Comments (40)
routiful
commented on May 20, 2024
4
@mkhansen-intel , @crdelsey
We announced new firmware turtlebot3(burger and waffle) for ROS 2.0.
Please follow attached link
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robotpilot
commented on May 20, 2024
Hi @mkhansen-intel,
This package has not yet been ported to ROS2. Now, we are reviewing the ROS2 Gazebo tutorial from OR. I'll let you know soon after the work is done.
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mkhansenbot
commented on May 20, 2024
@robotpilot - Thank you, we're looking forward to using it
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mkhansenbot
commented on May 20, 2024
@routiful - I see you added some commits with a tutorial for running this with RO2 Gazebo, is it ready for us to try?
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mkhansenbot
commented on May 20, 2024
FYI - We were able to get the robot to load in gazebo and respond to teleop commands. We did have to fix a few minor issues where there were missing semicolons at the end of RCLCPP_INFO statements but otherwise it worked.
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routiful
commented on May 20, 2024
@mkhansen-intel
I first commited last week. But current source has problems that TF is not properly working.
So you can't see the model and scan data simultaneously in Rviz.
I assume that is caused by Rviz problem.
But /tb3/odom, /tb3/cmd_vel, and /tb3/scan is working.
Another problem is slip in Gazebo. This problem is used to in last Gazebo version.
I added some ode setup but it is not solved yet
I am going to try more and my goal is that launch cartographer in gazebo.
If it works better, I will notice in this thread.
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mkhansenbot
commented on May 20, 2024
Thank you for the update. We'll take a look at these issues and watch here for further updates.
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mkhansenbot
commented on May 20, 2024
@routiful - do you have a status update on this? We're seeing strange behavior when running the TB3 in Gazebo.
One problem we're seeing is that the Z values seem to be changing due to Gravity. I think this might be a Gazebo problem but I'm not sure?
mkhansen@mkhansen-desk:~/ros2_dev/navigation2_ws$ ros2 run tf2_ros tf2_echo odom base_link
At time 43.440000000
- Translation: [-2.000, 0.000, -9246.152]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
At time 44.410000000
- Translation: [-2.000, 0.000, -9663.698]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
At time 45.410000000
- Translation: [-2.000, 0.000, -10103.811]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
At time 46.390000000
- Translation: [-2.000, 0.000, -10544.630]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
The Z values are rapidly changing in the negative direction, which seems like 9.8m/s squared.
We also see base_link to right_wheel and left_wheel changing in the same way, when these should be static shouldn't they?
mkhansen@mkhansen-desk:~/ros2_dev/navigation2_ws$ ros2 run tf2_ros tf2_echo base_link right_wheel
At time 72.680000000
- Translation: [-0.073, 0.039, 25883.228]
- Rotation: in Quaternion [0.007, 0.011, -0.519, 0.855]
At time 73.620000000
- Translation: [-0.074, 0.040, 26557.081]
- Rotation: in Quaternion [0.007, 0.011, -0.525, 0.851]
At time 74.620000000
- Translation: [-0.074, 0.041, 27283.452]
- Rotation: in Quaternion [0.007, 0.011, -0.531, 0.847]
At time 75.600000000
- Translation: [-0.075, 0.042, 28004.804]
- Rotation: in Quaternion [0.007, 0.011, -0.537, 0.843]
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mkhansenbot
commented on May 20, 2024
I should also mention that we see the turtlebot slowly rotating, I'm not sure if that is due to the inertia settings in the wheels?
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mkhansenbot
commented on May 20, 2024
I discovered that if I remove this line from the demo world file, the accelerating Z behavior stops:
<link name="base_footprint"/>
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mkhansenbot
commented on May 20, 2024
Also, found the same behavior with the gazebo demo, and filed an issue here:
ros-simulation/gazebo_ros_pkgs#836
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mkhansenbot
commented on May 20, 2024
@routiful and @robotpilot - any chance we can get an updated world file with the transforms for base_link ->base_footprint -> base_scan? Right now we're using static_transform_publisher to publish identity transforms for these, which is OK for a work-around but not ideal for the Crystal ROS2 release.
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routiful
commented on May 20, 2024
Hi, sorry for late reply.
I accetped PR #66 and ready to test it.
