Incompatible with the latest RMW? #32

AAlon · 2019-04-17T01:23:10Z

I'm using a source installation of ROS2 from tip of master on Ubuntu Bionic (mostly equivalent to Crystal in terms of API compatibility).

Ran CoreDX's scripts/cdxenv.sh, then cloned this repo into the src/ros2/ dir and ran colcon build --symlink-install --cmake-force-configure, which failed.

Seeing as the last commit was a while ago, I'm wondering whether this is still supposed to be compatible with the latest ROS2 and RMW interface?

Build log:

--- stderr: rmw_coredx_cpp
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/custom_listeners.cpp: In member function ‘virtual void CustomDataReaderListener::trigger_graph_guard_condition()’:
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/custom_listeners.cpp:77:70: error: ‘rmw_get_error_string_safe’ was not declared in this scope
     fprintf(stderr, "failed to trigger graph guard condition: %s\n", rmw_get_error_string_safe());
                                                                      ^~~~~~~~~~~~~~~~~~~~~~~~~
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/rmw_create_guard_condition.cpp: In function ‘rmw_guard_condition_t* rmw_create_guard_condition()’:
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/rmw_create_guard_condition.cpp:42:1: error: conflicting declaration of C function ‘rmw_guard_condition_t* rmw_create_guard_condition()’
 rmw_create_guard_condition( )
 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/rmw_create_guard_condition.cpp:20:0:
/ros2_clean/install/rmw/include/rmw/rmw.h:528:1: note: previous declaration ‘rmw_guard_condition_t* rmw_create_guard_condition(rmw_context_t*)’
 rmw_create_guard_condition(rmw_context_t * context);
 ^~~~~~~~~~~~~~~~~~~~~~~~~~
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/custom_listeners.cpp:77:70: note: suggested alternative: ‘rmw_get_error_string’
     fprintf(stderr, "failed to trigger graph guard condition: %s\n", rmw_get_error_string_safe());
                                                                      ^~~~~~~~~~~~~~~~~~~~~~~~~
                                                                      rmw_get_error_string
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/names.cpp: In function ‘bool rmw_coredx_process_service_name(const char*, bool, char**, char**)’:
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/names.cpp:98:5: error: expected ‘;’ before ‘success’
     success = false;
     ^~~~~~~
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/names.cpp:107:5: error: expected ‘;’ before ‘success’
     success = false;
     ^~~~~~~
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/rmw_create_node.cpp: In function ‘rmw_node_t* rmw_create_node(const char*, const char*, size_t, const rmw_node_security_options_t*)’:
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/rmw_create_node.cpp:73:1: error: conflicting declaration of C function ‘rmw_node_t* rmw_create_node(const char*, const char*, size_t, const rmw_node_security_options_t*)’
 rmw_create_node (
 ^~~~~~~~~~~~~~~
In file included from /ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/rmw_create_node.cpp:20:0:
/ros2_clean/install/rmw/include/rmw/rmw.h:166:1: note: previous declaration ‘rmw_node_t* rmw_create_node(rmw_context_t*, const char*, const char*, size_t, const rmw_node_security_options_t*)’
 rmw_create_node(
 ^~~~~~~~~~~~~~~
/ros2_clean/src/ros2/rmw_coredx/rmw_coredx_cpp/src/rmw_create_node.cpp:128:55: error: too few arguments to function ‘rmw_guard_condition_t* rmw_create_guard_condition(rmw_context_t*)’
   graph_guard_condition = rmw_create_guard_condition( );

The text was updated successfully, but these errors were encountered:

ClarkTucker · 2019-04-17T19:41:21Z

We haven't yet updated this code to work with the current API, so this isn't too surprising to me. I think we've got it on our engineering schedule in the next month or so... Can you make progress in the mean-time using an older ros2 baseline?

AAlon · 2019-04-17T21:45:31Z

We wanted to evaluate performance, and for that we'd prefer to use the latest version of ROS2. We can wait and check back once support is in place; I just want to note that ROS2 Dashing is coming out in about two months, so it might be wise to skip crystal and invest in ROS2-D support. Thanks!

ClarkTucker · 2019-05-04T21:37:55Z

Recently updated to support the Crystal API. [Haven't built against master yet...]

ChuiVanfleet · 2019-05-29T18:44:02Z

Any word on this building with latest RMW?

