robot_state_publisher crashes when using FastRTPS

[wawanbreton]

When starting a simple robot_state_publisher node and using FastRTPS, the node crashes with the following error :

RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 launch my_package robot_base.launch.py
[INFO] [robot_state_publisher-1]: process started with pid [498]
[robot_state_publisher-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[robot_state_publisher-1]   what():  could not create publisher: Type support not from this implementation. Got:
[robot_state_publisher-1]     Handle's typesupport identifier (rosidl_typesupport_cpp) is not supported by this library, at /usr/src/debug/rosidl-typesupport-cpp/1.2.1-3-r0/git/src/type_support_dispatch.hpp:111
[robot_state_publisher-1]     Could not load library libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so: dlopen error: /usr/lib/libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so: undefined symbol: _ZN22unique_identifier_msgs3msg24typesupport_fastrtps_cpp19get_serialized_sizeERKNS0_5UUID_ISaIvEEEm, at /usr/src/debug/rcutils/4.0.2-2-r0/git/src/shared_library.c:99, at /usr/src/debug/rosidl-typesupport-cpp/1.2.1-3-r0/git/src/type_support_dispatch.hpp:76
[robot_state_publisher-1] while fetching it, at /usr/src/debug/rmw-fastrtps-cpp/5.0.1-1-r0/git/src/publisher.cpp:117, at /usr/src/debug/rcl/3.1.2-1-r0/git/src/rcl/publisher.c:114
[ERROR] [robot_state_publisher-1]: process has died [pid 498, exit code -6, cmd '/usr/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_bz79aypr --params-file /tmp/launch_params_m8zgled1'].

This does not happen when using CycloneDDS (default)
My launch file is very basic and only starts a robot_state_publisher with the proper robot description from URDF.

Build Configuration:
BB_VERSION           = "1.46.0"
BUILD_SYS            = "x86_64-linux"
NATIVELSBSTRING      = "universal"
TARGET_SYS           = "aarch64-poky-linux"
MACHINE              = "raspberrypi4-64"
DISTRO               = "poky"
DISTRO_VERSION       = "3.1.13"
TUNE_FEATURES        = "aarch64 cortexa72 crc crypto"
TARGET_FPU           = ""
DISTRO_NAME          = "Poky (Yocto Project Reference Distro)"
ROS_DISTRO           = "galactic"
ROS_VERSION          = "2"
ROS_PYTHON_VERSION   = "3"
meta                 
meta-poky            
meta-yocto-bsp       = "<unknown>:<unknown>"
meta-raspberrypi     = "dunfell:934064a01903b2ba9a82be93b3f0efdb4543a0e8"
meta-oe              
meta-networking      
meta-python          = "<unknown>:<unknown>"
meta-ros2-galactic   
meta-ros-common      
meta-ros2            
meta-ros-backports-gatesgarth 
meta-ros-backports-hardknott = "dunfell:cd2e0d0625385ca821aa5129d20805640ac80734"
meta-qt5             = "master:b64b0a213240375e697185de06c3f502c65cdee7"
                     = "new-localization:c2df39275c1098fcff4774de82f453e2fcfb0779"

I have seen a very similar error output on this issue, but I don't know if it has explicitely been fixed nor how.

I have checked dependancies to fastrtps, but everything seems fine. It seems that tf2-msgs have not been properly built. However, nav-msgs and even my custom messages work well.

[wawanbreton]

I have spent some time finding the root cause of this. It seems that the package unique-identifier-msgs is not build with FastRTPS support. By adding a unique-identifier-msgs_%.bbappend file containing this :

ROS_BUILD_DEPENDS += "builtin-interfaces"

ROS_BUILDTOOL_DEPENDS += "rosidl-typesupport-fastrtps-cpp-native"
ROS_BUILDTOOL_DEPENDS += "rosidl-typesupport-fastrtps-c-native"

The error is gone and it works fine.

However, this is probably not the best way to fix it. It seems to happen to unique-identifier-msgs because it has no dependancy to other message types. So it may happen to other packages too (seems to be the case for lifecycle-msgs).

[wawanbreton]

std-srvs package is concerned too