Tav_PG's profile - activity

I can't compile my Android Kotlin Project because I get the following 'Kotlin compiler' error when gradle compiles:

Supertypes of the following classes cannot be resolved. Please make sure 
you have the required dependencies in the classpath: class 
sensor_msgs.CompressedImage, unresolved supertypes: 
org.ros.internal.message.Message> Task:app:buildInfoGeneratorDebug

This is a simple test project that has the bare minimum code using http://wiki.ros.org/shield_teleop as a boilerplate. I removed the joystick code but left the camera code.

A am using ROS Kinetic Ubuntu on the robot, Android 8.0 on the app.

Manifest.xml:

<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
          xmlns:tools="http://schemas.android.com/tools" package="com.company.roscameratest">

    <application
            android:allowBackup="true"
            android:icon="@mipmap/ic_launcher"
            android:label="@string/app_name"
            android:roundIcon="@mipmap/ic_launcher_round"
            android:supportsRtl="true"
            android:theme="@style/AppTheme" tools:replace="android:icon">
        <activity android:name=".MainActivity">
            <intent-filter>
                <action android:name="android.intent.action.MAIN"/>

                <category android:name="android.intent.category.LAUNCHER"/>
            </intent-filter>
        </activity>
        <activity android:name="org.ros.android.MasterChooser" />

        <service android:name="org.ros.android.NodeMainExecutorService" >
            <intent-filter>
                <action android:name="org.ros.android.NodeMainExecutorService" />
            </intent-filter>
        </service>
    </application>

</manifest>

build.gradle (Project):

// Top-level build file where you can add configuration options common to all sub-projects/modules.

buildscript {
    ext.kotlin_version = '1.3.41'
    repositories {
        google()
        jcenter()
 }

dependencies {
        classpath 'com.android.tools.build:gradle:3.4.2'
        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
        // NOTE: Do not place your application dependencies here; they belong
        // in the individual module build.gradle files
    }
}

allprojects {
    repositories {
        google()
        jcenter()
    }
}

task clean(type: Delete) {
    delete rootProject.buildDir
}

build.gradle (Module):

apply plugin: 'com.android.application'

apply plugin: 'kotlin-android'

apply plugin: 'kotlin-android-extensions'

android {
    compileSdkVersion 28
    defaultConfig {
        applicationId "com.company.roscameratest"
        minSdkVersion 26
        targetSdkVersion 28
        versionCode 1
        versionName "1.0"
        testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
    }
    buildTypes {
        release {
            minifyEnabled false
            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
        }
    }
    configurations.all {
        resolutionStrategy.force "org.ros.android_core:android_15:0.3.3"
    }
}

dependencies {
    implementation fileTree(dir: 'libs', include: ['*.jar'])
    implementation"org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
    implementation 'org.ros.android_core:android_15:0.3.3'
    //noinspection GradleCompatible
    implementation 'com.android.support:appcompat-v7:28.0.0'
    implementation 'com.android.support.constraint:constraint-layout:1.1.3'
    testImplementation 'junit:junit:4.12'
    //androidTestImplementation 'com.android.support.test:runner:1.0.2'
    androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
}

repositories {
    maven {  url 'https://github.com/rosjava/rosjava_mvn_repo/raw/master' }
}

I have written an Android app. to control a squad of robots using ROSJava. I can create nodes, publish and subscribe to ROS topics, but I am having difficulty in connecting to ROS Services.

I have created a working simple ROS service (client and server) in C++ on ROS Kinetic on the robots (Ubuntu). Now I want to leave the server ROS service on the robot (C++|ROS|Ubuntu) and move the client ROS service onto the Android app. (Kotlin|ROSJava|Windows) that controls to robot.

I have followed the same code structure as best I can in the documentation:

http://rosjava.github.io/rosjava_core...

, and also the rosjava_tutorial_services at:

https://github.com/rosjava/rosjava_co... (but converted from Java to Kotlin).

