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Intro

  • ROS - Robotics Operating System is not really an OS, it is a “System for operating robots”. More like middleware
  • Wikipedia: (https://en.wikipedia.org/wiki/Robot_Operating_System)
  • ROS home page: (https://www.ros.org/)

Unity-Robotics-Hub

  • Home page: (https://github.com/Unity-Technologies/Unity-Robotics-Hub)
  • Pick and Place Tutorial: (https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/README.md)
  • Building image
    • cd d:\unity\Unity-Robotics-Hub\tutorials\pick_and_place
    • git submodule update --init --recursive
    • docker build -t unity-robotics:pick-and-place -f docker/Dockerfile .
  • Starting tutorial ROS docker: docker run -it --rm -p 10000:10000 unity-robotics:pick-and-place /bin/bash
  • Should open a bash in the ROS workspace root
  • With volume: docker run -v /mnt/d:/var/ddrive -it --rm -p 10005:10005 unity-robotics:pick-and-place /bin/bash
  • Didn’t work
    • roslaunch niryo_moveit part_2.launch tcp_ip:=127.0.0.1 tcp_port:=10005
    • roslaunch niryo_moveit part_2.launch tcp_ip:=172.17.0.2 tcp_port:=10005
  • Worked
    • docker run -v /mnt/d:/var/ddrive -it --rm -p 10005:10005 unity-robotics:pick-and-place /bin/bash
    • roslaunch niryo_moveit part_2.launch tcp_port:=10005 this worked
    • roslaunch niryo_moveit part_3.launch tcp_port:=10005 this worked
    • c this worked
  • Verification
    • docker ps
    • docker exec -it optimistic_joliot /bin/bash
    • source devel/setup.bash
    • netstat -a
  • Creating KHI URDF
    • copied robot geometry data (in github repo khi_Robot/rs_description ) to Unity Assets folder Assets/khi_urdf/khi_description
    • copied the ..Assets/khi_urdf/khi_description/urdf directory to ~/khi_urdf in wsl
      • cp -r khi_urdf ~
    • Then created the rs0008n.urdf and copied back to unity 
      1542 cd khi_urdf/
1543 ls
...
1551 rosrun xacro xacro --inorder -o rs007n.urdf rs007n.urdf.xacro
1552 ls
1553 ls  -ali
1554 cp rs007n.urdf /mnt/d/unity/Unity-Robotics-Hub/tutorials/pick_and_place/PickAndPlaceProject/Assets/khi_urdf

      Import into unity

  • Copy the urdf file into assets directory somewhere
  • Left-click Select the urdf file in assets folder (it won’t have an extension)
  • Towards the bottom Under “Open C# Project” you should see “Import Robot from Selected URDF file” - select that
  • Robot will be imported (a progress bar will advance with each link)
  • For the table demo you need to adjust the “transform position y value” to 0.624
root@daab8248f515:/catkin_ws# netstat -a
Active Internet connections (servers and established)
Proto Recv-Q Send-Q Local Address           Foreign Address         State
tcp        0      0 0.0.0.0:35253           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:10005           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:37205           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:37601           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:42787           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:37481           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:35019           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:44493           0.0.0.0:*               LISTEN
tcp        0      0 0.0.0.0:11311           0.0.0.0:*               LISTEN
tcp        0      0 daab8248f515:42274      daab8248f515:35019      ESTABLISHED
tcp        0      0 daab8248f515:35019      daab8248f515:42274      ESTABLISHED
tcp        0      0 daab8248f515:35019      daab8248f515:42282      ESTABLISHED
tcp        0      0 localhost:11311         localhost:45846         ESTABLISHED
tcp        0      0 localhost:11311         localhost:45836         ESTABLISHED
tcp        0      0 localhost:45846         localhost:11311         ESTABLISHED
tcp        0      0 daab8248f515:44493      daab8248f515:60160      ESTABLISHED
tcp        0      0 daab8248f515:34150      daab8248f515:37481      ESTABLISHED
tcp        0      0 localhost:45838         localhost:11311         ESTABLISHED
tcp        0      0 localhost:45836         localhost:11311         ESTABLISHED
tcp        0      0 daab8248f515:60160      daab8248f515:44493      ESTABLISHED
tcp        0      0 daab8248f515:42282      daab8248f515:35019      ESTABLISHED
tcp        0      0 localhost:11311         localhost:45838         ESTABLISHED
tcp        0      0 daab8248f515:37481      daab8248f515:34150      ESTABLISHED
udp        0      0 0.0.0.0:49446           0.0.0.0:*
Active UNIX domain sockets (servers and established)
Proto RefCnt Flags       Type       State         I-Node   Path

