nav2_utils build error #3212

muttistefano · 2022-09-22T09:32:00Z

Hi all,
i am building ros rolling from source on ubuntu 18.
I bumped into this building error and i cannot tell if im using a wrong branch or what.
Currently i am on the "main" branch of nav2.
The error is the following:

In file included from /home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24:0,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT>::ServiceClient(const string&, const SharedPtr&) [with ServiceT = lifecycle_msgs::srv::ChangeState; std::__cxx11::string = std::__cxx11::basic_string<char>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>]’:
/home/pauli/ros2_rolling/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:36:55:   required from here
/home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:47:13: error: ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::ChangeState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState> >; std::__cxx11::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’ is deprecated: use rclcpp::QoS instead of rmw_qos_profile_t [-Werror=deprecated-declarations]
     client_ = node_->create_client<ServiceT>(
In file included from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/node.hpp:1594:0,
                 from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/executors.hpp:22,
                 from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/node_impl.hpp:157:1: note: declared here
 Node::create_client(
 ^~~~
In file included from /home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24:0,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT>::ServiceClient(const string&, const SharedPtr&) [with ServiceT = lifecycle_msgs::srv::GetState; std::__cxx11::string = std::__cxx11::basic_string<char>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>]’:
/home/pauli/ros2_rolling/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:36:55:   required from here
/home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:47:13: error: ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::GetState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetState> >; std::__cxx11::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’ is deprecated: use rclcpp::QoS instead of rmw_qos_profile_t [-Werror=deprecated-declarations]
     client_ = node_->create_client<ServiceT>(
In file included from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/node.hpp:1594:0,
                 from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/executors.hpp:22,
                 from /home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/pauli/ros2_rolling/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/home/pauli/ros2_rolling/install/rclcpp/include/rclcpp/rclcpp/node_impl.hpp:157:1: note: declared here
 Node::create_client(

Thanks

The text was updated successfully, but these errors were encountered:

vinnnyr · 2022-09-22T16:41:26Z

Similar ros-answers question I just saw this morning. Seems to be the same issue 🤔 https://answers.ros.org/question/406790/nav2-build-failure-colcon-failied-to-build-at-nav2_util/

SteveMacenski · 2022-09-22T16:59:30Z

This seems odd - I'm working on rolling right now and I see no issues on 22.04 where current rolling is targeted. I just did an update and clean rebuild of utils and had no issues. CI is also turning over fine which is the objective build location. Are you sure that your local rolling build is up to date?

muttistefano · 2022-09-22T17:03:31Z

everything seems up to date.
Im not on 22.04, im on ubuntu 18

SteveMacenski · 2022-09-22T17:12:39Z

Rolling/main on Nav2 targets 22.04, we offer no support for out of supported distributions.

With that said, if Rolling built fine, then I don't see why anything in Nav2 would give you a problem. When did you do your rolling source build?

If you change L49 in the service_client.hpp file to use rclcpp::ServicesQoS() instead, does that fix your issue? If so, please submit a PR and I'll merge

AshinTheAnvil · 2022-09-22T17:21:42Z

Hi even Faced the same issue the other day.
StillI couldnot resolve it..

SteveMacenski · 2022-09-22T17:23:29Z

Did you try my suggestion?

AshinTheAnvil · 2022-09-22T17:24:50Z

Did you try my suggestion?

I am about to start with it and surely will get back to you .

AshinTheAnvil · 2022-09-22T17:56:11Z

Did you try my suggestion?
Hi Steve,
Now I face a different error as follows,

/home/ashin/nav2_ws/src/navigation2/nav2_lifecycle_manager/src/lifecycle_manager.cpp:68:58: error: ‘typename rclcpp::Service<ServiceT>::SharedPtr rclcpp::Node::create_service(const string&, CallbackT&&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = std_srvs::srv::Trigger; CallbackT = std::_Bind<void (nav2_lifecycle_manager::LifecycleManager::*(nav2_lifecycle_manager::LifecycleManager*, std::_Placeholder<1>, std::_Placeholder<2>, std::_Placeholder<3>))(std::shared_ptr<rmw_request_id_s>, std::shared_ptr<std_srvs::srv::Trigger_Request_<std::allocator<void> > >, std::shared_ptr<std_srvs::srv::Trigger_Response_<std::allocator<void> > >)>; typename rclcpp::Service<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’ is deprecated: use rclcpp::QoS instead of rmw_qos_profile_t [-Werror=deprecated-declarations]

