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ROS2: Specify RTI Connext as rmw implementation on NVidia Jetson Nano not work

asked 2019-09-03 22:43:51 -0500

PowerfulMing gravatar image

I'm trying to build my package with rmw_connext_cpp. It works fine on my PC (64bit, Ubuntu 18.04). Here is what I did:

vim .bashrc

then add line

export RMW_IMPLEMENTATION=rmw_connext_cpp

However, when I try to do the same things on Nvidia Jetson Nano, the systems shows the following error:

-- Found ament_cmake: 0.7.3 (/opt/ros/dashing/share/ament_cmake/cmake)
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Found rclcpp: 0.7.7 (/opt/ros/dashing/share/rclcpp/cmake)
-- Found rosidl_adapter: 0.7.5 (/opt/ros/dashing/share/rosidl_adapter/cmake)
-- Found rmw_implementation_cmake: 0.7.2 (/opt/ros/dashing/share/rmw_implementation_cmake/cmake)
CMake Error at /opt/ros/dashing/share/rmw_implementation/cmake/rmw_implementation-extras.cmake:47 (message):
  The RMW implementation has been specified as 'rmw_connext_cpp' through the
  environment variable 'RMW_IMPLEMENTATION', however it is not in the list of
  supported rmw implementations, which was specified when the 'rmw_implementation' package was built.

Thanks!!!

BTW, I had already install rmw_implementation, rmw_connext_cpp, and rosidl_typesupport_connext_cpp.

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answered 2019-09-05 13:49:49 -0500

tfoote gravatar image

To be able to use rmw_connext_cpp, you need to install Connext on your system. However, RTI doesn't provide Connext builds for arm64 platforms. rmw_connext_cpp is not declaring itself as supported, because it is detecting that Connext is not available on your system.

More info:

It is necessary to install alternative DDS implementations before you use them: https://index.ros.org/doc/ros2/Instal...

The debian packages for RTI connext are available under a non-commercial license on amd64 but not on arm64 which is why you're seeing different behavior.

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answered 2019-09-04 02:04:01 -0500

duck-development gravatar image

You may have to rebuild the rmw_implementation pkg. May this help

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Thanks a lot... But it doesn't work... when I build rmw_implementation, it shows error that can't find RTI connext package.... So I have to build RTI connext DDS first..

I found a tutorial for cross compile RTI connext DDS for Raspberry Pi

But Jetson Nano is Arm64 arch. Another thing is that I also can't find RTI Connext DDS 5.2. Currently they only provide RTI Connext DDS 6.0 for free trial...

According to this, Looks like RTI Connext dosen't support on arm64 in ROS Dashing

Any idea or updates, please tell me!!! Thank you!!!

PowerfulMing gravatar imagePowerfulMing ( 2019-09-05 01:36:08 -0500 )edit

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Asked: 2019-09-03 22:43:51 -0500

Seen: 59 times

Last updated: Sep 05