From Windows command line:

C:\Users\mike>netstat -a | grep 1000
  TCP    0.0.0.0:10005          Absol:0                LISTENING
  TCP    127.0.0.1:10000        Absol:0                LISTENING
  TCP    127.0.0.1:10000        kubernetes:50915       ESTABLISHED
  TCP    127.0.0.1:50915        kubernetes:10000       ESTABLISHED

  • https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/2_ros_tcp.md

  • ros settings: localhost and 10005

ROS 1 for Windows

  • https://aka.ms/ros
  • http://wiki.ros.org/Installation/Windows
  • VS Code Extension Season 1 - 0 (https://www.youtube.com/watch?v=PBbEhRf8QjE)
  • VS Code Extension Season 1 - 1 (https://www.youtube.com/watch?v=bupAju0UAMg&t=126s)

MyPalletizer

  • A robot from Elephant Robotics: (https://www.elephantrobotics.com/en/mypalletizer-en/)
  • ROS Github: (https://github.com/elephantrobotics/mycobot_ros.git)

Steps Building on Windows

  • Start x64 command shell (not x86 - this leads to link erros)
  • noetic
  • d:
  • cd /ros/noetic
  • cd catkin_ws
  • catkin_make --use-ninja install

Compile errors

  • File names too long for windows - correcting code
    • d:
    • cd \ros\noetic\catkin_ws\src\mycobot_ros
    • "C:\Program Files\Git\usr\bin\find.exe" . -type f -name "*path_planning_and_obstacle_avoidance_demo.py" -exec echo mv {} ppoa_demo.py ;
      • "C:\Program Files\Git\usr\bin\find.exe" . -type f -name "*path_planning_and_obstacle_avoidance_demo.py" -exec echo rename {} ppoa_demo.py ;
        • "C:\Program Files\Git\usr\bin\find.exe" . -type f -name "*path_planning_and_obstacle_avoidance_demo.py" -exec echo rename s/{}/ppoa_demo.py/ ; "C:\Program Files\Git\usr\bin\find.exe" . -type f -name "*path_planning_and_obstacle_avoidance_demo.py" -exec bash {} echo $1 \;
  • What worked
    • change file names
      • find . -type f -name "path_planning_and_obstacle_avoidance_demo.py" -exec rename 's/path_planning_and_obstacle_avoidance_demo/ppoa_demo/' {} \;
    • change CMakeLists.txt find . -type f -name "CMakeLists.txt" -exec echo sed -i 's/path_planning_and_obstacle_avoidance_demo/ppoa_demo/' {} \;
    • find . -type f -name "CMakeLists.txt" -exec grep path_planning_and_obstacle_avoidance_demo {} \;
    • find . -type f -name "CMakeLists.txt" -exec grep -H -n path_planning_and_obstacle_avoidance_demo {} \;

    • find . -type f -name "CMakeLists.txt" -exec sed -i 's/path_planning_and_obstacle_avoidance_demo/ppoa_demo/' {} \;

    • Change name
      • Find name: find . -type f -name "*listen_real_of_topic*" -exec echo {} \;
      • Find name: find . -type f -name "*listen_real_of_topic*" -exec rename 's/listen_real_of_topic/lrot/' {} \;
    • change CMakeLists.txt
      • find . -type f -name "CMakeLists.txt" -exec grep -H -n listen_real_of_topic {} \;
      • find . -type f -name "CMakeLists.txt" -exec echo sed -i 's/listen_real_of_topic/lrot/' {} \;
      • find . -type f -name "CMakeLists.txt" -exec sed -i 's/listen_real_of_topic/lrot/' {} \;
    • Copy it to windows
      • cp -r mycobot_roswin/ /mnt/d/temp/mycobot_roswin1

