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make px4_sitl_rtps error #20424

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mengchaoheng opened this issue Oct 17, 2022 · 6 comments
Open

make px4_sitl_rtps error #20424

mengchaoheng opened this issue Oct 17, 2022 · 6 comments
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@mengchaoheng
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Describe the bug

mch@ubuntu:~/PX4-Autopilot$ git submodule update --init --recursive 
mch@ubuntu:~/PX4-Autopilot$ make px4_sitl_rtps
[0/2] Re-checking globbed directories...
[1/2] Re-running CMake...
-- PX4 version: v1.13.0-beta1-987-g458e5a6b0e
-- PX4 config file: /home/mch/PX4-Autopilot/boards/px4/sitl/rtps.px4board
-- PLATFORM posix
-- ROMFSROOT px4fmu_common
-- TESTING y
-- ETHERNET y
-- PX4 config: px4_sitl_rtps
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- cmake build type: RelWithDebInfo
-- Building for code coverage
-- fastrtpsgen version 1.0.4
-- microRTPS bridge:
--   Publish to the bridge from: collision_constraints, sensor_combined, timesync, timesync_status, trajectory_waypoint, vehicle_control_mode, vehicle_odometry, vehicle_status, vehicle_trajectory_waypoint_desired
--   Subscribe from the bridge to: debug_array, debug_key_value, debug_value, debug_vect, offboard_control_mode, onboard_computer_status, position_setpoint, position_setpoint_triplet, sensor_optical_flow, telemetry_status, timesync, trajectory_bezier, trajectory_setpoint, vehicle_attitude_setpoint, vehicle_command, vehicle_local_position_setpoint, vehicle_rates_setpoint, vehicle_trajectory_bezier, vehicle_trajectory_waypoint, vehicle_mocap_odometry, vehicle_visual_odometry
-- Looking for ignition-transport8 -- found version 8.3.0
-- Searching for dependencies of ignition-transport8
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.3.2
-- Checking for module 'uuid'
--   Found uuid, version 2.34.0
-- Looking for ignition-msgs5 -- found version 5.11.0
-- Searching for dependencies of ignition-msgs5
-- Looking for ignition-math6 -- found version 6.13.0
-- Searching for dependencies of ignition-math6
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 6.2.0
-- ROMFS: ROMFS/px4fmu_common
-- Configuring done
-- Generating done
-- Build files have been written to: /home/mch/PX4-Autopilot/build/px4_sitl_rtps
[0/2] Re-checking globbed directories...
[2/282] Generating RTPS topic bridge
openjdk version "13.0.7" 2021-04-20
OpenJDK Runtime Environment (build 13.0.7+5-Ubuntu-0ubuntu120.04)
OpenJDK 64-Bit Server VM (build 13.0.7+5-Ubuntu-0ubuntu120.04, mixed mode, sharing)
Traceback (most recent call last):
  File "/home/mch/PX4-Autopilot/msg/tools/generate_microRTPS_bridge.py", line 206, in <module>
    fastrtps_version = subprocess.check_output(
  File "/usr/lib/python3.8/subprocess.py", line 415, in check_output
    return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
  File "/usr/lib/python3.8/subprocess.py", line 516, in run
    raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command 'ldconfig -v 2>/dev/null | grep libfastrtps' returned non-zero exit status 1.
[3/277] Building CXX object src/modules/micrortps_bridge...bridge__micrortps_client.dir/microRTPS_client_main.cpp.o
FAILED: src/modules/micrortps_bridge/micrortps_client/CMakeFiles/modules__micrortps_bridge__micrortps_client.dir/microRTPS_client_main.cpp.o 
/usr/bin/c++  -DCONFIG_ARCH_BOARD_PX4_SITL -DENABLE_LOCKSTEP_SCHEDULER -DMODULE_NAME=\"micrortps_client\" -DPX4_MAIN=micrortps_client_app_main -D__CUSTOM_FILE_IO__ -D__PX4_LINUX -D__PX4_POSIX -D__STDC_FORMAT_MACROS -Dnoreturn_function="__attribute__((noreturn))" -I../../boards/px4/sitl/src -I../../platforms/posix/src/px4/common/include -I. -Isrc/lib -I../../platforms/posix/src/px4/generic/generic/include -I../../platforms/common -I../../platforms/common/include -I../../src -I../../src/include -I../../src/lib -I../../src/lib/matrix -I../../src/modules -I../../platforms/posix/include -Iexternal/Install/include -I../../src/modules/micrortps_bridge/micrortps_client -Isrc/modules/micrortps_bridge/micrortps_client -I../../src/modules/micrortps_bridge/micro-CDR/include -Isrc/modules/micrortps_bridge/micro-CDR/include -Isrc/modules/micrortps_bridge/micro-CDR/include/microcdr -O2 -g -DNDEBUG -fPIC   -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -fno-exceptions -fno-threadsafe-statics -Wreorder -Wno-overloaded-virtual -std=gnu++14 -MD -MT src/modules/micrortps_bridge/micrortps_client/CMakeFiles/modules__micrortps_bridge__micrortps_client.dir/microRTPS_client_main.cpp.o -MF src/modules/micrortps_bridge/micrortps_client/CMakeFiles/modules__micrortps_bridge__micrortps_client.dir/microRTPS_client_main.cpp.o.d -o src/modules/micrortps_bridge/micrortps_client/CMakeFiles/modules__micrortps_bridge__micrortps_client.dir/microRTPS_client_main.cpp.o -c ../../src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
../../src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp:34:10: fatal error: microRTPS_transport.h: No such file or directory
   34 | #include <microRTPS_transport.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
[5/277] Building CXX object src/modules/navigator/CMakeFiles/modules__navigator.dir/rtl.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: px4_sitl_rtps] Error 1
mch@ubuntu:~/PX4-Autopilot$