If any futher progress, I will let you know.
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mkhansenbot
commented on May 20, 2024
@routiful - that PR helped with the slippage issue and got rid of the base_footprint, which is good. Can you add in the transforms for base_link->base_footprint->base_scan?
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routiful
commented on May 20, 2024
Turtlebot3 has TF tree like base_footprint->base_link->base_scan
I added base_footprint again because it is not necessary but I don't want to make difference compared by ROS1 version.
Furthermore, I added imu and joint_state topic. But there is some issue.
First, TF of left_wheel_joint and right_wheel_joint has problem. The relative position is different I set in sdf. I debugged in gazebo_ros_diff_driver.cpp but I can't find problem about it.
Second, I can't see the scan data in Rviz. I don't want to say that this problem is caused by 100% depend on rviz. Maybe I miss something.
I continue debug those and commit if I got solution.
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mkhansenbot
commented on May 20, 2024
@routiful - Regarding your scan data in Rviz, you may need to set the use_sim_time parameter for the rviz node.
ros2 param set /rviz2 use_sim_time True
We're seeing we have to set that parameter for every node.
I hope that helps
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routiful
commented on May 20, 2024
@mkhansen-intel
I make a load TB3 and lidar data on Rviz2.
You can use this package to your project.
The manual is written in readme file inside of turtlebot3_gazebo package.
https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/ros2/turtlebot3_gazebo
If you have any issues or improvements, please comments freely.
From now on, I will make an example of cartographer to use this.
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mkhansenbot
commented on May 20, 2024
@routiful - thank you for your work on this. I tried to build this today against the latest ROS2 master branches and the build fails. I don't know if you have tried this. I'm building ros2 from source using the directions here: https://index.ros.org/doc/ros2/Linux-Development-Setup/
I'm using the ros2 repos file from the 'master' branches (because I need them for Navigation):
wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
This is the error I get.
turtlebot@turtlebot:~/turtlebot3_ws$ colcon build --symlink-install
Starting >>> turtlebot3_description
Starting >>> turtlebot3_msgs
Starting >>> pcl_conversions
Starting >>> turtlebot3_cartographer
Finished <<< turtlebot3_cartographer [0.84s]
Starting >>> turtlebot3_simulations
Finished <<< turtlebot3_description [1.05s]
Starting >>> turtlebot3_teleop
Finished <<< pcl_conversions [2.70s]
Starting >>> turtlebot3_bringup
Finished <<< turtlebot3_simulations [2.21s]
Finished <<< turtlebot3_bringup [0.63s]
Finished <<< turtlebot3_teleop [4.13s]
Finished <<< turtlebot3_msgs [6.18s]
Starting >>> turtlebot3_node
--- stderr: turtlebot3_node
/home/turtlebot/turtlebot3_ws/src/turtlebot3/turtlebot3_node/src/joint_states_publisher.cpp:26:48: fatal error: turtlebot3_msgs/msg/sensor_state.hpp: No such file or directory
compilation terminated.
/home/turtlebot/turtlebot3_ws/src/turtlebot3/turtlebot3_node/src/odometry_publisher.cpp:25:48: fatal error: turtlebot3_msgs/msg/sensor_state.hpp: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/joint_states_publisher.dir/src/joint_states_publisher.cpp.o] Error 1
make[2]: *** [CMakeFiles/odometry_publisher.dir/src/odometry_publisher.cpp.o] Error 1
make[1]: *** [CMakeFiles/joint_states_publisher.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/odometry_publisher.dir/all] Error 2
make: *** [all] Error 2
---
Failed <<< turtlebot3_node [ Exited with code 2 ]
Summary: 7 packages finished [7.50s]
1 package failed: turtlebot3_node
1 package had stderr output: turtlebot3_node
turtlebot@turtlebot:~/turtlebot3_ws$
I wasn't getting this last week, so I suspect something in ROS2 upstream repos changed, but wanted to ask you if you can reproduce.
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routiful
commented on May 20, 2024
@mkhansen-intel
Of course, I will re-clone ros2.repos by master branch and test it.
It might be take one or two days because of other works.
For now, you can make AMENT_IGNORE and COLCON_IGNORE file in ros2 package to pass it when colcon build.
I will let you know when update the turtlebot3 code.
