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Debug builtin interfaces issue (#1328)

Browse Source 
* debugging builtin_interfaces issue on arm64

* add logh

* cmake debug

* show arch

* refactored

* explicit find_library

* explicitly search builtin_interfaces__rosidl_generator_c

* fixing in rtabmap_slam

* rtabmap_sync

* openssl error

* rtabmap odom

* rtabmap_viz

* adding missing deps instead

* testing on all distros

* limit fix to humble-aarch64 build

* remvoed debug code

* Running aarch64 workaround for all distros

* message_filters error

* added cmake --debug-find

* using 2 threads

* reseting ros2 ci
This commit is contained in:
matlabbe
2025-06-16 19:20:21 -07:00
committed by GitHub
parent 7472b019f9
commit d336369ca4
15 changed files with 96 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docker/humble/latest/Dockerfile
+3 -5
View File
@@ -1,19 +1,17 @@
FROM introlab3it/rtabmap:jammy
RUN source /ros_entrypoint.sh && \
mkdir -p ros2_ws/src && \
cd ros2_ws/src
RUN mkdir -p ros2_ws/src
COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j1" && \
export MAKEFLAGS="-j2" && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
docker/jazzy/latest/Dockerfile
+2 -2
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@@ -8,12 +8,12 @@ COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j1" && \
export MAKEFLAGS="-j2" && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
docker/kilted/latest/Dockerfile
+2 -2
View File
@@ -8,12 +8,12 @@ COPY . ros2_ws/src/rtabmap_ros
RUN source /ros_entrypoint.sh && \
cd ros2_ws && \
export MAKEFLAGS="-j1" && \
export MAKEFLAGS="-j2" && \
rosdep init && \
rosdep update && \
apt-get update && \
rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
apt-get clean && rm -rf /var/lib/apt/lists/ && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
cd && \
rm -rf ros2_ws
rtabmap_conversions/CMakeLists.txt
+10
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@@ -5,6 +5,16 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
rtabmap_msgs/CMakeLists.txt
+9
View File
@@ -10,6 +10,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
rcutils_LIB NAMES rcutils
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
##################
## Dependencies ##
##################
rtabmap_msgs/package.xml
+2
View File
@@ -14,6 +14,8 @@
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>builtin_interfaces</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
rtabmap_odom/CMakeLists.txt
+9
View File
@@ -10,6 +10,15 @@ if(POLICY CMP0074)
cmake_policy(SET CMP0074 NEW)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake_ros REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_geometry REQUIRED)
rtabmap_odom/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>image_geometry</depend>
<depend>laser_geometry</depend>
rtabmap_rviz_plugins/CMakeLists.txt
+9
View File
@@ -5,6 +5,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
message_filters_LIB NAMES message_filters
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pluginlib REQUIRED)
rtabmap_rviz_plugins/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>pcl_conversions</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
rtabmap_slam/CMakeLists.txt
+9
View File
@@ -10,6 +10,15 @@ if(POLICY CMP0074)
cmake_policy(SET CMP0074 NEW)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
rtabmap_sync/CMakeLists.txt
+14
View File
@@ -1,6 +1,20 @@
cmake_minimum_required(VERSION 3.5)
project(rtabmap_sync)
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
find_library(
crypto_LIB NAMES crypto
PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(message_filters REQUIRED)
rtabmap_sync/package.xml
+2
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@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>image_transport</depend>
<depend>message_filters</depend>
rtabmap_viz/CMakeLists.txt
+19
View File
@@ -5,6 +5,25 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
# issues #1285 #1288
find_library(
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
find_library(
rcutils_LIB NAMES rcutils
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
find_library(
crypto_LIB NAMES crypto
PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
)
endif()
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
rtabmap_viz/package.xml
+2
View File
@@ -12,6 +12,8 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ros_environment</build_depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>