Building nxt_lejos fails finding rosjava.mk

edit

Thank you!

Unfortunately, this doesn't seem to wokr for me.

I've installed leJOS following the tutorial and was able to run the HelloWorld program on the brick.

Building nxt_lejos as described here fails at compilation.

user@ubuntu:~/ros_workspace/nxt_lejos$ gradle installApp
> Building > :nxt_lejos_lcp_proxy:compileJava > Resolving dependencies ':nxt_lej:nxt_lejos_lcp_proxy:compileJava
LCPProxy.java:13: package lejos.nxt does not exist
import lejos.nxt.Sound;
                ^
LCPProxy.java:39: package nxt_lejos_msgs does not exist
import nxt_lejos_msgs.DNSCommand;
                   ^
LCPProxy.java:40: package nxt_lejos_msgs does not exist
import nxt_lejos_msgs.JointPosition;

...

LCPProxy.java:55: package com.esotericsoftware.yamlbeans does not exist
import com.esotericsoftware.yamlbeans.YamlReader;
                                     ^

DifferentialNavigationSystem.java:3: package lejos.nxt does not exist
import lejos.nxt.Motor;
                ^
DifferentialNavigationSystem.java:4: package lejos.robotics does not exist
import lejos.robotics.RegulatedMotor;
                     ^
DifferentialNavigationSystem.java:5: package lejos.robotics.localization does not exist
import lejos.robotics.localization.OdometryPoseProvider;

...

SoundSensor.java:3: package lejos.nxt does not exist
import lejos.nxt.SensorPort;

etc.

I suppose this is partially because you are missing the message representations in Java. Therefore one needs to reinstall rosjava_messages after checking out nxt_lejos into the ros workspace and the gradle nxt_lejos build should be able to find the nxt_lejos_msgs generated by rosjava.

Plus: There are hard coded pathes in */build.gradle files, e.g. (in nxt_lejos_proxy/build.gradle):

dependencies {
  compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT'
  compile fileTree (dir: '/home/lejosdev/workspace/snapshot/lib/pc', includes: ['*.jar'])
  compile fileTree (dir: '/home/lejosdev/workspace/snapshot/lib/pc/3rdparty', includes: ['*.jar']) 
}

Which doesn't seem proper either.

Did I misconfigure something?

Best regards, Andreas

The problem were the pathes of the dependencies, e.g.:

dependencies {
  compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT'
  compile fileTree (dir: '/home/lejosdev/workspace/snapshot/lib/pc', includes: ['*.jar']) 
  compile fileTree (dir: '/home/lejosdev/workspace/snapshot/lib/pc/3rdparty', includes: ['*.jar']) 
}

should be corrected to match the path you've installed lejos (line 3) into and the path you've checked out nxt_lejos into (line 4).

The build.gradle files in nxt_lejos_proxy and nxt_lejos_map_server have to be updated accordingly.

Maybe this should be noted in the installation instructions.

The remaining problem is, that the DifferentialNavigationSystem references DifferentialPilot.getTurnRate() which isn't supposed to exist, according to 0.9.1beta Javadoc (nor leJOS_NXJ_0.9.1beta-3_source.tar.gz.

user@ubuntu:~/ros_workspace/nxt_lejos$ gradle installApp
> Building > :nxt_lejos_lcp_proxy:compileJava > Resolving dependencies ':nxt_lej:nxt_lejos_lcp_proxy:compileJava
DifferentialNavigationSystem.java:287: cannot find symbol
symbol  : method getTurnRate()
location: class lejos.robotics.navigation.DifferentialPilot
    od.getTwist().getTwist().getAngular().setZ((moving ? Math.toRadians(df.getTurnRate()): 0));

1 error

FAILURE: Build failed with an exception.

Is there something like a nightly I could try?

Thanks in advance!

Best regards, Andreas