ROS2 ament overlay issue with messages
I'm working on adding array parameter support for ROS2, and am having trouble with ament.
I've added new types and values here and here.
I then sourced /opt/ros/ardent/setup.bash, and ran ament build. Eventually, this happened:
[ 83%] Building C object CMakeFiles/rcl_interfaces__rosidl_typesupport_introspection_c__pyext.dir/rosidl_generator_py/rcl_interfaces/msg/_parameter_value_s.c.o
/home/automatom/ros2/build/rcl_interfaces/rosidl_generator_py/rcl_interfaces/msg/_parameter_value_s.c: In function ‘rcl_interfaces_parameter_value__convert_from_py’:
/home/automatom/ros2/build/rcl_interfaces/rosidl_generator_py/rcl_interfaces/msg/_parameter_value_s.c:111:61: error: ‘rcl_interfaces__msg__ParameterValue {aka struct rcl_interfaces__msg__ParameterValue}’ has no member named ‘byte_array_value’
if (!rosidl_generator_c__byte__Array__init(&(ros_message->byte_array_value), size))
This error repeats for all the new types. However, that structure does have the field in question. From build/rcl_interfaces/rosidl_generator_c/rcl_interfaces/msg/parameter_value__struct.h:
/// Struct of message rcl_interfaces/ParameterValue
typedef struct rcl_interfaces__msg__ParameterValue
{
uint8_t type;
bool bool_value;
int64_t integer_value;
double double_value;
rosidl_generator_c__String string_value;
rosidl_generator_c__byte__Array byte_array_value;
rosidl_generator_c__bool__Array bool_array_value;
rosidl_generator_c__int64__Array integer_array_value;
rosidl_generator_c__float64__Array double_array_value;
rosidl_generator_c__String__Array string_array_value;
} rcl_interfaces__msg__ParameterValue;
This suggests that ament/cc are looking in the wrong location for the files in question. I manually went into build/rcl_interfaces and ran make VERBOSE=1, and found this for the first object that fails to build:
/usr/lib/ccache/cc -Drcl_interfaces__rosidl_typesupport_c__pyext_EXPORTS -I/home/automatom/ros2/build/rcl_interfaces/rosidl_typesupport_c -I/opt/ros/ardent/include -I/home/automatom/ros2/build/rcl_interfaces/rosidl_generator_c -I/home/automatom/ros2/build/rcl_interfaces/rosidl_generator_py -I/usr/include/python3.5m -fPIC -Wall -Wextra -o CMakeFiles/rcl_interfaces__rosidl_typesupport_c__pyext.dir/rosidl_generator_py/rcl_interfaces/msg/_parameter_value_s.c.o -c /home/automatom/ros2/build/rcl_interfaces/rosidl_generator_py/rcl_interfaces/msg/_parameter_value_s.c
Note that -I/opt/ros/ardent/include comes before -I/home/automatom/ros2/build/rcl_interfaces/rosidl_generator_c. If I swap them, and manually run the command, it builds successfully.
I'm sure I'm missing something obvious, and I apologize if so, but what am I doing wrong? Am I missing a step for ament workspaces? I already tried sourcing install/local_setup.bash and building again, but to no avail.
EDIT: providing steps to reproduce:
mkdir -p ~/ament_test/src
cd ~/ament_test/src
git clone git@github.com:ayrton04/rcl_interfaces.git -b param-arrays
cd ..
source /opt/ros/ardent/setup.bash
ament build
May I suggest to use permalinks to the
ParameterType.msgandParameterValue.msg?Good call, have fixed. Thank you!
How have you setup your workspaces? If you changed something in
rcl_interfacesin a copy of it in your workspace, then you need to also build from source everything that depends onrcl_interfacesin the overlay. Can you provide some basic steps to reproduce the problem?I'm only building
rcl_interfaces, and all I did was add some fields to two messages. I've provided the steps to reproduce, and ran them to verify that it causes the build error for me. It fails at around 95%.Oh, it's not consistently failing? That sounds like a target dependency issue in cmake. I'll see if I can reproduce it.
No, sorry, I don't mean it fails 95% of the time, but rather it fails at the ament 95% build point.
Ok, I can reproduce it. It looks like it is including the old version of the header from the underlay. I'll look into what that is the case. Might be worth moving to an issue on the GitHub repository.