Thanks
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mkhansenbot
commented on May 20, 2024
Interestingly, I was able to get it to build on my 18.04 system, but not on the turtlebot3 itself, which is 16.04. Thanks for taking a look. We're really trying hard to use Turtlebot3 for Navigation2.
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mkhansenbot
commented on May 20, 2024
Also, I still don't see the base_link->base_scan transform showing up in RVIZ or when I view the /tf topic. Should that be there?
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routiful
commented on May 20, 2024
@mkhansen-intel
Great. I have been working in 18.04 system. And master branch turtlebot3 is built.
And base_link->base_scan tf is presented in rviz2. You can check it tf2_echo command
Because this is static tf, the time is 0.0
ost@demo:~$ ros2 run tf2_ros tf2_echo base_link base_scan
At time 0.0
- Translation: [-0.032, 0.000, 0.172]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
At time 0.0
- Translation: [-0.032, 0.000, 0.172]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
At time 0.0
- Translation: [-0.032, 0.000, 0.172]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
At time 0.0
- Translation: [-0.032, 0.000, 0.172]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
By the way, I open a issue for problem of tf stamp (ros-simulation/gazebo_ros_pkgs#840) and it is solved now. But I can't find to run occupancy_grid_node in cartographer_ros.
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mkhansenbot
commented on May 20, 2024
@routiful - I don't see that transform:
mkhansen@mkhansen-desk:~/ros2_dev/turtlebot3_ws$ ros2 run tf2_ros tf2_echo base_link base_scan
Failure at 1.54283e+09
Exception thrown:"base_link" passed to lookupTransform argument target_frame does not exist.
The current list of frames is:
Frame base_footprint exists with parent odom.
I'm on 18.04 running with gazebo:
mkhansen@mkhansen-desk:~$ gazebo --verbose -s libgazebo_ros_init.so /home/mkhansen/ros2_dev/navigation2_ws/src/navigation2/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
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routiful
commented on May 20, 2024
Oh, you should launch robot.launch
$ ros2 launch turtlebot3_bringup turtlebot3_robot.launch.py
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mkhansenbot
commented on May 20, 2024
@routiful - so I need the robot.launch to run while also running gazebo?
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routiful
commented on May 20, 2024
Yes, libgazebo_ros_diff_drive library in gazebo_pks is to make only odom tf.
If you need all tf tree, you are supposed to launch robot_state_publisher package.
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mkhansenbot
commented on May 20, 2024
@routiful - now I am trying to run on the actual turtlebot3. We are using a 'waffle' model with the Joule board. I'm looking at the directions here: http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#ros2
Can these directions work for the 'waffle' even though the opencr update is for the 'burger'?
If not, can we get an opencr update for waffle too?
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routiful
commented on May 20, 2024
Hi :)
The opencr update file is available to 'burger' not compatible with 'waffle'
If you needed I will make new firmware for 'waffle'
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mkhansenbot
commented on May 20, 2024
@routiful - please can you do that? Without it I'll have to run with the ros1_bridge, which will be difficult due to the memory constraints on the Joule board. It would REALLY help!
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mkhansenbot
commented on May 20, 2024
Update - I just tried running with the ros1_bridge and that won't work. The bridge doesn't know how to bridge the tf/tfMessage ROS1 msg to the tf2_msgs/TFMessage ROS2 msg. I would really appreciate an openCR update for the waffle.
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mkhansenbot
commented on May 20, 2024
@routiful - When do you think we can have the opencr update for the waffle?
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mkhansenbot
commented on May 20, 2024
Hi @routiful, sorry to be a pest, can you please tell me when we could have an opencr update for the waffle? :)
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routiful
commented on May 20, 2024
Sorry for late reply.
We have being prepared new firmware compatible with Micro-XRCE-DDS(https://github.com/eProsima/Micro-XRCE-DDS) (github : https://github.com/ROBOTIS-GIT/ros2arduino) to merge ROS2 crystal.
I think we need more time to announce new firmware for TB3.
So, I let you know last firmware based on micrortps to compatible with Waffle.
You need to clone OpenCR library in feature-ros2-micrortps. And add hardware. Below link might be help you.
https://community.robotsource.org/t/howto-adding-multiple-opencr-boards-to-the-arduino-ide/1497
And open turtlebot3_ros2.ino and modify parameter for waffle
If you have any problem to upload firmware, please comment to me.