Missing things in CMakeList.txt

  • Entire URDF directoy not installed
  • mypalletizer_260\mypalletizer_260 - launch directory not installed
    • install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} PATTERN "setup_assistant.launch" EXCLUDE)
  • mypalletizer_260 \mypalletizer_communication - launch directory not installed
    • install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} PATTERN "setup_assistant.launch" EXCLUDE)
    • install(DIRECTORY scripts DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )
  • “D:\ros\noetic\catkin_ws\install\lib\site-packages\mycobot_communication”
    • mypalletizer_260 \mypalletizer_communication - doesn’t have the python code
    • http://docs.ros.org/en/jade/api/catkin/html/user_guide/setup_dot_py.html
    • had to add a setup.py
    • and uncomment catkin_python_setup() in CMakeLists.txt

Serial Debugging

  • Terminal Window - x64 Visual Studio Community Tools
  • d:\bin\noetic.bat
  • cd d:\ros\noetic\catkin_ws\install\
  • d:\ros\noetic\catkin_ws\install\setup.bat
  • cd d:\ros\noetic\catkin_ws\install\share\mypalletizer_communication
  • roslaunch mypalletizer_communication communication_service.launch
  • cd C:\opt\ros\noetic\x64\Lib\site-packages\pymycobot
  • mypalletizer.py has MyPalletizer(MyCobotCommandGenerator)
  • generate.py has MyCobotCommandGenerator(DataProcssor) and self._mesg
  • common.py has DataProcessor, command, codes, self._process_single and lots more
  • Serial Debug Assistant app (installed from Windows Store)

Fixes

  • rospack list | grep -i mypallet should show package mypalletizer_260
  • roslaunch mypalletizer_260 test.launch should open Rvix and show robot (might have to resize window to get window normed)
    • It couldn’t find the urdf files, so I had to copy the mycobot_roswin/mycobot_description/urdf subdirectory to install/share/mycobot_description/

KHI Robotics Repo

  • Oriented on Noetic Moveit Tutorial Page (https://ros-planning.github.io/moveit_tutorials/)
  • Build in a catkin_ws according to instructions here: (https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html)
    • Updated packages
    • Installed catkin
    • installed wstool
    • Created a catkin workspace and downloaded Moveit source
    • Installed panda robot somewhere…
  • Got RViz to work
    • roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
  • Went to Tutorial on “Move Group Python Interface”
    • (https://ros-planning.github.io/moveit_tutorials/doc/move_group_python_interface/move_group_python_interface_tutorial.html)
    • Needed two windows
      • roslaunch panda_moveit_config demo.launch
      • rosrun moveit_tutorials move_group_python_interface_tutorial.py
  • Black screen problem on Surface Book laptop solved with
    • export LIBGL_ALWAYS_SOFTWARE=1
  • See also (https://github.com/microsoft/wslg/issues/455)

Working with KHI_ROBOT

  • Open wsl window

  • ros bash script - cd ~/ros/catkin_ws - source devel/setup.bash - conda activate ros_khi (on Absol) - roslaunch khi_rs007n_moveit_config demo.launch - This should bring up a ros window with the RS007n robot (without an end effector however)

  • ros bash script - cd ~/ros/catkin_ws/src/khi_robot/khi_rs007n_moveit_config/script - python rs007n_demo.py - This should cause the robot arm to move around randomly forever

Compiling ROS2 Foxy on Windows

  • Foxy Instructions (https://docs.ros.org/en/foxy/Installation/Alternatives/Windows-Development-Setup.html)
  • Checklist:
  • choco
  • python (3.8.3)
  • pip install -U vcstool
  • pip install -U colcon-common-extensions
  • pip install -U pytest pytest-mock coverage mock
    • pytest didn’t work had to back up to version 6.0
  • choco install -y curl
  • python -m pip install -U setuptools pip

  • pip install -U flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes mypy==0.761 pep8 pydocstyle