ClarkTucker · 2019-05-30T15:44:49Z

No progress yet beyond the Crystal version. This will hopefully be worked by the end of June.

rotu · 2019-09-04T19:30:48Z

@ClarkTucker Any movement on this? I'm seeing lots of build errors against ROS2 Dashing.

rotu · 2019-09-04T20:45:20Z

Here's the build log I get:
colcon stderr.log

ClarkTucker · 2019-09-05T20:15:51Z

I just merged an update that is compatible with the dashing api.
It builds OK for me on Linux/64bit. Haven't tried under Windows.
Limited testing looks good so far.

rotu · 2019-09-05T20:50:15Z

Thanks, @ClarkTucker!

What CoreDX version are you building against? I'm struggling to get a clean build on Ubuntu 18.04 against CoreDX 4.5.0 x86_64 as downloaded from here http://www.twinoakscomputing.com/coredx/download

--- stderr: rosidl_typesupport_coredx_c
In file included from /home/dan/ros2_ws/src/rmw_coredx/rosidl_typesupport_coredx_c/src/wstring_conversion.cpp:15:
In file included from /home/dan/ros2_ws/src/rmw_coredx/rosidl_typesupport_coredx_c/include/rosidl_typesupport_coredx_c/wstring_conversion.hpp:20:
In file included from /opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/dds.hh:28:
/opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/dds_map.hh:32:32: error: unknown type name 'map_compare_func'
  template <class KT,class VT, map_compare_func CMP>

After uncommenting the typedef in the beginning of that header dds_map.hh:

--- stderr: rosidl_typesupport_coredx_c                                        
In file included from /home/dan/ros2_ws/src/rmw_coredx/rosidl_typesupport_coredx_c/src/wstring_conversion.cpp:15:
In file included from /home/dan/ros2_ws/src/rmw_coredx/rosidl_typesupport_coredx_c/include/rosidl_typesupport_coredx_c/wstring_conversion.hpp:20:
In file included from /opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/dds.hh:28:
/opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/dds_map.hh:96:5: error: C++ requires a type specifier for all declarations
    DDS_MAP_DEFINE_CXX(KT, VT, CoreMapType);
    ^
In file included from /home/dan/ros2_ws/src/rmw_coredx/rosidl_typesupport_coredx_c/src/wstring_conversion.cpp:15:
In file included from /home/dan/ros2_ws/src/rmw_coredx/rosidl_typesupport_coredx_c/include/rosidl_typesupport_coredx_c/wstring_conversion.hpp:20:
/opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/dds.hh:90:11: error: unknown type name 'DDS_DOMAINID_TYPE_NATIVE'
  typedef DDS_DOMAINID_TYPE_NATIVE  DomainId_t; 
          ^
/opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/dds.hh:91:11: error: unknown type name 'DDS_HANDLE_TYPE_NATIVE'
  typedef DDS_HANDLE_TYPE_NATIVE    InstanceHandle_t; 
          ^

ClarkTucker · 2019-09-05T21:11:11Z

I built against CoreDX DDS v4.5.3 and v4.7.0.

The file "include/dds/dds.hh" includes "dds/dds.h". This file, in turn, should provide the declarations for map_compare_func, DDS_HANDLE_TYPE_NATIVE, and the others...

Is it possible that you have an include path that provides "dds/dds.h" from some other vendor or project?

rotu · 2019-09-05T23:31:02Z

Bingo! I'm not sure why it winds CoreDX's include directory winds up behind CycloneDDS's but you nailed it:

eclipse-cyclonedds/cyclonedds#249

It builds now, but there are still some unimplemented hooks that error when ROS tries to load the middleware layer:

ros2 node list

>>> [rcutils|error_handling.c:106] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_init_publisher_allocation' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

with this new error message:

  'failed to resolve symbol 'rmw_fini_publisher_allocation' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

>>> [rcutils|error_handling.c:106] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_fini_publisher_allocation' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

with this new error message:

  'failed to resolve symbol 'rmw_get_serialized_message_size' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

>>> [rcutils|error_handling.c:106] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_get_serialized_message_size' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

with this new error message:

  'failed to resolve symbol 'rmw_init_subscription_allocation' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

>>> [rcutils|error_handling.c:106] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_init_subscription_allocation' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

with this new error message:

  'failed to resolve symbol 'rmw_fini_subscription_allocation' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

>>> [rcutils|error_handling.c:106] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_fini_subscription_allocation' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

with this new error message:

  'failed to resolve symbol 'rmw_set_log_severity' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

>>> [rcutils|error_handling.c:106] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_set_log_severity' in shared library '/home/dan/ros2_ws/install/lib/librmw_coredx_cpp.so', at /home/dan/ros2_ws/src/rmw_implementation/rmw_implementation/src/functions.cpp:163'

with this new error message:

