Packages/stacks could not have their rosdep keys resolved to system dependencies (Ubuntu20.04 in WSL, ROS Humble, Ign Fortress)

[Vincenzo-Saffioti]

Environment

• OS Version: Ubuntu 20.04 Focal in WSL
• ROS2 Humble + Ignition Fortress
• Source build

Description

I cannot install ros_gz either via binary or source. I need to use Ubuntu 20.04 and install Humble+Ignition Fortress. I installed Humble via source and used the Fortress binary.
However, I encountered difficulties when installing the bridge.
In particular, trying to install via source the humble branch packages I encourred problems in managing dependencies with rosdep:

rosdep install -r --from-paths src -i -y --rosdistro humble


ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ros_gz_sim_demos: No definition of [xacro] for OS version [focal]
ros_gz_bridge: No definition of [actuator_msgs] for OS version [focal]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

Clearly trying to build the packages I consequently get the following error in relation to the lack of actuator messages:

colcon build


Starting >>> ros_gz_interfaces
Starting >>> ros_gz_sim
[Processing: ros_gz_interfaces, ros_gz_sim]
Finished <<< ros_gz_sim [52.0s]
Starting >>> ros_ign_gazebo
Finished <<< ros_gz_interfaces [52.5s]
Starting >>> ros_gz_bridge
Starting >>> ros_ign_interfaces
--- stderr: ros_gz_bridge
CMake Error at CMakeLists.txt:81 (find_package):
  By not providing "Findactuator_msgs.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "actuator_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "actuator_msgs"
  with any of the following names:

    actuator_msgsConfig.cmake
    actuator_msgs-config.cmake

  Add the installation prefix of "actuator_msgs" to CMAKE_PREFIX_PATH or set
  "actuator_msgs_DIR" to a directory containing one of the above files.  If
  "actuator_msgs" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< ros_gz_bridge [17.6s, exited with code 1]
Aborted  <<< ros_ign_gazebo [18.3s]
Aborted  <<< ros_ign_interfaces [25.3s]

Summary: 2 packages finished [1min 18s]
  1 package failed: ros_gz_bridge
  2 packages aborted: ros_ign_gazebo ros_ign_interfaces
  1 package had stderr output: ros_gz_bridge
  7 packages not processed

Steps to reproduce

1. Install Ubuntu 20.04 in WSL
2. Install ROS2 Humble via source
3. Install Ignition Fortress
4. Try to build ros_gz package

[ahcorde]

It's wierd, the dependency is listed in the package.xml in the humble branch https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/package.xml#LL16C11-L16C24.

anywho you can compile actuator_msgs from source

[robertorovella91]

I have the same problem. What about instead for "ros_gz_sim_demos: No definition of [xacro] for OS version [focal]" ?

[Vincenzo-Saffioti]

It's wierd, the dependency is listed in the package.xml in the humble branch https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/package.xml#LL16C11-L16C24.

anywho you can compile actuator_msgs from source

Thank you for your suggestion. I tried to add manually actuator_msgs (https://github.com/rudislabs/actuator_msgs) and xacro (https://github.com/ros/xacro/tree/ros2) packages to my workspace but i had other problems that i don't understand, here's the log:

colcon build


Starting >>> ros_gz_interfaces
Starting >>> actuator_msgs
Starting >>> ros_gz_sim
Starting >>> xacro
Finished <<< ros_gz_sim [0.89s]
Starting >>> ros_ign_gazebo
Finished <<< ros_ign_gazebo [0.56s]
Finished <<< ros_gz_interfaces [8.26s]
Starting >>> ros_ign_interfaces
Finished <<< xacro [10.8s]
Finished <<< actuator_msgs [13.0s]
Starting >>> ros_gz_bridge
Finished <<< ros_ign_interfaces [22.0s]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
--- stderr: ros_gz_bridge
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:441: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/geometry_msgs.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:480: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/ros_gz_interfaces.cpp.o] Error 1
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:519: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/std_msgs.cpp.o] Error 1
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/test_ros_subscriber.dir/build.make:151: CMakeFiles/test_ros_subscriber.dir/generated/test/geometry_msgs_subscriber.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:487: CMakeFiles/test_ros_subscriber.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:321: CMakeFiles/ros_gz_bridge_lib.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< ros_gz_bridge [4min 57s, exited with code 2]