  • choco install -y cppcheck
  • Next install xmllint: - Download the 64 bit binary archives of libxml2 (and its dependencies iconv and zlib) from https://www.zlatkovic.com/projects/libxml/ - Unpack all archives into e.g. C:\xmllint - Add C:\xmllint\bin to the PATH. - Run some exe to see if it works
  • Qt5
    • didn’t do the following setx things as they refered to non-existent directories
      • setx /m Qt5_DIR C:\Qt\Qt5.12.12\5.12.12\msvc2017_64
      • setx /m QT_QPA_PLATFORM_PLUGIN_PATH C:\Qt\Qt5.12.12\5.12.12\msvc2017_64\plugins\platforms
  • Testing -

Colcon

  • output immediately on console: colcon <verb> --event-handlers console_direct+
  • single package build: colcon build --packages-select <name-of-pkg> <name-of-another-pkg>
  • package and dependencies: colcon build --packages-up-to <name-of-pkg>
  • packages and dependents: colcon build --packages-above <name-of-pkg>
  • frequent
    • colcon build --packages-select rosbag2 --event-handlers console_direct+
    • colcon build --merge-install --packages-select rosbag2_transport --event-handlers console_direct+
    • colcon build --merge-install --packages-select test_rclcpp --event-handlers console_direct+
    • colcon build --merge-install --packages-select rviz_common --event-handlers console_direct+
    • colcon build --packages-select moveit_common --event-handlers console_direct+

rviz_common ROS 2 package problem

Was compiling on my hyper-v installation but not on absol.

>colcon build --merge-install
...       
Summary: 247 packages finished [9min 7s]
  1 package failed: rosbag2_transport
  17 packages aborted: composition demo_nodes_cpp demo_nodes_cpp_native examples_tf2_py image_tools logging_demo robot_state_publisher ros2test rqt_gui_py test_rclcpp tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_sensor_msgs tf2_tools tracetools_test
  50 packages had stderr output: action_tutorials_py ament_clang_format ament_clang_tidy ament_copyright ament_cppcheck ament_cpplint ament_flake8 ament_index_python ament_lint ament_lint_cmake ament_mypy ament_package ament_pclint ament_pep257 ament_pycodestyle ament_pyflakes ament_uncrustify ament_xmllint demo_nodes_py domain_coordinator examples_rclpy_executors examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_minimal_client examples_rclpy_minimal_publisher examples_rclpy_minimal_service examples_rclpy_minimal_subscriber launch launch_ros launch_testing launch_testing_ros launch_xml launch_yaml osrf_pycommon quality_of_service_demo_py rmw_connext_cpp rmw_connext_shared_cpp ros2cli ros2multicast ros2trace rosidl_runtime_py rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rpyutils rqt_gui sensor_msgs_py topic_monitor tracetools_launch tracetools_read tracetools_trace
  46 packages not processed

colcon graph --packages-up-to rviz_common --dot >rviz_common_graph.dot dot rviz_common_graph.dot dot rviz_common_graph.dot -Tpng -o rviz_common_graph.png

colcon build --merge-install --packages-select rviz_common --event-handlers console_direct+