   68 |   is_active_srv_ = create_service<std_srvs::srv::Trigger>(
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
   69 |     get_name() + std::string("/is_active"),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~               
   70 |     std::bind(&LifecycleManager::isActiveCallback, this, _1, _2, _3),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   71 |     rmw_qos_profile_services_default,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                     
   72 |     callback_group_);
      |     ~~~~~~~~~~~~~~~~                                      
In file included from /home/ashin/ros2_rolling/ros2-linux/include/rclcpp/rclcpp/node.hpp:1594,
                 from /home/ashin/ros2_rolling/ros2-linux/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /home/ashin/ros2_rolling/ros2-linux/include/rclcpp/rclcpp/executors.hpp:22,
                 from /home/ashin/ros2_rolling/ros2-linux/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/ashin/nav2_ws/install/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/ashin/nav2_ws/install/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/ashin/nav2_ws/src/navigation2/nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp:26,
                 from /home/ashin/nav2_ws/src/navigation2/nav2_lifecycle_manager/src/lifecycle_manager.cpp:16:
/home/ashin/ros2_rolling/ros2-linux/include/rclcpp/rclcpp/node_impl.hpp:190:1: note: declared here
  190 | Node::create_service(
     
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/nav2_lifecycle_manager_core.dir/build.make:76: CMakeFiles/nav2_lifecycle_manager_core.dir/src/lifecycle_manager.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:176: CMakeFiles/nav2_lifecycle_manager_core.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed   <<< nav2_lifecycle_manager [23.5s, exited with code 2]
Aborted  <<< nav2_behavior_tree [1min 5s]                                                                                                                                      
Aborted  <<< nav2_velocity_smoother [1min 1s]                                                                                        
Aborted  <<< nav2_amcl [1min 8s]                                           

Summary: 9 packages finished [1min 13s]
  1 package failed: nav2_lifecycle_manager
  3 packages aborted: nav2_amcl nav2_behavior_tree nav2_velocity_smoother
  3 packages had stderr output: nav2_behavior_tree nav2_lifecycle_manager nav2_simple_commander
  24 packages not processed

SteveMacenski · 2022-09-22T18:00:35Z

Please format your posts, this is rather difficult to read. I did it for you this time, but please do in the future.

This is precisely the same error, just on another line, change that rmw_qos_profile_services_default to rclcpp::ServicesQoS()

muttistefano · 2022-09-23T09:07:08Z

Hi, and thanks @SteveMacenski for the suggestions.
Substituting L49 in the service_client.hpp with rclcpp::ServicesQoS() actually worked for me.
I had to perform the same substitution in the file : lifecycle_manager.cpp too, in the nav2_lifecycle_manager package, and in the file nav2_behavior_tree/bt_service_node.hpp
I still cannot tell where the initial error came from.
Thanks

AshinTheAnvil · 2022-09-23T09:44:27Z

Hi @SteveMacenski , As @muttistefano said it works if lines in those 3 different files are changed.
Now the workspace is built successfully.
Still I do not know how the problem originated.
Thanks.

SteveMacenski · 2022-09-23T16:31:14Z

Can you submit a PR with those changes?

AshinTheAnvil · 2022-09-29T08:40:17Z

Hi @SteveMacenski Should I or @muttistefano submit a PR ?

muttistefano · 2022-09-29T09:25:53Z

I can submit it, I just need a while. Do the changes affect other ubuntu distributions or else?

…

On Thu, 29 Sep 2022, 10:40 Ashin A, ***@***.***> wrote: Hi @SteveMacenski <https://github.com/SteveMacenski> Should I or @muttistefano <https://github.com/muttistefano> submit a PR ? — Reply to this email directly, view it on GitHub <#3212 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AESIR4HDMP5AA7BHUZMWSUDWAVIXXANCNFSM6AAAAAAQS3M45I> . You are receiving this because you were mentioned.Message ID: ***@***.***>

AshinTheAnvil · 2022-09-29T10:57:59Z

I can submit it, I just need a while. Do the changes affect other ubuntu distributions or else?
…
On Thu, 29 Sep 2022, 10:40 Ashin A, @.> wrote: Hi @SteveMacenski https://github.com/SteveMacenski Should I or @muttistefano https://github.com/muttistefano submit a PR ? — Reply to this email directly, view it on GitHub <#3212 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AESIR4HDMP5AA7BHUZMWSUDWAVIXXANCNFSM6AAAAAAQS3M45I . You are receiving this because you were mentioned.Message ID: @.>

Hi @muttistefano
Please go ahead.
I faced similar issue working on Ubuntu 22.

muttistefano · 2022-09-29T12:30:27Z

Hi,
i tried to build the nav2 with the proposed changes on Ubuntu22 - rolling and it doesn't work.