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mkhansenbot
commented on May 20, 2024
@routiful - I have cloned the OpenCR repo, installed Arduino IDE, added the OpenCR library, and I'm trying to build the turtlebot3_burger now to make sure that can build before changing it to turtlebot3_waffle. I'm getting build errors that it can't find the micrortps.hpp file.
Arduino: 1.8.7 (Linux), Board: "OpenCR Board, OpenCR Bootloader"
/home/mkhansen/arduino-1.8.7/arduino-builder -dump-prefs -logger=machine -hardware /home/mkhansen/arduino-1.8.7/hardware -hardware /home/mkhansen/.arduino15/packages -tools /home/mkhansen/arduino-1.8.7/tools-builder -tools /home/mkhansen/arduino-1.8.7/hardware/tools/avr -tools /home/mkhansen/.arduino15/packages -built-in-libraries /home/mkhansen/arduino-1.8.7/libraries -libraries /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries -fqbn=OpenCR:OpenCR:OpenCR:upload_method=UploadMethod -ide-version=10807 -build-path /tmp/arduino_build_109418 -warnings=none -build-cache /tmp/arduino_cache_793519 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencr_tools.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -prefs=runtime.tools.opencr_tools-1.0.0.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -prefs=runtime.tools.opencr_gcc.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -prefs=runtime.tools.opencr_gcc-5.4.0-2016q2.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -verbose /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core.ino
/home/mkhansen/arduino-1.8.7/arduino-builder -compile -logger=machine -hardware /home/mkhansen/arduino-1.8.7/hardware -hardware /home/mkhansen/.arduino15/packages -tools /home/mkhansen/arduino-1.8.7/tools-builder -tools /home/mkhansen/arduino-1.8.7/hardware/tools/avr -tools /home/mkhansen/.arduino15/packages -built-in-libraries /home/mkhansen/arduino-1.8.7/libraries -libraries /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries -fqbn=OpenCR:OpenCR:OpenCR:upload_method=UploadMethod -ide-version=10807 -build-path /tmp/arduino_build_109418 -warnings=none -build-cache /tmp/arduino_cache_793519 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencr_tools.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -prefs=runtime.tools.opencr_tools-1.0.0.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -prefs=runtime.tools.opencr_gcc.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -prefs=runtime.tools.opencr_gcc-5.4.0-2016q2.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -verbose /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core.ino
Using board 'OpenCR' from platform in folder: /home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2
Using core 'arduino' from platform in folder: /home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2
Detecting libraries used...
/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2/bin/arm-none-eabi-g++ -c -g -O2 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -w -DDEBUG_LEVEL=DEBUG_NONE -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -DBOARD_OpenCR -w -x c++ -E -CC -mcpu=cortex-m7 -DF_CPU=216000000L -DARDUINO=10807 -DARDUINO_OpenCR -DARDUINO_ARCH_OPENCR -mthumb -DSTM32F746xx -D__OPENCR__ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr/include -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/driver -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/usb_cdc -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/lib/STM32F7xx_HAL_Driver/Inc/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/cores/arduino -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR /tmp/arduino_build_109418/sketch/turtlebot3_core.ino.cpp -o /dev/null
/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2/bin/arm-none-eabi-g++ -c -g -O2 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -w -DDEBUG_LEVEL=DEBUG_NONE -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -DBOARD_OpenCR -w -x c++ -E -CC -mcpu=cortex-m7 -DF_CPU=216000000L -DARDUINO=10807 -DARDUINO_OpenCR -DARDUINO_ARCH_OPENCR -mthumb -DSTM32F746xx -D__OPENCR__ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr/include -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/driver -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/usb_cdc -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/lib/STM32F7xx_HAL_Driver/Inc/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/cores/arduino -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR -I/home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2 /tmp/arduino_build_109418/sketch/turtlebot3_core.ino.cpp -o /dev/null
In file included from /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2/ros2.hpp:12:0,
from /tmp/arduino_build_109418/sketch/turtlebot3_core_config.h:22,
from /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core.ino:19:
/home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2/publisher.hpp:12:25: fatal error: micrortps.hpp: No such file or directory
#include "micrortps.hpp"
^
compilation terminated.