To Reproduce

Steps to reproduce the behavior:

  1. on ubuntu20, px4 main branch, have been installed fast dds2.0.2 and fast rtps gen1.0.4
  2. Run make px4_sitl_rtps
  3. See error
@mengchaoheng
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mengchaoheng commented Oct 17, 2022 •
edited

I have fix it by reinstall fastdds from source. but new error is :

mch@ubuntu:~/PX4-Autopilot/build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_listener$ bin/x64Linux2.6gcc/sensor_combinedPublisherSubscriber subscriberbin/x64Linux2.6gcc/sensor_combinedPublisherSubscriber: error while loading shared libraries: libfastcdr.so.1: cannot open shared object file: No such file or directory
mch@ubuntu:~/PX4-Autopilot/build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_listener$

@mengchaoheng
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@dagar

@mengchaoheng
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@beniaminopozzan can you help me?

@mengchaoheng
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mengchaoheng commented Oct 17, 2022 •
edited

after I try to install dds from binaries . error again:

mch@ubuntu:~/PX4-Autopilot/build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_listener$ ls -la /usr/local/lib/
total 53444
drwxr-xr-x  5 root root      4096 Oct 17 08:15 .
drwxr-xr-x 11 root root      4096 Oct 17 04:55 ..
drwxr-xr-x  3 root root      4096 Oct 17 07:49 cmake
drwxr-xr-x  3 root root      4096 Oct 17 00:14 foonathan_memory
-rw-r--r--  1 root root    159762 Oct 17 08:02 libfastcdr.a
lrwxrwxrwx  1 root root        15 Oct 17 04:55 libfastcdr.so -> libfastcdr.so.1
lrwxrwxrwx  1 root root        20 Oct 17 07:49 libfastcdr.so.1 -> libfastcdr.so.1.0.25
-rw-r--r--  1 root root    117016 Oct 17 04:39 libfastcdr.so.1.0.10
-rw-r--r--  1 root root    108448 Oct 17 07:49 libfastcdr.so.1.0.25
-rw-r--r--  1 root root  31031968 Oct 17 08:15 libfastrtps.a
lrwxrwxrwx  1 root root        18 Oct 17 08:02 libfastrtps.so -> libfastrtps.so.2.8
lrwxrwxrwx  1 root root        20 Oct 17 04:55 libfastrtps.so.2 -> libfastrtps.so.2.0.2
-rw-r--r--  1 root root  10974208 Oct 17 04:55 libfastrtps.so.2.0.2
lrwxrwxrwx  1 root root        20 Oct 17 08:02 libfastrtps.so.2.8 -> libfastrtps.so.2.8.0
-rw-r--r--  1 root root  11101128 Oct 17 08:02 libfastrtps.so.2.8.0
-rw-r--r--  1 root root   1193802 Oct 17 00:14 libfoonathan_memory-0.7.1.a
mch@ubuntu:~/PX4-Autopilot/build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_listener$ bin/x64Linux2.6gcc/sensor_combinedPublisherSubscriber subscriber
bin/x64Linux2.6gcc/sensor_combinedPublisherSubscriber: error while loading shared libraries: libfastcdr.so.1: cannot open shared object file: No such file or directory

@mengchaoheng
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My fault, I forgot to add the environment variable:

echo 'export LD_LIBRARY_PATH=/usr/local/lib/' >> ~/.bashrc

@mengchaoheng
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The user manual should contain the correct environment variable settings:

When running an instance of an application using eProsima Fast DDS, it must be linked with the library where the packages have been installed, /usr/local/lib/. There are two possibilities:

  • Prepare the environment locally by typing in the console used for running the eProsima Fast DDS instance the command:
export LD_LIBRARY_PATH=/usr/local/lib/
  • Add it permanently to the PATH by executing:
echo 'export LD_LIBRARY_PATH=/usr/local/lib/' >> ~/.bashrc

@mengchaoheng mengchaoheng mentioned this issue Oct 17, 2022
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