In my Kotin code, I am missing the part where I compile my equivalent..

rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse

for ServiceClient (and request object), and...

rosjava_test_msgs.AddTwoInts._TYPE

for connectedNode.newServiceClient

Server Code (C++ on ROS Ubuntu)

#include "ros/ros.h"
#include "android_listener/ControlOwner.h"
#include <cstdlib>
#include <string>
#include <iostream>

using namespace std;

string owner = "0.0.0.0";

bool getOwner(  android_listener::ControlOwner::Request &req,
                android_listener::ControlOwner::Response &res) {

    if (req.mode == "?" || req.mode == "?.?.?.?") {
        res.ipaddress = owner;
    } else {
        if (owner == "0.0.0.0" || req.mode == "0.0.0.0") {
            owner = req.mode.c_str();
            res.ipaddress = owner;
        } else {
            res.ipaddress = owner;
        }
    }
    return true;

}

int main(int argc, char **argv) {

    ros::init(argc, argv, "ownership_server");
    ros::NodeHandle nh;
    ros::ServerServer serviceOwner = nh.advertiseService("ownership", getOwner);
    ROS_INFO("Ownership Service is Ready!");

    ros::spin();

    return 0;
}

Client Code (Kotlin on ROSJava Windows)

import org.ros.exception.RemoteException
import org.ros.exception.RosRuntimeException
import org.ros.exception.ServiceNotFoundException
import org.ros.namespace.GraphName
import org.ros.node.AbstractNodeMain
import org.ros.node.ConnectedNode
import org.ros.node.NodeMain
import org.ros.node.service.ServiceClient
import org.ros.node.service.ServiceResponseListener
import android_listener.OwnershipRequest    // Error!
import android_listener.OwnershipResponse   // Error!

/**
 * Client ROS Service
 *
 *  Adapted from: https://github.com/rosjava/rosjava_core/blob/kinetic/rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java
*  @original_author damonkohler@google.com (Damon Kohler)
*/
class SrvClient : AbstractNodeMain() {

    override fun getDefaultNodeName(): GraphName {
        return GraphName.of("ownership_client_test")
    }

    override fun onStart(connectedNode: ConnectedNode?) {
        val serviceClient: ServiceClient<android_listener.OwnershipRequest, android_listener.OwnershipResponse> // Error!
        try {
            serviceClient = connectedNode!!.newServiceClient<OwnershipRequest, OwnershipResponse>("ownership", android_listener.Ownership._TYPE)    // Error!
        } catch (e: ServiceNotFoundException) {
            throw RosRuntimeException(e)
        }

        val request = serviceClient.newMessage()
        request.mode = "?.?.?.?"
        serviceClient.call(request, object : ServiceResponseListener<android_listener.OwnershipResponse> {  // Error!
                override fun onSuccess(response: android_listener.OwnershipResponse) {  // Error!
                    connectedNode.log.info(
                            String.format("%d = %d", request.mode, response.ipaddress))
                }

                override fun onFailure(e: RemoteException) {
                    throw RosRuntimeException(e)
                }
        })
    }
}

So my question is how to I get the android_listener.OwnershipRequest and android_listener.OwnershipResponse dependences from C++ ROS on Ubuntu to Kotlin ROSJava on Android Stuidio (Windows)? Have I missed a step in the documentation? Does anyone know a youTube tutorial on this?

Goal:I intend to install ROS2 Dashing on Windows. I am building from source following the instructions in https://index.ros.org/doc/ros2/Instal....

Issue: When running colcon build --merge-install from the Visual Studio Developer Command Prompt each package starts to be built. However, it fails on the same error:

--- stderr: <package>
CMake Error at CMakeLists.txt:2 (project):
  Generator

    Visual Studio 16 2019

  could not find any instance of Visual Studio.

I have added an AMENT_IGNORE file to each package to see if the problem is with an individual package, but the error is occuring in every package.

Thank you in advance for any assistance.

Apology: Firstly I would like to apologise, I'm under some pressure to get ROS2 installed on Windows, and I am posting s

You added the ros2 tag to this question, yet the tutorial you are following (https://www.bbsmax.com/A/RnJW7r6wJq/) is f

You added the ros2 tag to this question, yet the tutorial you are following (https://www.bbsmax.com/A/RnJW7r6wJq/) is fo

Can you ping each way?

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