voxl-px4 and voxl-mpa-to-ros2 message compatibility and build issues
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Is there are an easy way to find out which versions of voxl-px4 are compatible with which versions voxl-mpa-to-ros2? Idk if you guys are tracking this internally or not. I think it might be good to have a a tag for voxl-mpa-to-ros2 to match each sdk tag of voxl-px4 where the firmware/message definitions change. I noticed that the latest tags for for both packages have at least one message definition conflict (that happens to be the message I need to work with)
Am I right to assume I could just drop the voxl-px4/px4-firmaware/msg directory in place of voxl-mpa-to-ros2/colcon_ws/src/px4_msgs/msg directory to match up message defintions when building voxl-mpa-to-ros2? If I take the CMakeLists.txt file out of the uorb message definition repo in the px4 firmware both message def repos look otherwise identical in terms of format
On a side note, I'm having an issue building the voxl-mpa-to-ros2 package. I'm getting the following errors for each version I've tried (tag sdk-1.1 and sdk-1.3., master branch). This is from my last attempt.
qrb5165-emulator:~((sdk-1.1.0))(0.0.1)$ ./build.sh qrb5165 Starting >>> camera_calibration_parsers Starting >>> image_transport Starting >>> px4_msgs Starting >>> voxl_msgs Starting >>> voxl_offboard_figure8 Finished <<< voxl_offboard_figure8 [4.82s] --- stderr: px4_msgs CMake Error at /opt/ros/foxy/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:60 (message): execute_process(/usr/bin/python3 -m rosidl_adapter --package-name px4_msgs --arguments-file /home/root/colcon_ws/build/px4_msgs/rosidl_adapter__arguments__px4_msgs.json --output-dir /home/root/colcon_ws/build/px4_msgs/rosidl_adapter/px4_msgs --output-file /home/root/colcon_ws/build/px4_msgs/rosidl_adapter/px4_msgs.idls) returned error code 1: AttributeError processing template 'msg.idl.em' Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template em.BUFFERED_OPT: True, AttributeError: module 'em' has no attribute 'BUFFERED_OPT' During handling of the above exception, another exception occurred: Traceback (most recent call last): File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main "__main__", mod_spec) File "/usr/lib/python3.6/runpy.py", line 85, in _run_code exec(code, run_globals) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__main__.py", line 19, in <module> sys.exit(main()) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/main.py", line 55, in main pathlib.Path(relative_path), output_dir) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__init__.py", line 20, in convert_to_idl package_dir, package_name, interface_file, output_dir / 'msg') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template content = evaluate_template(template_name, data) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template _interpreter.shutdown() AttributeError: 'NoneType' object has no attribute 'shutdown' Call Stack (most recent call first): /opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces) CMakeLists.txt:28 (rosidl_generate_interfaces) --- Failed <<< px4_msgs [13.9s, exited with code 1] --- stderr: voxl_msgs CMake Error at /opt/ros/foxy/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:60 (message): execute_process(/usr/bin/python3 -m rosidl_adapter --package-name voxl_msgs --arguments-file /home/root/colcon_ws/build/voxl_msgs/rosidl_adapter__arguments__voxl_msgs.json --output-dir /home/root/colcon_ws/build/voxl_msgs/rosidl_adapter/voxl_msgs --output-file /home/root/colcon_ws/build/voxl_msgs/rosidl_adapter/voxl_msgs.idls) returned error code 1: AttributeError processing template 'msg.idl.em' Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template em.BUFFERED_OPT: True, AttributeError: module 'em' has no attribute 'BUFFERED_OPT' During handling of the above exception, another exception occurred: Traceback (most recent call last): File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main "__main__", mod_spec) File "/usr/lib/python3.6/runpy.py", line 85, in _run_code exec(code, run_globals) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__main__.py", line 19, in <module> sys.exit(main()) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/main.py", line 55, in main pathlib.Path(relative_path), output_dir) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__init__.py", line 20, in convert_to_idl package_dir, package_name, interface_file, output_dir / 'msg') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template content = evaluate_template(template_name, data) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template _interpreter.shutdown() AttributeError: 'NoneType' object has no attribute 'shutdown' Call Stack (most recent call first): /opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces) CMakeLists.txt:22 (rosidl_generate_interfaces) --- Failed <<< voxl_msgs [13.9s, exited with code 1] Aborted <<< camera_calibration_parsers [21.0s] Aborted <<< image_transport [22.6s] Summary: 1 package finished [23.8s] 2 packages failed: px4_msgs voxl_msgs 2 packages aborted: camera_calibration_parsers image_transport 2 packages had stderr output: px4_msgs voxl_msgs 4 packages not processedThe error has been the same for each version I've tried to build. This is without making changes to the msg directory.
Any idea why this is happening? I've built these packages in the past successfully, not sure what changed -
tried building voxl-ros2-foxy package. I thought maybe there's an issue with installing it from install_build_dependencies.sh so I was going to build it then clone the voxl-mpa-to-ros2 project from within the docker container to try to build it. Got same error 20 min into build...