  Starting >>> rviz_common
-- Selecting Windows SDK version 10.0.19041.0 to target Windows 10.0.22000.
-- Found ament_cmake: 0.9.10 (D:/ros/foxy/install/share/ament_cmake/cmake)
-- Using PYTHON_EXECUTABLE: C:/opt/ros/foxy/x64/python.exe
-- Found rviz_ogre_vendor: 8.2.6 (D:/ros/foxy/install/share/rviz_ogre_vendor/cmake)
-- Prepending to CMAKE_MODULE_PATH: 'D:/ros/foxy/install/share/rviz_ogre_vendor/cmake/../../../opt/rviz_ogre_vendor/CMake'
-- Setting OGRE_DIR to: 'D:/ros/foxy/install/share/rviz_ogre_vendor/cmake/../../../opt/rviz_ogre_vendor/CMake'
-- Found OGRE
--   static     : OFF
--   components : HLMS;MeshLodGenerator;Overlay;Paging;Property;RTShaderSystem;Terrain;Volume
--   plugins    : Plugin_BSPSceneManager;Plugin_OctreeSceneManager;Plugin_PCZSceneManager;Plugin_ParticleFX;RenderSystem_GL;RenderSystem_GL3Plus;Codec_STBI;Codec_FreeImage
--   media      : D:/ros/foxy/install/opt/rviz_ogre_vendor/Media
-- OGRE_LIBRARIES: OgreHLMS;OgreMeshLodGenerator;OgreOverlay;OgrePaging;OgreProperty;OgreRTShaderSystem;OgreTerrain;OgreVolume;OgreMain
-- OGRE_LIBRARY_DIRS: D:/ros/foxy/install/opt/rviz_ogre_vendor/lib
-- OGRE_PLUGINS: Plugin_BSPSceneManager;Plugin_OctreeSceneManager;Plugin_PCZSceneManager;Plugin_ParticleFX;RenderSystem_GL;RenderSystem_GL3Plus;Codec_STBI;Codec_FreeImage
-- OGRE_PLUGIN_DIR: D:/ros/foxy/install/opt/rviz_ogre_vendor/lib/OGRE
-- rviz_ogre_vendor::OgreOverlay for IMPORTED_LOCATION_RELEASE: D:/ros/foxy/install/opt/rviz_ogre_vendor/lib/OgreOverlay.lib
-- rviz_ogre_vendor::OgreOverlay for IMPORTED_LOCATION_DEBUG: _ogre_overlay_static_library_debug_abs-NOTFOUND
-- rviz_ogre_vendor::OgreMain for IMPORTED_LOCATION_RELEASE: D:/ros/foxy/install/opt/rviz_ogre_vendor/lib/OgreMain.lib
-- rviz_ogre_vendor::OgreMain for IMPORTED_LOCATION_DEBUG: _ogre_main_static_library_debug_abs-NOTFOUND
-- rviz_ogre_vendor::RenderSystem_GL for IMPORTED_LOCATION_RELEASE: D:/ros/foxy/install/opt/rviz_ogre_vendor/lib/OGRE/RenderSystem_GL.lib
-- rviz_ogre_vendor::RenderSystem_GL for IMPORTED_LOCATION_DEBUG: _render_system_gl_static_library_debug_abs-NOTFOUND
-- Found geometry_msgs: 2.0.5 (D:/ros/foxy/install/share/geometry_msgs/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Found rosidl_adapter: 1.2.1 (D:/ros/foxy/install/share/rosidl_adapter/cmake)
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found pluginlib: 2.5.4 (D:/ros/foxy/install/share/pluginlib/cmake)
-- Found rclcpp: 2.4.2 (D:/ros/foxy/install/share/rclcpp/cmake)
-- Found rmw_implementation_cmake: 1.0.3 (D:/ros/foxy/install/share/rmw_implementation_cmake/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found resource_retriever: 2.3.4 (D:/ros/foxy/install/share/resource_retriever/cmake)
-- Found rviz_assimp_vendor: 8.2.6 (D:/ros/foxy/install/share/rviz_assimp_vendor/cmake)
-- library: assimp-vc142-mt.lib
-- Found rviz_rendering: 8.2.6 (D:/ros/foxy/install/share/rviz_rendering/cmake)
-- Found sensor_msgs: 2.0.5 (D:/ros/foxy/install/share/sensor_msgs/cmake)
-- Found tinyxml_vendor: 0.8.2 (D:/ros/foxy/install/share/tinyxml_vendor/cmake)
-- Found tf2: 0.13.13 (D:/ros/foxy/install/share/tf2/cmake)
-- Found tf2_geometry_msgs: 0.13.13 (D:/ros/foxy/install/share/tf2_geometry_msgs/cmake)
-- Found urdf: 2.4.0 (D:/ros/foxy/install/share/urdf/cmake)
-- Found yaml_cpp_vendor: 7.0.2 (D:/ros/foxy/install/share/yaml_cpp_vendor/cmake)
-- Setting yaml-cpp_DIR to: 'D:/ros/foxy/install/share/yaml_cpp_vendor/cmake/../../../opt/yaml_cpp_vendor/CMake'
-- Found ament_cmake_cppcheck: 0.9.7 (D:/ros/foxy/install/share/ament_cmake_cppcheck/cmake)
-- Found ament_cmake_cpplint: 0.9.7 (D:/ros/foxy/install/share/ament_cmake_cpplint/cmake)
-- Found ament_cmake_lint_cmake: 0.9.7 (D:/ros/foxy/install/share/ament_cmake_lint_cmake/cmake)
-- Found ament_cmake_uncrustify: 0.9.7 (D:/ros/foxy/install/share/ament_cmake_uncrustify/cmake)
-- Found ament_cmake_gmock: 0.9.10 (D:/ros/foxy/install/share/ament_cmake_gmock/cmake)
-- Found ament_cmake_gtest: 0.9.10 (D:/ros/foxy/install/share/ament_cmake_gtest/cmake)
-- Found gmock sources under 'D:/ros/foxy/install/src/gmock_vendor': C++ tests using 'Google Mock' will be built
-- Found gtest sources under 'D:/ros/foxy/install/src/gtest_vendor': C++ tests using 'Google Test' will be built
-- Configuring done
-- Generating done
-- Build files have been written to: D:/ros/foxy/build/rviz_common
Microsoft (R) Build Engine version 16.11.2+f32259642 for .NET Framework
Copyright (C) Microsoft Corporation. All rights reserved.