/tmp/pd/src/navigation2/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT>::ServiceClient(const string&, const SharedPtr&) [with ServiceT = lifecycle_msgs::srv::ChangeState; std::string = std::__cxx11::basic_string<char>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>]’:
/tmp/pd/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:35:3:   required from here
/tmp/pd/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::ServicesQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::ServicesQoS(),
      |               ^~~~~~~~~~~~~
      |               |
      |               rclcpp::ServicesQoS
In file included from /opt/ros/rolling/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/rolling/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/rolling/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /tmp/pd/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /tmp/pd/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /tmp/pd/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/rolling/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::ChangeState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’

At this point, i suppose the initial problem was related to Ubuntu 18 .
Thanks

AshinTheAnvil · 2022-09-29T16:00:17Z

Hi, i tried to build the nav2 with the proposed changes on Ubuntu22 - rolling and it doesn't work.

/tmp/pd/src/navigation2/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT>::ServiceClient(const string&, const SharedPtr&) [with ServiceT = lifecycle_msgs::srv::ChangeState; std::string = std::__cxx11::basic_string<char>; rclcpp::Node::SharedPtr = std::shared_ptr<rclcpp::Node>]’:
/tmp/pd/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:35:3:   required from here
/tmp/pd/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::ServicesQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::ServicesQoS(),
      |               ^~~~~~~~~~~~~
      |               |
      |               rclcpp::ServicesQoS
In file included from /opt/ros/rolling/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/rolling/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/rolling/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/rolling/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /tmp/pd/src/navigation2/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /tmp/pd/src/navigation2/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /tmp/pd/src/navigation2/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/rolling/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::ChangeState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’

At this point, i suppose the initial problem was related to Ubuntu 18 . Thanks

Well I have successfully built the workspace on Ubuntu 22.

SteveMacenski · 2022-09-29T17:22:25Z

I get the same error actually in my install using Rolling binaries on 22.04

SteveMacenski · 2022-09-29T17:23:26Z

Either way, I think at this point if you both have something that's working, we can close this if there's no change that needs to be made to the main-supported branch/distribution/OS

AshinTheAnvil · 2022-09-29T18:24:34Z

Yes sure.
Thanks Steve

SteveMacenski added the more info required label Sep 22, 2022

SteveMacenski closed this as completed Sep 29, 2022

stevedanomodolor mentioned this issue Nov 16, 2022

is with QOS profile #3287

Closed

TZECHIN6 mentioned this issue Mar 6, 2023

nav2_util build fail due to rclcpp::ServicesQoS #3447

Closed

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nav2_utils build error #3212

nav2_utils build error #3212

muttistefano commented Sep 22, 2022

vinnnyr commented Sep 22, 2022

SteveMacenski commented Sep 22, 2022 •

edited

muttistefano commented Sep 22, 2022

SteveMacenski commented Sep 22, 2022 •

edited

AshinTheAnvil commented Sep 22, 2022

SteveMacenski commented Sep 22, 2022

AshinTheAnvil commented Sep 22, 2022

AshinTheAnvil commented Sep 22, 2022 •

edited by SteveMacenski

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muttistefano commented Sep 23, 2022

AshinTheAnvil commented Sep 23, 2022

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muttistefano commented Sep 29, 2022 via email

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SteveMacenski commented Sep 29, 2022

SteveMacenski commented Sep 29, 2022

AshinTheAnvil commented Sep 29, 2022

nav2_utils build error #3212

nav2_utils build error #3212

Comments

muttistefano commented Sep 22, 2022

vinnnyr commented Sep 22, 2022

SteveMacenski commented Sep 22, 2022 • edited

muttistefano commented Sep 22, 2022

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AshinTheAnvil commented Sep 22, 2022

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edited by SteveMacenski