ROS2

macにROS2をインストールして、Pythonでパッケージを作ろうとしたら、エラーが発生した。

$ ros2 pkg create --build-type ament_python dp_test_pkg
ros2 pkg create: error: argument --build-type: invalid choice: 'ament_python' (choose from 'cmake', 'ament_cmake')

invalid choice: ‘ament_python’

??
タイプミスかと思ったけど、(choose from ‘cmake’, ‘ament_cmake’)ってpythonは？

調べてみたら、これかな？
「Add Pkg create for ament python #296」
https://github.com/ros2/ros2cli/pull/296
どうやらDashing patch release 4には含まれていないようで、今回macにインストールしたのがまさにDashing patch release 4でpythonがpkgコマンドに含まれていなかった。
Eloquentに更新というか新規インストールして完了

$ros2 pkg create --build-type ament_python dp_test_pkg
(ros@3.7.0) mba:src dp$ tree
.
└── dp_test_pkg
    ├── dp_test_pkg
    │   └── __init__.py
    ├── package.xml
    ├── resource
    │   └── dp_test_pkg
    ├── setup.cfg
    ├── setup.py
    └── test
        ├── test_copyright.py
        ├── test_flake8.py
        └── test_pep257.py

EC2でROS1,ROS2の環境を以前セットアップしたけど、やっぱり手元に欲しいなということでMacにROS2をインストールしましたが、動作させる環境がUbuntuなのでrEFIndでのデュアルブート、Parallelsと悩んだ末、USBにUbuntu18をインストールすれば、別のノート(MacBookPro)でも共有で使えるじゃんと思い、LiveUSBじゃなくて、USBにUbuntu18インストールして、そのUbuntuにROS2をインストール(ちゃんとUEFIの設定などしました)

MacBookで起動するUSBが意外と手間がかかったのは別で説明します。

今回はまっさらなUbuntuでROS2専用にするので、Pyenvは利用せず本当にマニュアル通りに実行
https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Development-Setup/

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

ライブラリのインストール

sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-lark-parser \
  python3-pip \
  python-rosdep \
  python3-vcstool \
  wget
# install some pip packages needed for testing
python3 -m pip install -U \
  argcomplete \
  flake8 \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest \
  pytest-cov \
  pytest-runner \
  setuptools
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev

ワークスペースの作成

mkdir -p ~/ros2_crystal/src
cd ~/ros2_crystal
wget https://raw.githubusercontent.com/ros2/ros2/crystal/ros2.repos
vcs import src < ros2.repos
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro crystal -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
python3 -m pip install -U lark-parser

コードをビルドしたらエラー

colcon build --symlink-install

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
/home/dp/ros2/src/eProsima/Fast-RTPS/src/cpp/ASIO_INCLUDE_DIR
   used as include directory in directory /home/dp/ros2/src/eProsima/Fast-RTPS/src/cpp

---
Failed   <<< fastrtps	[ Exited with code 1 ]
[5.435s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pep257' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[5.436s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'ament_pep257' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[5.448s] WARNING:asyncio:Unknown child process pid 7474, will report returncode 255
Aborted  <<< ament_cmake_core
Aborted  <<< ament_pep257
Aborted  <<< ament_cppcheck

Summary: 4 packages finished [5.43s]
  1 package failed: fastrtps
  3 packages aborted: ament_cmake_core ament_cppcheck ament_pep257
  1 package had stderr output: fastrtps
  225 packages not processed

依存ライブラリ(libasio-dev)が足りないらしい。

sudo apt install libasio-dev

ビルドが通りました。

colcon build --symlink-install
しばらく待つ
Starting >>> tf2_msgs
[29min 39.6s] [140/233 complete] [4 ongoing] [rviz_ogre_vendor:build 74% - 25min 38.7s] [sensor_msgs:build 33% - 1min 56.1s] .

いつもはUbuntuだけど、macでもROS2にもインストールできるそうなんで、手持ちのMacbookAirにインストールしてみる。

公式ドキュメント
https://index.ros.org/doc/ros2/Installation/Dashing/OSX-Install-Binary/

まずはbrewで必要な物をインストール

brew install asio tinyxml2
brew install tinyxml eigen pcre poco
brew install opencv
brew install openssl
echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.bashrc
brew install qt freetype assimp
brew install log4cxx
brew install cunit
brew install pyqt5
ln -s /usr/local/share/sip/Qt5 /usr/local/share/sip/PyQt5
brew install graphviz

次にPythonのモジュールを入れる。
virtualEnvでROS2用に環境を作る。

mba:pyenv dp$ virtualenv ros@3.7.0
mba:pyenv dp$ source ros\@3.7.0/bin/activate
(ros@3.7.0) mba:pyenv dp$ pip install pygraphviz pydot lxml catkin_pkg empy lark-parser pyparsing pyyaml setuptools argcomplete

Macの場合、SIP(System Integrity Protection)の無効化をしないと親子プロセスで変数の継承ができないらしいので、OFFにしようと思ったら

$ csrutil status
System Integrity Protection status: disabled.

