rcl/rcl.h: No such file or directory about micro_ros_espidf_component HOT 9 OPEN

Could you provide the whole log on an clean environment?

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A ran into the same problem. I figured out the problem (at least in my case).

• Do not source ROS2 as stated in the readme!
• If you had tried to build it with ROS2 sourced, make sure you remove the build folder and also run idf.py clean-microros
• For me building libmicroros is failed with idf-4.2, I installed a fresh idf-4.4.4 and then the required python packages in a terminal where idf is sourced.
• With the correct idf libmicroros build should be successful as well as the project. If not, check build output for details.

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Trying to build example/int32_publisher following the instructions in README.md. I have not sourced any of the ROS2 setup files. esp-idf-4.4.6. From a fresh clone, I get:

[ 99%] Building C object esp-idf/main/CMakeFiles/__idf_main.dir/main.c.obj
/home/ffl/local/src/micro_ros_espidf_component/examples/int32_publisher/main/main.c:11:10: fatal error: rcl/rcl.h: No such file or directory
 #include <rcl/rcl.h>
          ^~~~~~~~~~~

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Maybe a hint on what is going on. Trying to make a simple example myself. If I clone today's version of the package (I guess defaulting to iron #d0e63d9), then I get the missing rcl/rcl.h issue. If I build from an older version (from about 2 years ago), then it is fine. Sorry this isn't more precise than that.

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Trying any of the branches of micro_ros_espidf_component, the whole of micro_ros_src folder is missing, ie is not pulled in by the build process, and therefore rcl.h (and others) is missing. If I use the component here then it all works fine. Apart from the obvious branch differences, I cannot see what makes one fail while the other works. It looks like the target $(EXTENSIONS_DIR)/micro_ros_src/src in libmicroros.mk is not executed, but so far I have not been able to figure out why.

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The reason the micro-ros-src (and other) folder is not pulled in is because the execute_process function in the CMakeLists.txt file fails. It fails because submake expands to $(MAKE) on Unix which either is not expanded further or not defined. If I set submake to make (or replace ${submake} with make in the execute_process command, then all the necessary files are pulled in.

I am not entirely sure why this is the case, but this works. Should MAKE be an environment variable? Can't submake be set to make all the time?

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@pablogs9 would you have views on this? I am happy to prepare a PR but I am not sure that just setting submake to make in all cases is the right approach.

I have tried to set MAKE in my environment, or to call idf.py build -DMAKE=make, to no avail.

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Please open a PR so we can discuss there about your proposed changes

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Done (PR #223). I have worked on the humble branch as this is the one I use.

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