Summary: 6 packages finished [5min 11s]
  1 package failed: ros_gz_bridge
  1 package had stderr output: ros_gz_bridge
  7 packages not processed

[ahcorde]

something is wrong, probably with the amount of memory that you have in your system.

c++: fatal error: Killed signal terminated program cc1plus

If you are running this in VM increase the virtual memory or you can add this option to colcon --parallel-workers 1

[Vincenzo-Saffioti]

something is wrong, probably with the amount of memory that you have in your system.

c++: fatal error: Killed signal terminated program cc1plus

If you are running this in VM increase the virtual memory or you can add this option to colcon --parallel-workers 1

I'm currently using WSL (Windows Subsystem for Linux), I tried as you suggested but got the same error:

colcon build --parallel-workers 1


Starting >>> ros_gz_interfaces
Finished <<< ros_gz_interfaces [3.56s]
Starting >>> actuator_msgs
Finished <<< actuator_msgs [2.21s]
Starting >>> ros_gz_bridge
[Processing: ros_gz_bridge]
[Processing: ros_gz_bridge]
--- stderr: ros_gz_bridge
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/ros_gz_bridge_lib.dir/build.make:441: CMakeFiles/ros_gz_bridge_lib.dir/generated/factories/geometry_msgs.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:321: CMakeFiles/ros_gz_bridge_lib.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< ros_gz_bridge [1min 24s, exited with code 2]

Summary: 2 packages finished [1min 31s]
  1 package failed: ros_gz_bridge
  1 package had stderr output: ros_gz_bridge
  11 packages not processed

[azeey]

ROS Humble officially only supports Ubuntu 22.04 (https://docs.ros.org/en/humble/Installation.html). That's why the actuator_msgs package is missing. When building from source, I agree with @ahcorde, I think you're running out of memory. Try adding --parallel-workers=1 --executor sequential to your colcon command to ensure only one instance of the compiler is running at a time.

[Vincenzo-Saffioti]

ROS Humble officially only supports Ubuntu 22.04 (https://docs.ros.org/en/humble/Installation.html). That's why the actuator_msgs package is missing. When building from source, I agree with @ahcorde, I think you're running out of memory. Try adding --parallel-workers=1 --executor sequential to your colcon command to ensure only one instance of the compiler is running at a time.

Thank you @azeey @ahcorde for helping me, I was able to build all the packages correctly only by increasing the amount of RAM, I also tried adding --parallel-workers=1 --executor sequential before the hardware upgrade but I got the same error.
Now that everything seems built I will try to run some tests to make sure everything is working! I will keep you updated

[djsamseng]

For anyone else who might run into this issue:

On Ubuntu 20.04 focal, ROS 2 Humble, Ignition Fortress when having the following error

--- stderr: ros_gz_bridge
CMake Error at CMakeLists.txt:81 (find_package):
  By not providing "Findactuator_msgs.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "actuator_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "actuator_msgs"
  with any of the following names:

    actuator_msgsConfig.cmake
    actuator_msgs-config.cmake

  Add the installation prefix of "actuator_msgs" to CMAKE_PREFIX_PATH or set
  "actuator_msgs_DIR" to a directory containing one of the above files.  If
  "actuator_msgs" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< ros_gz_bridge [17.6s, exited with code 1]

Simply

cd src
git clone git@github.com:rudislabs/actuator_msgs.git
cd ../
colcon build

fixed the issue.

I was then able to confirm ros and ignition fortress working correctly by doing the following:

following this guide with modifications for an Ubuntu 20.04 local installation of ROS2 Humble and gazebo fortress

cd ~/dev/gazebo_fortress_ws/
source ~/dev/ros2_humble/install/local_setup.bash
source ./install/local_setup.bash
ros2 run ros_gz_bridge parameter_bridge /keyboard/keypress@std_msgs/msg/Int32@gz.msgs.Int32

In a second terminal

ign gazebo sim empty.sdf

• Note replace the gz command with ign gazebo since the gz command was not yet introduced for fortress
• In the simulator window click the dropdown in the top right
  and add Key Publisher

In a third terminal

source ~/dev/ros2_humble/install/local_setup.bash
ros2 topic echo /keyboard/keypress

Press buttons on the keyboard when focused in the simulator and see the keypresses logged in the third terminal

[azeey]

Fixed by #431.