  gmock.vcxproj -> D:\ros\foxy\build\rviz_common\gmock\Release\gmock.lib
  gmock_main.vcxproj -> D:\ros\foxy\build\rviz_common\gmock\Release\gmock_main.lib
     Creating library D:/ros/foxy/build/rviz_common/Release/rviz_common.lib and object D:/ros/foxy/build/rviz_common/Release/rviz_common.exp
yaml_config_reader.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl YAML::InvalidNode::InvalidNode(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> >)" (__imp_??0InvalidNode@YAML@@QEAA@V?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) referenced in function "public: class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > __cdecl YAML::Node::as<class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > >(void)const " (??$as@V?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Node@YAML@@QEBA?AV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@XZ) [D:\ros\foxy\build\rviz_common\rviz_common.vcxproj]
    Hint on symbols that are defined and could potentially match:
      "__declspec(dllimport) public: __cdecl YAML::InvalidNode::InvalidNode(class YAML::InvalidNode const &)" (__imp_??0InvalidNode@YAML@@QEAA@AEBV01@@Z)
D:\ros\foxy\build\rviz_common\Release\rviz_common.dll : fatal error LNK1120: 1 unresolved externals [D:\ros\foxy\build\rviz_common\rviz_common.vcxproj]
  gtest.vcxproj -> D:\ros\foxy\build\rviz_common\gtest\Release\gtest.lib
  gtest_main.vcxproj -> D:\ros\foxy\build\rviz_common\gtest\Release\gtest_main.lib
Failed   <<< rviz_common [17.2s, exited with code 1]

Summary: 0 packages finished [18.3s]
  1 package failed: rviz_common

Current Status

fails with missing stuff “InvalidNode in yaml thing

colcon fail

  • start a cmd shell
  • Enter foxy.bat

  • colcon --log-level DEBUG build --merge-install --packages-select rviz_common --event-handlers console_direct+ – Note - Loglevels: DEBUG INFO WARNING ERROR CRITICAL

    • Invoked command in ‘D:\ros\foxy\build\rviz_common’ returned ‘1’:
    • AMENT_PREFIX_PATH=D:\ros\foxy\install
    • CL=/MP
    • CMAKE_PREFIX_PATH=D:\ros\foxy\install
    • PKG_CONFIG_PATH=D:\ros\foxy\install\lib\pkgconfig
    • PYTHONPATH=D:\ros\foxy\install\Lib\site-packages
    • Path=D:\ros\foxy\install\Scripts;D:\ros\foxy\install\bin;D:\ros\foxy\install\opt\yaml_cpp_vendor\bin;D:\ros\foxy\install\opt\rviz_ogre_vendor\bin;C:\Program Files\Eclipse Foundation\jdk-8.0.302.8-hotspot\bin;
    • C:\Program Files\Microsoft MPI\Bin\;C:\Users\mike\AppData\Local\Programs\Python\Python310\Scripts\;
  • result is 1 package failed: rviz_common