Starting >>> rosidl_generator_c Starting >>> rosidl_typesupport_introspection_c --- stderr: rosidl_generator_c CMake Error at /opt/ros/foxy/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:60 (message): execute_process(/usr/bin/python3 -m rosidl_adapter --package-name rosidl_generator_c --arguments-file /opt/ros/foxy-src/build/rosidl_generator_c/rosidl_adapter__arguments__rosidl_generator_c_interfaces.json --output-dir /opt/ros/foxy-src/build/rosidl_generator_c/rosidl_adapter/rosidl_generator_c --output-file /opt/ros/foxy-src/build/rosidl_generator_c/rosidl_adapter/rosidl_generator_c_interfaces.idls) returned error code 1: AttributeError processing template 'msg.idl.em' Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template em.BUFFERED_OPT: True, AttributeError: module 'em' has no attribute 'BUFFERED_OPT' During handling of the above exception, another exception occurred: Traceback (most recent call last): File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main "__main__", mod_spec) File "/usr/lib/python3.6/runpy.py", line 85, in _run_code exec(code, run_globals) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__main__.py", line 19, in <module> sys.exit(main()) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/main.py", line 55, in main pathlib.Path(relative_path), output_dir) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__init__.py", line 20, in convert_to_idl package_dir, package_name, interface_file, output_dir / 'msg') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template content = evaluate_template(template_name, data) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template _interpreter.shutdown() AttributeError: 'NoneType' object has no attribute 'shutdown' Call Stack (most recent call first): /opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces) CMakeLists.txt:46 (rosidl_generate_interfaces) --- Failed <<< rosidl_generator_c [29.5s, exited with code 1]^ this was using dev branches and dependencies. Built inside qrb5165-emulator docker image v1.5
Again, I did all this months ago with sdk-1.1 version of everything and had no issues.I was building voxl-ros2-foxy tag sdk-1.3.0 in a separate container as well. It looks like the build finished without errors, but when I run ./make_package.sh deb I get the following output"
qrb5165-emulator:~((sdk-1.2.0))(0.0.1)$ ./make_package.sh deb Package Name: voxl-ros2-foxy version Number: 0.0.1 Unknown host QEMU_IFLA type: 54 Unknown host QEMU_IFLA type: 32820 Unknown host QEMU_IFLA type: 56 Unknown host QEMU_IFLA type: 57 Unknown host QEMU_IFLA type: 54 Unknown host QEMU_IFLA type: 32820 Unknown host QEMU_IFLA type: 56 Unknown host QEMU_IFLA type: 57 run build before make_packageI don't know where I'm supposed to run build from after already running the ./build.sh script
^also thought it was weird that the tag is being displayed as (sdk-1.2.0). I cloned the gitlab repo with option "-b sdk-1.3.0" -
Ok so I just pushed version of the px4_msgs package (https://github.com/PX4/px4_msgs/tree/release/1.14) that I had updated with the latest px4-firmware message definitions to one of the vehicles (Sentinel's with latest sdk, voxl-ros2-foxy and voxl-mpa-to-ros2 downloaded via apt repository) and I'm getting a similar error when I try to build it on the voxl2:
voxl2:~/ros2_ws$ colcon build Starting >>> px4_msgs --- stderr: px4_msgs CMake Error at /opt/ros/foxy/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:60 (message): execute_process(/usr/bin/python3 -m rosidl_adapter --package-name px4_msgs --arguments-file /home/root/ros2_ws/build/px4_msgs/rosidl_adapter__arguments__px4_msgs.json --output-dir /home/root/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs --output-file /home/root/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs.idls) returned error code 1: AttributeError processing template 'msg.idl.em' Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template em.BUFFERED_OPT: True, AttributeError: module 'em' has no attribute 'BUFFERED_OPT' During handling of the above exception, another exception occurred: Traceback (most recent call last): File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main "__main__", mod_spec) File "/usr/lib/python3.6/runpy.py", line 85, in _run_code exec(code, run_globals) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__main__.py", line 19, in <module> sys.exit(main()) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/main.py", line 55, in main pathlib.Path(relative_path), output_dir) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__init__.py", line 20, in convert_to_idl package_dir, package_name, interface_file, output_dir / 'msg') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1') File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template content = evaluate_template(template_name, data) File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template _interpreter.shutdown() AttributeError: 'NoneType' object has no attribute 'shutdown' Call Stack (most recent call first): /opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces) CMakeLists.txt:28 (rosidl_generate_interfaces) --- Failed <<< px4_msgs [5.86s, exited with code 1] Summary: 0 packages finished [6.23s] 1 package failed: px4_msgs 1 package had stderr output: px4_msgsNot sure what's going on here. Any help is appreciated!
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Found the source of the build issues. This line in voxl-mpa-to-ros2
python3 -m pip install colcon-common-extensions larkis installing an incompatible version of empy. See here:
https://github.com/colcon/colcon-core/issues/602
Another issue with a default sentinel/voxl2 set-up when installing ros2 I've found - need to add a sim link for libtinyxml2. I got this build error
make[2]: *** No rule to make target '/usr/lib/aarch64-linux-gnu/libtinyxml2.so', needed by 'libpx4_msgs__rosidl_typesupport_fastrtps_cpp.so'. Stopwhich I resolved via
ln -s /usr/lib/aarch64-linux-gnu/libtinyxml2.so.6 /usr/lib/aarch64-linux-gnu/libtinyxml2.soI don't know if these issues are specific to the sentinel platform or not. I added the empy version fix to a fork of voxl-mpa-to-ros2 and will push a merge request. I'm guessing there should be a similar fix within a voxl-ros2-foxy install script or else there'll be build issues whenever trying to build a ros package onboard a vehicle that compiles ros messages (empy version issue was what was preventing me from building px4_msgs package onboard)
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@jmltt good find - I will test on my voxl2 once your fork has had a MR made.
Zach
