

Darshit Desai

@Moderator I just wanted to clarify something, if I am building a ubuntu ros 22.04 humble image it should be arm64 version right? Specifically arm64/v8, this is the architecture which VOXL2 has right?

https://hub.docker.com/layers/library/ros/humble-ros-core-jammy/images/sha256-07123e8516d8c513f7e583b7377dfc00821eeacd74f657e389f2f399a8745e05?context=explore

Zachary Lowell 0

@Darshit-Desai said in ROS foxy PCL ROS:

know

@Darshit-Desai I am unsure if I am following what you are trying to do - we do not support installing third party ros2 packages on the disk as it may conflict with some of the VOXL-sdk we have on their, a good example of this is something like opencv.

As for using a ubuntu ros 22.04 humble docker image you should be using the arm64 version correct. arm64/v8 provided by OSRF should work out the gate on the voxl2.

Hopefully this helps. Cheers!

Darshit Desai

@Zachary-Lowell-0 Yes I was able to install docker of u22.04, but at the same time when I was running everything on natively in melodic on the drone I was able to use 3rd party libraries like PCL ROS and I was able to install it, this was because the ROS installation was left on the user. I just thought it would be same with ROS2. Although now I have set up ARM64 dockers in my desktop ubuntu so now I can make as many changes on my desktop and just push the new docker

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