Update library_builder.py

[G-Yong]

In the end of function ‘download_mcu_environment’， line139，download_extra_packages once。 but in line 75， download_extra_packages again。
which will cause error [fatal: destination path '/home/xxx/Desktop/arduino/hello_microros/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/control_msgs' already exists and is not an empty directory.]

[G-Yong]

Sorry，it is line 65 and line 123 in this repository. I mixed up this repository with another one.
But the mistake and the way to correct it are the same.

[pablogs9]

We are not removing this line. If the problem is related to an existing folder, please add the correct checks to avoid the error.

[G-Yong]

The "already exists" error occurs when you use extra_packages.repos to add another library(s). This will definitely occur because of [library_builder.py L137], which contains the following code:

        Repository(repo_name, repo_values['url'], self.distro, version).clone(self.mcu_src_folder)

The clone method simply executes a git [repositories.py L27]

      def clone(self, folder):
        self.path = folder + "/" + self.name
        # TODO(pablogs) ensure that git is installed
        command = "git clone -b {} {} {}".format(self.branch, self.url, self.path)
        result = run_cmd(command)

        if 0 != result.returncode:
            print("{} clone failed: \n{}".format(self.name, result.stderr.decode("utf-8")))
            sys.exit(1)

When the first clone operation is executed, the path will be created. However, if a second clone operation is attempted, the error will occur. Therefore, removing this line may be the simplest solution.

[Acuadros95]

@G-Yong Could you detail the steps to replicate your error?

We cannot remove that line, as it would completely remove the extra packages functionality.

[G-Yong]

@Acuadros95 Sure. The following are the steps to reproduce the error.
Background:

• I am using this repository through the platformio plugin in vscode.
• I need to include third-party libraries (such as control_msgs) into micro_ros through extra_packages. I followed the instructions here: https://github.com/micro-ROS/micro_ros_platformio#extra-packages to do so.

 Git repositories included on the <Project_directory>/extra_packages/extra_packages.repos yaml file.

Steps to reproduce:

1. Create a new folder named "extra_packages" in the directory where your platformio.ini file is located. Inside the extra_packages folder, create a new file named "extra_packages.repos".
   
   The content of the "extra_packages.repos" file is as follows:

 repositories:
  control_msgs:
    type: git
    url: https://github.com/ros-controls/control_msgs
    version: humble
  object_recognition_msgs:
    type: git
    url: https://github.com/wg-perception/object_recognition_msgs
    version: ros2
  octomap_msgs:
    type: git
    url: https://github.com/OctoMap/octomap_msgs
    version: ros2
  moveit_msgs:
    type: git
    url: https://github.com/ros-planning/moveit_msgs
    version: humble

2. My platformio.ini file is as follows:

[env:featheresp32]
platform = espressif32
board = featheresp32
framework = arduino
board_build.f_cpu = 240000000L
monitor_speed = 115200
lib_deps = 
    https://github.com/micro-ROS/micro_ros_platformio.git

3. After saving the platformio.ini file, vscode automatically compiled micro_ros. To eliminate any unnecessary misunderstandings, I performed a full clean.
   

