Header Files Not Included

[cemtolgamunyas]

Hi, I am currently developing a parking space planner node and I can not build my node. The build process is unable to locate the header files such as rclcpp/rclcpp.hpp. I suspect that ament_cmake and autoware_cmake are not properly installed and configured to find the header files. I also tried to include their paths into the c_cpp_properties.json file, but it didn't work out. Do you have any suggestions that how should I approach to this problem? Here is the CMakeLists.txt file of my node.

[maxime-clem]

I assume you are building with colcon ?
Did you setup your environment using the setup-dev-env.sh script ? This script installs the dependencies, including rclcpp.hpp.
Did you setup your workspace following https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/#how-to-set-up-a-workspace ? If not, you may be missing some packages such as autoware_cmake.
Can you share your package.xml as well (if possible by pasting the code, not as a screenshot). This files need to declare the package dependencies (see an example here https://github.com/autowarefoundation/autoware.universe/blob/main/planning/freespace_planner/package.xml).

[cemtolgamunyas]

Yes, I am building with colcon. When I was installing the Autoware, I set up my environment and workspace with following instructions that you attached. At the end, I build the autoware packages one more time and autoware_cmake is finished successfully. Here is my package.xml file of my node.

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>parking_space_planner</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="cemtolga2000@gmail.com">cem</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>autoware_cmake</buildtool_depend>
  
  <depend>autoware_auto_planning_msgs</depend>
  <depend>freespace_planning_algorithms</depend>
  <depend>geometry_msgs</depend>
  <depend>motion_utils</depend>
  <depend>nav_msgs</depend>
  <depend>planning_test_utils</depend>


  <depend>rclcpp</depend>  
  <depend>rclcpp_components</depend>
  

  <depend>route_handler</depend>
  <depend>tf2</depend>
  <depend>tf2_geometry_msgs</depend>
  <depend>tf2_ros</depend>
  <depend>tier4_autoware_utils</depend>
  <depend>tier4_planning_msgs</depend>
  <depend>vehicle_info_util</depend>
  <depend>visualization_msgs</depend>
  
  
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_cmake_ros</test_depend>
  <test_depend>autoware_lint_common</test_depend>


  <export>
    <build_type>ament_cmake</build_type>
  </export>


</package>

[maxime-clem]

I think it may be an ordering issue in the CMakeLists.txt.
The autoware_package() should not be at the end of the file. You can copy the format of other packages to make sure.

[cemtolgamunyas]

I replaced autoware_package()'s order after the dependency packages but it still did not work out. I also rebuilt all of the packages and just this one causes such as problem. Here is the error log in the terminal when I want to colcon build the parking_space_planner package.

`fatal error: rclcpp/rclcpp.hpp: No such file or directory
1 | #include "rclcpp/rclcpp.hpp"
| ^~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/parking_space_planner_node.dir/build.make:76: CMakeFiles/parking_space_planner_node.dir/src/parking_space_planner_node.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/parking_space_planner_node.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< parking_space_planner [4.45s, exited with code 2]
`

[maxime-clem]

You should just copy the CMakeLists.txt of an existing package.
For example: https://github.com/autowarefoundation/autoware.universe/blob/main/planning/sampling_based_planner/path_sampler/CMakeLists.txt

This is the recommended format for an Autoware node.
Make sure you add these lines after the definition of your node:

#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(namespace::NodeClassName)

This requires adding <depend>rclcpp_components</depend> to your package.xml.

[cemtolgamunyas]

I kinda solved the problem. It was related with the order of my workspace and it looks like it is working rn. Thank you so much for your help.