  'type support handle implementation 'rosidl_typesupport_c' (0x7f619b7e0568) does not match valid type supports ('rosidl_typesupport_coredx_cpp' (0x7f619af85115), 'rosidl_typesupport_coredx_c' (0x7f619b187bb9)), at /home/dan/ros2_ws/src/rmw_coredx/rmw_coredx_cpp/src/rmw_create_publisher.cpp:90'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
Unknown error creating node: type support handle implementation 'rosidl_typesupport_c' (0x7f619b7e0568) does not match valid type supports ('rosidl_typesupport_coredx_cpp' (0x7f619af85115), 'rosidl_typesupport_coredx_c' (0x7f619b187bb9)), at /home/dan/ros2_ws/src/rmw_coredx/rmw_coredx_cpp/src/rmw_create_publisher.cpp:90, at /tmp/binarydeb/ros-dashing-rcl-0.7.6/src/rcl/publisher.c:171

ClarkTucker · 2019-09-06T12:49:49Z

Yep, I wish I could find a list of the newly required methods for each API update :(
I'll see what I can do...

ClarkTucker · 2019-09-06T12:56:11Z

What ros2 code are you building against? I'm using the ros2repos from "release-dashing".

ClarkTucker · 2019-09-06T15:52:18Z

Updated to add the missing api functions:

rmw_init_publisher_allocation
rmw_fini_publisher_allocation
rmw_get_serialized_message_size
rmw_init_subscription_allocation
rmw_fini_subscription_allocation
rmw_set_log_severity

rotu · 2019-09-17T16:59:48Z

After this and #33, it seems like RMW is compiling. I'm seemingly having trouble with the IDL code generator:

--- stderr: nav2_msgs                               
/home/dan/ros2_ws/build/nav2_msgs/rosidl_typesupport_coredx_cpp/nav2_msgs/msg/dds_coredx/costmap__type_support.cpp:23:1: error: class 'Header_' was previously declared as a struct [-Werror,-Wmismatched-tags]
class Header_;
^
/opt/ros/dashing-src/install/include/std_msgs/msg/dds_coredx/Header_.hh:47:40: note: previous use is here
        struct COREDX_TS_STRUCT_EXPORT Header_ {
                                       ^
/home/dan/ros2_ws/build/nav2_msgs/rosidl_typesupport_coredx_cpp/nav2_msgs/msg/dds_coredx/costmap__type_support.cpp:23:1: note: did you mean struct here?
class Header_;
^~~~~
struct

and

make[2]: *** [CMakeFiles/nav2_msgs__rosidl_typesupport_coredx_cpp.dir/rosidl_typesupport_coredx_cpp/nav2_msgs/msg/dds_coredx/voxel_grid__type_support.cpp.o] Error 1
2 errors generated.
In file included from /home/dan/ros2_ws/build/nav2_msgs/rosidl_typesupport_coredx_cpp/nav2_msgs/srv/dds_coredx/clear_costmap_except_region__type_support.cpp:14:
In file included from /opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/request_reply.hh:31:
In file included from /opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/sample.hh:659:
/opt/TwinOaks/coredx-4.5.0-Evaluation/target/include/dds/loanedsamples_tmpl.hh:68:39: error: ISO C++ specifies that qualified reference to 'LoanedSamples' is a constructor name rather than a type in this context, despite preceding 'typename' keyword [-Werror,-Winjected-class-name]
    return typename LoanedSamples<T>::LoanedSamples(tmp);

ChuiVanfleet · 2019-10-28T21:53:09Z

@ClarkTucker FYI, they do a pretty good job at describing new/changed functions. For example, the release notes for ros2 crystal regarding rmw changes.

rotu mentioned this issue Sep 4, 2019

Add CycloneDDS ros2/rmw_implementation#63

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Incompatible with the latest RMW? #32

Incompatible with the latest RMW? #32

AAlon commented Apr 17, 2019

ClarkTucker commented Apr 17, 2019

AAlon commented Apr 17, 2019 •

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ChuiVanfleet commented May 29, 2019

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ClarkTucker commented Sep 6, 2019

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ClarkTucker commented Sep 6, 2019

rotu commented Sep 17, 2019

ChuiVanfleet commented Oct 28, 2019

Incompatible with the latest RMW? #32

Incompatible with the latest RMW? #32

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AAlon commented Apr 17, 2019

ClarkTucker commented Apr 17, 2019

AAlon commented Apr 17, 2019 • edited Loading

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