Manual Succeed

  • start a command shell
  • foxy (necessary)
  • cd D:\ros\foxy\src\ros2\rviz\rviz_common
  • rm -r build
  • mkdir build
  • cd build
  • cmake ..
  • cmake --build . --config Release

    manual fail

  • first cmake: 
    Invoked command in 'D:\ros\foxy\build\rviz_common' returned '0': AMENT_PREFIX_PATH=D:\ros\foxy\install;%AMENT_PREFIX_PATH% CMAKE_PREFIX_PATH=D:\ros\foxy\install;%CMAKE_PREFIX_PATH% PKG_CONFIG_PATH=D:\ros\foxy\install\lib\pkgconfig;%PKG_CONFIG_PATH% PYTHONPATH=D:\ros\foxy\install\Lib\site-packages;%PYTHONPATH% Path=D:\ros\foxy\install\Scripts;D:\ros\foxy\install\bin;D:\ros\foxy\install\opt\yaml_cpp_vendor\bin;D:\ros\foxy\install\opt\rviz_ogre_vendor\bin;%Path% c:\opt\ros\foxy\x64\Scripts\cmake.EXE D:\ros\foxy\src\ros2\rviz\rviz_common -DCMAKE_INSTALL_PREFIX=D:\ros\foxy\install
  • second cmake: 
    D:\ros\foxy\src\ros2\rviz\rviz_common\src\rviz_common\yaml_config_writer.cpp : message : see previous definition of 'YAML_CPP_DLL' [D:\ros\foxy\build\rviz_common\rviz_common.vcxproj]
   Creating library D:/ros/foxy/build/rviz_common/Release/rviz_common.lib and object D:/ros/foxy/build/rviz_common/Release/rviz_common.exp
yaml_config_reader.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl YAML::InvalidNode::InvalidNode(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> >)" (__imp_??0InvalidNode@YAML@@QEAA@V?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) referenced in function "public: class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > __cdecl YAML::Node::as<class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > >(void)const " (??$as@V?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Node@YAML@@QEBA?AV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@XZ) [D:\ros\foxy\build\rviz_common\rviz_common.vcxproj]
  Hint on symbols that are defined and could potentially match:
    "__declspec(dllimport) public: __cdecl YAML::InvalidNode::InvalidNode(class YAML::InvalidNode const &)" (__imp_??0InvalidNode@YAML@@QEAA@AEBV01@@Z)
D:\ros\foxy\build\rviz_common\Release\rviz_common.dll : fatal error LNK1120: 1 unresolved externals [D:\ros\foxy\build\rviz_common\rviz_common.vcxproj]
Building Custom Rule D:/ros/foxy/install/src/gtest_vendor/CMakeLists.txt
gtest-all.cc
[Processing: rviz_common]
gtest.vcxproj -> D:\ros\foxy\build\rviz_common\gtest\Release\gtest.lib
Building Custom Rule D:/ros/foxy/install/src/gtest_vendor/CMakeLists.txt
gtest_main.cc
gtest_main.vcxproj -> D:\ros\foxy\build\rviz_common\gtest\Release\gtest_main.lib
[34.290s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in 'D:\ros\foxy\build\rviz_common' returned '1': AMENT_PREFIX_PATH=D:\ros\foxy\install;%AMENT_PREFIX_PATH% CL=/MP CMAKE_PREFIX_PATH=D:\ros\foxy\install;%CMAKE_PREFIX_PATH% PKG_CONFIG_PATH=D:\ros\foxy\install\lib\pkgconfig;%PKG_CONFIG_PATH% PYTHONPATH=D:\ros\foxy\install\Lib\site-packages;%PYTHONPATH% Path=D:\ros\foxy\install\Scripts;D:\ros\foxy\install\bin;D:\ros\foxy\install\opt\yaml_cpp_vendor\bin;D:\ros\foxy\install\opt\rviz_ogre_vendor\bin;%Path% c:\opt\ros\foxy\x64\Scripts\cmake.EXE --build D:\ros\foxy\build\rviz_common --config Release

    works

  • On ABSOL Start a command shell and initialize it with “foxy” which does a c:\opt\...local_setup.bash initialization
  • ros2 will then run
  • Then go to d:\ros\foxy\src\ros2\rviz\rviz_common
  • rm -r build; md build; cd biuld
  • cmake ..
  • cmake --build . fails with a missing ogre obj
  • cmake --build . --config Release builds a dll