Bug: PoseStamped.idl: Illegal identifier: geometry_msgs::msg::pose is already defined

[Ryanf55]

Summary

This bug reports a illegal identifier when trying to generate PoseStamped. One theory is because Pose and pose are different cases, but treated the same.

Versioning

OS: Ubuntu 22.04
Hash: 0eed89a
Message: ROS2 geometry_msgs/msg/PoseStamped

Steps to reproduce

1. Take the ROS2 IDL's that make up PoseStamped, dump them in a single folder, and edit the includes to not have folders
2. Run the genretor on messages sequentially to build up PoseStamped.
   • microxrceddsgen Quaternion.idl
   • microxrceddsgen Point.idl
   • microxrceddsgen Time.idl
   • microxrceddsgen Header.idl
   • microxrceddsgen Pose.idl
   • microxrceddsgen PoseStamped.idl
3. Observe this error:

$ microxrceddsgen libraries/AP_XRCE_Client/Idl/PoseStamped.idl
openjdk version "11.0.18" 2023-01-17
OpenJDK Runtime Environment (build 11.0.18+10-post-Ubuntu-0ubuntu122.04)
OpenJDK 64-Bit Server VM (build 11.0.18+10-post-Ubuntu-0ubuntu122.04, mixed mode, sharing)
Loading templates...
Processing the file libraries/AP_XRCE_Client/Idl/PoseStamped.idl...
libraries/AP_XRCE_Client/Idl/PoseStamped.idl:15:35: error: Illegal identifier: geometry_msgs::msg::pose is already defined (Definition: com.eprosima.idl.parser.tree.TypeDeclaration@6aeb35e6)

Message Definition

ROS2 .msg

$ ros2 interface show geometry_msgs/msg/PoseStamped
# A Pose with reference coordinate frame and timestamp

std_msgs/Header header
        builtin_interfaces/Time stamp
                int32 sec
                uint32 nanosec
        string frame_id
Pose pose
        Point position
                float64 x
                float64 y
                float64 z
        Quaternion orientation
                float64 x 0
                float64 y 0
                float64 z 0
                float64 w 1

IDL

$ PoseStamped.idl 
// generated from rosidl_adapter/resource/msg.idl.em
// with input from geometry_msgs/msg/PoseStamped.msg
// generated code does not contain a copyright notice

#include "Pose.idl"
#include "Header.idl"

module geometry_msgs {
 module msg {
   @verbatim (language="comment", text=
     "A Pose with reference coordinate frame and timestamp")
   struct PoseStamped {
     std_msgs::msg::Header header;

     geometry_msgs::msg::Pose pose;
   };
 };
};

[Acuadros95]

You need to run the generator with the case sensitive -cs option.

I have added it on this PR: #61

[Acuadros95]

Closing as the fix is merged, feel free to reopen if any other problem appears

[dambrosio]

I have run into a similar issue trying to generate .h and .c files for ROS packages installed by default with the ros-base Humble variant.

If I copy all .idl files from /opt/ros/humble/share to ~/idl:

mkdir ~/idl
pushd /opt/ros/humble/share
find . -name "*.idl" -exec cp --parents {} ~/idl \;

I then get the following structure:

❯ ls
rmw_dds_common
std_msgs
nav_msgs
map_msgs
...

If I attempt to run the microxrceddsgen script on all .idl files in ~/idl:

find idl -name "*.idl" -exec bash -c './micro-xrce-dds-gen/scripts/microxrceddsgen -cs -replace -I idl -d $(dirname "$1") "$1"' x {} \;

I get a bunch of Illegal identifier: is already defined errors, even with the -cs flag specified.

For example:

Processing the file idl/rmw_dds_common/msg/ParticipantEntitiesInfo.idl...
In file included from idl/rmw_dds_common/msg/NodeEntitiesInfo.idl:5:0,
                      idl/rmw_dds_common/msg/ParticipantEntitiesInfo.idl:6:0:
idl/rmw_dds_common/msg/Gid.idl:8:12: error: 'uint8' was redefined
In file included from idl/rmw_dds_common/msg/NodeEntitiesInfo.idl:5:0,
                      idl/rmw_dds_common/msg/ParticipantEntitiesInfo.idl:6:0:
idl/rmw_dds_common/msg/Gid.idl:9:15: error: Illegal identifier: rmw_dds_common::msg::Gid is already defined (Definition: com.eprosima.idl.parser.tree.TypeDeclaration@70cf32e3)
In file included from idl/rmw_dds_common/msg/NodeEntitiesInfo.idl:5:0,
                      idl/rmw_dds_common/msg/ParticipantEntitiesInfo.idl:6:0:
idl/rmw_dds_common/msg/Gid.idl:13:0: error: Unexpected input '}'

If I just generate from .idls in geometry_msgs, everything works as expected:

find idl/geometry_msgs -name "*.idl" -exec bash -c './micro-xrce-dds-gen/scripts/microxrceddsgen -cs -I idl -d $(dirname "$1") -replace "$1"' x {} \;

The packages with issues:

• rmw_dds_common
• nav_msgs
• map_msgs
• tf2_msgs
• visualization_msgs
• sensor_msgs
• pcl_msgs
• stereo_msgs
• trajectory_msgs