Using library ROS2 in folder: /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2 (legacy)
exit status 1
Error compiling for board OpenCR Board.
I can see the file is here:
mkhansen@mkhansen-desk:~/OpenCR/arduino/opencr_arduino/opencr$ find . -name micrortps.hpp
./variants/OpenCR/lib/micrortps/micrortps.hpp
I'm not very experienced with Arduino, so don't know how to point it to the right file. Please help.
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mkhansenbot
commented on May 20, 2024
Update: I was able to get past the issue above by creating a symbolic link:
mkhansen@mkhansen-desk:~/OpenCR/arduino/opencr_arduino/opencr$ ln -s $PWD/variants/OpenCR/lib/micrortps libraries/micrortps
mkhansen@mkhansen-desk:~/OpenCR/arduino/opencr_arduino/opencr$ ll libraries/micrortps
lrwxrwxrwx 1 mkhansen mkhansen 81 Dec 5 12:48 libraries/micrortps -> /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/variants/OpenCR/lib/micrortps/
Now it fails to find the microcdr.h header file:
Arduino: 1.8.7 (Linux), Board: "OpenCR Board, OpenCR Bootloader"
/home/mkhansen/arduino-1.8.7/arduino-builder -dump-prefs -logger=machine -hardware /home/mkhansen/arduino-1.8.7/hardware -hardware /home/mkhansen/.arduino15/packages -tools /home/mkhansen/arduino-1.8.7/tools-builder -tools /home/mkhansen/arduino-1.8.7/hardware/tools/avr -tools /home/mkhansen/.arduino15/packages -built-in-libraries /home/mkhansen/arduino-1.8.7/libraries -libraries /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries -fqbn=OpenCR:OpenCR:OpenCR:upload_method=UploadMethod -ide-version=10807 -build-path /tmp/arduino_build_810850 -warnings=none -build-cache /tmp/arduino_cache_251445 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencr_gcc.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -prefs=runtime.tools.opencr_gcc-5.4.0-2016q2.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -prefs=runtime.tools.opencr_tools.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -prefs=runtime.tools.opencr_tools-1.0.0.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -verbose /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core.ino
/home/mkhansen/arduino-1.8.7/arduino-builder -compile -logger=machine -hardware /home/mkhansen/arduino-1.8.7/hardware -hardware /home/mkhansen/.arduino15/packages -tools /home/mkhansen/arduino-1.8.7/tools-builder -tools /home/mkhansen/arduino-1.8.7/hardware/tools/avr -tools /home/mkhansen/.arduino15/packages -built-in-libraries /home/mkhansen/arduino-1.8.7/libraries -libraries /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries -fqbn=OpenCR:OpenCR:OpenCR:upload_method=UploadMethod -ide-version=10807 -build-path /tmp/arduino_build_810850 -warnings=none -build-cache /tmp/arduino_cache_251445 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencr_gcc.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -prefs=runtime.tools.opencr_gcc-5.4.0-2016q2.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2 -prefs=runtime.tools.opencr_tools.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -prefs=runtime.tools.opencr_tools-1.0.0.path=/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_tools/1.0.0 -verbose /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core.ino
Using board 'OpenCR' from platform in folder: /home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2
Using core 'arduino' from platform in folder: /home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2
Detecting libraries used...