4. Then I compiled it and got the following output:

Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
----------------------------------------------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
PLATFORM: Espressif 32 (6.3.1) > Adafruit ESP32 Feather
HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
PACKAGES: 
 - framework-arduinoespressif32 @ 3.20009.0 (2.0.9) 
 - tool-esptoolpy @ 1.40501.0 (4.5.1) 
 - toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch5
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing pyyaml with pip at PlatformIO environment
/home/yong/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /home/yong/.platformio/penv/lib/python3.10/site-packages (6.0)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/yong/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /home/yong/.platformio/penv/lib/python3.10/site-packages (2.0.1)
Configuring featheresp32 with transport serial
Downloading micro-ROS dev dependencies
         - Downloaded ament_cmake
         - Downloaded ament_lint
         - Downloaded ament_package
         - Downloaded googletest
         - Downloaded ament_cmake_ros
         - Downloaded ament_index
Building micro-ROS dev dependencies
Downloading micro-ROS library
         - Downloaded microcdr
         - Downloaded microxrcedds_client
         - Downloaded rcl_yaml_param_parser (ignored)
         - Downloaded rcl
         - Downloaded rcl_lifecycle
         - Downloaded rcl_action
         - Downloaded rclc_parameter
         - Downloaded rclc
         - Downloaded rclc_examples (ignored)
         - Downloaded rclc_lifecycle
         - Downloaded micro_ros_utilities
         - Downloaded rcutils
         - Downloaded micro_ros_msgs
         - Downloaded rmw_microxrcedds
         - Downloaded rosidl_typesupport_c
         - Downloaded rosidl_typesupport_cpp (ignored)
         - Downloaded rosidl_typesupport_microxrcedds_c_tests
         - Downloaded rosidl_typesupport_microxrcedds_cpp_tests
         - Downloaded rosidl_typesupport_microxrcedds_test_msg
         - Downloaded rosidl_typesupport_microxrcedds_cpp (ignored)
         - Downloaded rosidl_typesupport_microxrcedds_c
         - Downloaded rosidl_parser
         - Downloaded rosidl_typesupport_introspection_tests
         - Downloaded rosidl_runtime_cpp (ignored)
         - Downloaded rosidl_typesupport_introspection_cpp (ignored)
         - Downloaded rosidl_adapter
         - Downloaded rosidl_typesupport_interface
         - Downloaded rosidl_runtime_c
         - Downloaded rosidl_generator_cpp (ignored)
         - Downloaded rosidl_generator_c
         - Downloaded rosidl_cli
         - Downloaded rosidl_typesupport_introspection_c
         - Downloaded rosidl_cmake
         - Downloaded rmw_implementation_cmake
         - Downloaded rmw
         - Downloaded action_msgs
         - Downloaded rcl_interfaces
         - Downloaded rosgraph_msgs
         - Downloaded builtin_interfaces
         - Downloaded lifecycle_msgs
         - Downloaded statistics_msgs
         - Downloaded composition_interfaces
         - Downloaded test_msgs
         - Downloaded rosidl_default_runtime
         - Downloaded rosidl_default_generators
         - Downloaded unique_identifier_msgs
         - Downloaded std_srvs
         - Downloaded common_interfaces
         - Downloaded diagnostic_msgs
         - Downloaded sensor_msgs
         - Downloaded stereo_msgs
         - Downloaded geometry_msgs
         - Downloaded sensor_msgs_py
         - Downloaded trajectory_msgs
         - Downloaded nav_msgs
         - Downloaded actionlib_msgs
         - Downloaded shape_msgs
         - Downloaded std_msgs
         - Downloaded visualization_msgs
         - Downloaded test_interface_files
         - Downloaded test_rmw_implementation
         - Downloaded rmw_implementation
         - Downloaded rcl_logging_noop
         - Downloaded rcl_logging_interface
         - Downloaded rcl_logging_spdlog (ignored)
         - Downloaded test_tracetools_launch
         - Downloaded tracetools_read
         - Downloaded tracetools_test
         - Downloaded tracetools_trace
         - Downloaded tracetools_launch
         - Downloaded ros2trace
         - Downloaded tracetools
         - Downloaded test_tracetools
         - Downloaded example_interfaces
Checking extra packages
         - Downloaded control_msgs
         - Downloaded object_recognition_msgs
         - Downloaded octomap_msgs
         - Downloaded moveit_msgs
         - Adding extra_packages--.repos
Checking extra packages
control_msgs clone failed: 
fatal: destination path '/home/yong/Desktop/arduino/hello_microros/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/control_msgs' already exists and is not an empty directory.

===================================================== [FAILED] Took 200.63 seconds =====================================================

 *  The terminal process "platformio 'run'" terminated with exit code: 1. 
 *  Terminal will be reused by tasks, press any key to close it. 

As you can see, library_builder.py executed two git commands at the end.

[G-Yong]

Sorry, I made a mistake with another repository. This repository did not have this error.