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[ros2] ros2 run [package] [executable] cannot find executable

asked 2018-01-17 19:12:56 -0600

ipiano gravatar image

I have a C++ project which consists of a number of packages that I'm migrating from ROS1 to ROS2; under ROS1 with catkin, I could build the project with catkin_make and run the executable with rosrun [package] [executable] (One of the packages is an executable, the rest are libraries or plugins).

I have installed ROS2 as per the binary install instructions https://github.com/ros2/ros2/wiki/Lin...

I have a workspace with my project cloned into it, and I believe I've finished migrating all of the package.xml and CMakeLists.txt files. The project can be built fully and the executable and libraries get put into the install directory as expected.

Unfortunately, after sourcing ./install/local_setup.bash (/opt/ros/ardent/setup.bash was sourced before building), the call ros2 run [package] [executable] returns "No executable found"

If I source the argcomplete setup in /opt/ros/ardent, I can try to tabcomplete after typing ros2 run and I can see that my package is listed as a possible completion, but if I run ros2 pkg executables, my package/executable pair is not listed.

I don't know what I have set up incorrectly.

Package.xml

<?xml version="1.0"?>
<package format="2">
  <name>sdsmt_simulator</name>
  <version>0.0.1</version>
  <description>2D simulation environment for robots running in ROS</description>

  <maintainer email="andrew.stelter@mines.sdsmt.edu">Andrew Stelter</maintainer>

  <license>TODO</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>sdsmt_simulator_box2d</depend>
  <depend>rclcpp</depend>
  <depend>rmw_implementation</depend>
  <depend>std_msgs</depend>

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

CMakeLists.txt

###########
## SETUP ##
###########
cmake_minimum_required(VERSION 3.5)
project(sdsmt_simulator)

## Compile as C++11
if(NOT WIN32)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall")
endif()

## Find required ROS packages
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

find_package(rmw_implementation REQUIRED)
find_package(sdsmt_simulator_box2d REQUIRED)

## Find and configure QT
find_package(Qt5 REQUIRED COMPONENTS
  Core
  Widgets
  Gui
)

set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)

include_directories( include ${CMAKE_BINARY_DIR} )

## TODO If possible: Figure out how to mark Qt as a dependency
ament_export_dependencies(    
    rclcpp
    std_msgs
    sdsmt_simulator_box2d
)

ament_export_include_directories( include )

    ament_export_libraries(sdsmt_simulator_objs)

    Message("Own includes:" ${sdsmt_simulator_INCLUDE_DIRS})

    ###################
    ## FILE LISTINGS ##
    ###################

    ## Files that have any Qt macros or keywords in them
## Q_OBJECT, Q_PROPERTY, signals, slots.... etc.
set(MOC_HDRS

    include/sdsmt_simulator/drivetrain_if.h
    include/sdsmt_simulator/sensor_if.h
    include/sdsmt_simulator/robotcomponent_if.h
    include/sdsmt_simulator/property.h
    include/sdsmt_simulator/world_object_component_if.h

    include/interfaces/simulator_physics_if.h
    include/interfaces/simulator_ui_if.h
    include/interfaces/simulator_visual_if.h
    include/interfaces/old_world_object_if.h

    include/basic_physics.h
    include/basic_viewer.h
    include/simulator_core.h
    include/robot.h
    include/map.h

    include/ui/mainwindow.h
    )

set(LIB_MOC_HDRS
    include/sdsmt_simulator/world_object.h
    include/sdsmt_simulator/model.h
    )

    ## .ui qt widgets form files
set(UI_FILES
    ui/mainwindow.ui)

## Any other source files
set(CPP_SRCS
    src/basic_physics.cpp
    src/basic_viewer.cpp
    src/simulator_core.cpp
    src/robot.cpp

    src/map.cpp
    src/ui/mainwindow.cpp
    src/main.cpp
    )

set(LIB_SRCS
    src/world_object.cpp
    )

set(RCC_FILES ui/resources.qrc)
qt5_add_resources(RCC_SRCS ${RCC_FILES})

###########
## Build ##
###########

## Run MOC on files with Qt Keywords and Macros
qt5_wrap_cpp(LIB_MOC_SRCS ${LIB_MOC_HDRS})
qt5_wrap_cpp(MOC_SRCS ${MOC_HDRS})
## Wrap .ui files as cpp files
qt5_wrap_ui(UI_SRCS ${UI_FILES ...
(more)
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1 Answer

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answered 2018-01-17 19:18:46 -0600

Dirk Thomas gravatar image

You need to install the executable to lib/<PKGNAME> in order to be found by ros2 run.

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Comments

Specifically change RUNTIME DESTINATION bin/sdsmt_simulator to RUNTIME DESTINATION lib/${PROJECT_NAME}

William gravatar imageWilliam ( 2018-01-17 20:25:07 -0600 )edit

Since the install rule also covers libraries I am not sure that will work on Windows.

Dirk Thomas gravatar imageDirk Thomas ( 2018-01-17 20:41:03 -0600 )edit

That's true, it's better to install the libraries and binaries separately, so that the .dll's (considered part of RUNTIME by CMake) don't end up off the PATH. They belong in bin.

William gravatar imageWilliam ( 2018-01-17 20:43:06 -0600 )edit

Right now i'm just trying to get the migration to work on Ubuntu; step two will be to try it all on Windows. Was there some documentation page that I missed which says this is where the executable needs to be?

ipiano gravatar imageipiano ( 2018-01-17 22:37:39 -0600 )edit

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Asked: 2018-01-17 19:12:56 -0600

Seen: 1,630 times

Last updated: Jan 17 '18