ros2/ros2

ROS2 Foxy: setup.sh enviroment variables not being set?

jamoralp opened this issue · 5 comments

jamoralp commented

Bug report

Required Info:

  • Operating System: Ubuntu Focal 20.04, running via ros:foxy Docker image
  • Installation type: binaries
  • Version or commit hash: https://dockr.ly/2ELWlUL
  • DDS implementation: Fast-RTPS
  • Client library (if applicable): rclcpp

Good morning,
I'm having some issues regarding the compilation package depending on rclcpp.
More specifically, the issue arises while compiling soss-ros2 package, from SOSS repository. These issue is not present in older ROS 2 distros.

The issue is only reproducible when sourcing an installation of ROS 2 Foxy from binaries. If I compile ROS 2 Foxy from sources, then source my local environment setup.bash, the process finishes without any complaints.

Steps to reproduce issue

Run a docker container instance of ros:foxy Docker image. I'm following this approach since my laptop has not been updated yet to Ubuntu 20.04, but the output should be identical to the one described here.

docker run -ti --rm --net=host ros:foxy

Source your ROS 2 Foxy installation.

. /opt/ros/foxy/setup.bash

Install necessary packages.

apt update && apt install -y libyaml-cpp-dev libboost-dev libboost-program-options-dev

Create a workspace and download the SOSS repository.

mkdir -p ~/soss_ws/src
cd ~/soss_ws
git clone --recursive --branch feature/xtypes-dds https://github.com/eProsima/soss_v2.git src/soss

Compile the soss-ros2 package.

colcon build --packages-up-to soss-ros2

Expected behavior

soss-ros2 package should be compiled successfully.

Actual behavior

Following output is produced:

Starting >>> soss-ros2
--- stderr: soss-ros2
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES)
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  /opt/ros/foxy/share/fastrtps_cmake_module/cmake/Modules/FindFastRTPS.cmake:95 (find_package_handle_standard_args)
  /opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:7 (find_package)
  /opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:41 (include)
  /opt/ros/foxy/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /opt/ros/foxy/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /opt/ros/foxy/share/rosidl_default_runtime/cmake/rosidl_default_runtime-extras.cmake:12 (find_package)
  /opt/ros/foxy/share/rosidl_default_runtime/cmake/rosidl_default_runtimeConfig.cmake:41 (include)
  /opt/ros/foxy/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /opt/ros/foxy/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
  /opt/ros/foxy/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/rcl/cmake/rclConfig.cmake:41 (include)
  /opt/ros/foxy/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
  /opt/ros/foxy/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/foxy/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
  CMakeLists.txt:8 (find_package)


---
Failed   <<< soss-ros2 [0.80s, exited with code 1]

Summary: 3 packages finished [42.7s]
  1 package failed: soss-ros2
  1 package had stderr output: soss-ros2

Additional information

The issue occurs during the find_package(rclcpp) CMake instruction. Although this project is not a ROS package, this is the first time this compilation issues have come to light; also, as I stated before, this is not happenning when compiling ROS 2 Foxy from sources, then sourcing my build environment and executing the same steps as described above, starting from step 3. Any thoughts?

clalancette commented

I'm able to reproduce the problem. My current suspicion is that the SOSS stuff is a non-ament package, using old-style CMake targets. In Foxy, we pushed a lot to use new-style CMake targets. There's probably some mismatch here where the old-style stuff isn't being exported as it should be, but I'm honestly not sure at the moment.

I'm fairly confident that one way to fix this would be to ament-ify these packages. That may or may not fit in with the goals of the SOSS project right now.

  • 👍1
jamoralp commented

I'm able to reproduce the problem. My current suspicion is that the SOSS stuff is a non-ament package, using old-style CMake targets. In Foxy, we pushed a lot to use new-style CMake targets. There's probably some mismatch here where the old-style stuff isn't being exported as it should be, but I'm honestly not sure at the moment.

I'm fairly confident that one way to fix this would be to ament-ify these packages. That may or may not fit in with the goals of the SOSS project right now.

Hello @clalancette, thank you for digging into this issue.
Yes, that would make sense. I don't think there's a problem from our side to ament-ify SOSS packages, but I just could not understand why this happened only when migrating to Foxy. I'll try and report ASAP. Thank you!

dirk-thomas commented

I don't think this has anything to do with the CMake target work since the failure happens when trying to find CMake packages. I also wouldn't expect this to be any different with pre-Foxy distros.

The reason is that the CMAKE_PREFIX_PATH isn't set for this plain CMake package. If you set it manually before the build works fine: CMAKE_PREFIX_PATH=/opt/ros/foxy colcon build --packages-up-to soss-ros2.

Only for ament packages AMENT_PREFIX_PATH is considered and if applicable added to the CMAKE_PREFIX_PATH.

Converting the package to be of type ros.ament_cmake works around the problem. You can emulate it by just dropping a colcon.pkg file with the following content into the package directory:

{
    "name": "soss-ros2",
    "type": "ros.ament_cmake",
    "dependencies": ["xtypes", "soss-core", "soss-rosidl"]
}

But I think there should be a proper way to support this - I am just not sure yet how that would look like.

dirk-thomas commented

The package type doesn't need to be ament_cmake - a ROS CMake package should be sufficient:

"type": "ros.cmake"

Or an equivalent package.xml file:

<package ...>
  ...
  <depend>xtypes</depend>
  <depend>soss-core</depend>
  <depend>soss-rosidl</depend>
  <export>
    <build_type>cmake</build_type>
  </export>
</package>
jamoralp commented

Sorry, I forgot to close this issue. This made the trick for me, thanks