/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2/bin/arm-none-eabi-g++ -c -g -O2 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -w -DDEBUG_LEVEL=DEBUG_NONE -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -DBOARD_OpenCR -w -x c++ -E -CC -mcpu=cortex-m7 -DF_CPU=216000000L -DARDUINO=10807 -DARDUINO_OpenCR -DARDUINO_ARCH_OPENCR -mthumb -DSTM32F746xx -D__OPENCR__ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr/include -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/driver -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/usb_cdc -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/lib/STM32F7xx_HAL_Driver/Inc/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/cores/arduino -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR /tmp/arduino_build_810850/sketch/turtlebot3_core.ino.cpp -o /dev/null
/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2/bin/arm-none-eabi-g++ -c -g -O2 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -w -DDEBUG_LEVEL=DEBUG_NONE -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -DBOARD_OpenCR -w -x c++ -E -CC -mcpu=cortex-m7 -DF_CPU=216000000L -DARDUINO=10807 -DARDUINO_OpenCR -DARDUINO_ARCH_OPENCR -mthumb -DSTM32F746xx -D__OPENCR__ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr/include -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/driver -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/usb_cdc -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/lib/STM32F7xx_HAL_Driver/Inc/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/cores/arduino -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR -I/home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2 /tmp/arduino_build_810850/sketch/turtlebot3_core.ino.cpp -o /dev/null
/home/mkhansen/.arduino15/packages/OpenCR/tools/opencr_gcc/5.4.0-2016q2/bin/arm-none-eabi-g++ -c -g -O2 -mfloat-abi=softfp -mfpu=fpv5-sp-d16 -w -DDEBUG_LEVEL=DEBUG_NONE -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -DBOARD_OpenCR -w -x c++ -E -CC -mcpu=cortex-m7 -DF_CPU=216000000L -DARDUINO=10807 -DARDUINO_OpenCR -DARDUINO_ARCH_OPENCR -mthumb -DSTM32F746xx -D__OPENCR__ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/bsp/opencr/include -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/driver -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/hw/usb_cdc -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/lib/STM32F7xx_HAL_Driver/Inc/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR/ -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/cores/arduino -I/home/mkhansen/.arduino15/packages/OpenCR/hardware/OpenCR/1.3.2/variants/OpenCR -I/home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2 -I/home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/micrortps /tmp/arduino_build_810850/sketch/turtlebot3_core.ino.cpp -o /dev/null
In file included from /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2/publisher.hpp:12:0,
from /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2/ros2.hpp:12,
from /tmp/arduino_build_810850/sketch/turtlebot3_core_config.h:22,
from /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core.ino:19:
/home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/micrortps/micrortps.hpp:12:31: fatal error: microcdr/microcdr.h: No such file or directory
#include "microcdr/microcdr.h"
^
compilation terminated.
Using library ROS2 in folder: /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/ROS2 (legacy)
Using library micrortps in folder: /home/mkhansen/OpenCR/arduino/opencr_arduino/opencr/libraries/micrortps (legacy)
exit status 1
Error compiling for board OpenCR Board.
And I can't find it either:
mkhansen@mkhansen-desk:~/OpenCR$ find . -name microcdr.h*
mkhansen@mkhansen-desk:~/OpenCR$ find . -name microcdr.*
mkhansen@mkhansen-desk:~/OpenCR$ find . -name microcdr*
./arduino/opencr_arduino/opencr/variants/OpenCR/lib/micrortps/user_config/microcdr
mkhansen@mkhansen-desk:~/OpenCR$ ll ./arduino/opencr_arduino/opencr/variants/OpenCR/lib/micrortps/user_config/microcdr
total 12
drwxr-xr-x 2 mkhansen mkhansen 4096 Dec 4 15:08 ./
drwxr-xr-x 5 mkhansen mkhansen 4096 Dec 4 15:08 ../
-rwxr-xr-x 1 mkhansen mkhansen 951 Dec 4 15:08 config.h*
mkhansen@mkhansen-desk:~/OpenCR$
I do find the microcdr directory with a config.h file in it, but no microcdr.h file.
So I'm still stuck. :( Since I'm not very experienced with Arduino, it would really help if you could just do the build for me to create the OpenCR update.
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routiful
commented on May 20, 2024
You shoud git pull submodule to pull micrortps and microcdr.
I attached link for you
https://stackoverflow.com/questions/1030169/easy-way-to-pull-latest-of-all-git-submodules
from turtlebot3_simulations.
mkhansenbot
commented on May 20, 2024
That didn't change anything as far as I can tell. Nothing was pulled and the microcdr.h file still doesn't exist.
from turtlebot3_simulations.
routiful
commented on May 20, 2024
Did you solve that issue?
We are ready for release new firmware with Micro-XRCE-DDS.
I think next week you can use that.
from turtlebot3_simulations.
mkhansenbot
commented on May 20, 2024
@routiful - no we didn't resolve this. I will be on vacation next week but @crdelsey may be able to try the firmware release when it is ready.
from turtlebot3_simulations.
HPaper
commented on May 20, 2024
This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.
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