ＳＩＰがdisabledになってる。
Macのログイン画面の背景変更の時かな？
OFFだったので、スルーする。

ROS2のダウンロード
https://github.com/ros2/ros2/releases

mba:pyenv dp$ mkdir -p ~/ros2_crystal
mba:pyenv dp$ cd ~/ros2_crystal
mba:pyenv dp$ wget https://github.com/ros2/ros2/releases/download/release-dashing-20191018/ros2-dashing-20191018-macos-amd64.tar.bz2
mba:pyenv dp$ tar xf ros2-dashing-20191018-macos-amd64.tar.bz2 
mba:pyenv dp$ . ~/ros2_crystal/ros2-osx/setup.bash

ROS2インストール完了したはずなので
デモを起動したら、エラー。。。

mba:pyenv dp$ ros2 run mba:pyenv dp$ demo_nodes_cpp talker

Failed to load entry point 'delete': dlopen(/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rclpy/_rclpy.cpython-37m-darwin.so, 2): Library not loaded: /usr/local/opt/tinyxml2/lib/libtinyxml2.7.dylib
  Referenced from: /Users/dp/ros2_crystal/ros2-osx/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.dylib
  Reason: image not found
The C extension '/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rclpy/_rclpy.cpython-37m-darwin.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'info': dlopen(/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rosbag2_transport/_rosbag2_transport_py.cpython-37m-darwin.so, 2): Library not loaded: /usr/local/opt/poco/lib/libPocoFoundation.63.dylib
  Referenced from: /Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rosbag2_transport/_rosbag2_transport_py.cpython-37m-darwin.so
  Reason: image not found
The C extension '/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rclpy/_rclpy.cpython-37m-darwin.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
dyld: Library not loaded: /usr/local/opt/poco/lib/libPocoFoundation.63.dylib
  Referenced from: /Users/dp/ros2_crystal/ros2-osx/lib/librosidl_typesupport_c.dylib
  Reason: image not found

調べてみたらlibtinyxml2のバージョンに問題があるみたい。
Homebewでインストール済みのバージョンはtinyxml2(７.1.0)だけど7系は動かないとのこと
「ROS 2 fails to build against tinyxml2 7.0.0 #671」
https://github.com/ros2/ros2/issues/671
Homebewでインストール済みのtinyxml2をダウングレード
https://github.com/ros2/ros2/issues/625

brew unlink tinyxml2
brew install https://raw.githubusercontent.com/Homebrew/homebrew-core/da9a96f093a57eb8ac7c9470c1ec04fd1823a37a/Formula/tinyxml2.rb
brew switch tinyxml2 6.2.0

またdylibが見つからないのはlinkを作成

$ ll /usr/local/opt/poco/lib/libPocoFoundatio*
-rw-r--r--  1 dp  staff  1701096 12 19 23:12 /usr/local/opt/poco/lib/libPocoFoundation.64.dylib
lrwxr-xr-x  1 dp  staff       26  9 18 17:03 /usr/local/opt/poco/lib/libPocoFoundation.dylib -> libPocoFoundation.64.dylib
ln -s libPocoFoundation.dylib libPocoFoundation.63.dylib
$ ll /usr/local/opt/tinyxml2/lib/libtinyxm*
lrwxr-xr-x  1 yuta  staff     23  4  6  2018 /usr/local/opt/tinyxml2/lib/libtinyxml2.6.dylib -> libtinyxml2.6.2.0.dylib
lrwxr-xr-x  1 yuta  staff     19  4  6  2018 /usr/local/opt/tinyxml2/lib/libtinyxml2.dylib -> libtinyxml2.6.dylib
$ cd /usr/local/opt/tinyxml2/lib/
$ ln -s libtinyxml2.6.2.0.dylib libtinyxml2.7.dylib

console_bridgeのインストールを忘れてた。

brew install console_bridge

これで対応できたと思ったけどpipモジュールが見つからないエラーが大量。。

(ros@3.7.0) mba:lib dp$ ros2 -help
Failed to load entry point 'test': No module named 'yaml'
Failed to load entry point 'launch': No module named 'yaml'
Failed to load entry point 'send_goal': No module named 'yaml'
Failed to load entry point 'list': No module named 'yaml'
Failed to load entry point 'load': No module named 'yaml'
Failed to load entry point 'standalone': No module named 'yaml'

これはpyenv使ってインストールした関係なので、パスを設定してからsetup.shを実行してOK

export PYTHONPATH=~/pyenv/ros\@3.7.0/lib/python3.7/site-packages/
$ which python
/Users/dp/pyenv/ros@3.7.0/bin/python
$. ~/ros/dashing/setup.bash

まだ自分マックはbashを使ってる。
間違えてsetup.shを実行したらエラーがでてしばらく悩んでしまった。

export PYTHONPATH=~/pyenv/ros\@3.7.0/lib/python3.7/site-packages/
$. ~/ros/dashing/setup.sh
The build time path "/Users/osrf/jenkins-agent/workspace/packaging_osx/ws/install" doesn't exist. Either source a script for a different shell or set the environment variable "COLCON_CURRENT_PREFIX" explicitly.