Provide branch for ROS 2 Jazzy and update GIT_TAG for xrceagent

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#223 2024年5月11日に作成コメント 0 件リアクション 0 件担当者 0 名 GitHub で見る

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評価

難易度: 4/5
見積もり時間: 3〜5日
初心者へのやさしさ: 35/100

issue の種類: 機能追加
明瞭さ: おおむね明確
活発さ: 停滞
技術スタック: cpp
領域: build-system, robotics

調査の方向性

rollingブランチのSuperBuild.cmakeから開始し、Micro-XRCE-DDS-AgentのGIT_TAGを確認します。ROS Rollingをsourceした後にcolcon buildを再現し、その後graph_typesupport.cppと、参照されているprs/pr-rolling-fastcdr-2.2.xブランチのパッチを確認します。完了の条件は、要求されたROS 2ブランチ向けにエージェントがFast-CDR 2.2.xに対してビルドできることです。

索引モデルが issue の本文から書いたものです。

説明

Issue template

This is a feature request. ROS 2 Rolling and Jazzy depend on Fast-CDR 2.2.x. Version 2.4.3 of Micro-XRCE-DDS-Agent supports this but the GIT_TAG in the SuperBuild.cmake in the rolling branch refers to ros2

Steps to reproduce the issue

Create a colcon workspace to build this repo, and source ROS Rolling before building.

Expected behavior

micro-ROS-Agent will build in a colcon workspace that has sourced ROS Rolling.

Actual behavior

micro-ROS-Agent will not build in a colcon workspace that has sourced ROS Rolling.

Additional information

Looks like this will require code changes as well, as micro-ROS-agent will not build against the updated Fast-CDR version. For example:

/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:57:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
        eprosima::fastcdr::Cdr::DDS_CDR);
        ~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:64:54: error: no member named 'getSerializedDataLength' in 'eprosima::fastcdr::Cdr'; did you mean 'get_serialized_data_length'?
        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
                                                     ^~~~~~~~~~~~~~~~~~~~~~~
                                                     get_serialized_data_length
/Users/rhys/Code/ros2/rolling/ros2-rolling/install/fastcdr/include/fastcdr/Cdr.h:266:23: note: 'get_serialized_data_length' declared here
    Cdr_DllAPI size_t get_serialized_data_length() const;
                      ^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:80:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
        eprosima::fastcdr::Cdr::DDS_CDR);
        ~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:149:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
        eprosima::fastcdr::Cdr::DDS_CDR);
        ~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:156:54: error: no member named 'getSerializedDataLength' in 'eprosima::fastcdr::Cdr'; did you mean 'get_serialized_data_length'?
        payload->length = static_cast<uint32_t>(scdr.getSerializedDataLength());
                                                     ^~~~~~~~~~~~~~~~~~~~~~~
                                                     get_serialized_data_length
/Users/rhys/Code/ros2/rolling/ros2-rolling/install/fastcdr/include/fastcdr/Cdr.h:266:23: note: 'get_serialized_data_length' declared here
    Cdr_DllAPI size_t get_serialized_data_length() const;
                      ^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:172:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
        eprosima::fastcdr::Cdr::DDS_CDR);
        ~~~~~~~~~~~~~~~~~~~~~~~~^
6 errors generated.
make[2]: *** [CMakeFiles/micro_ros_agent.dir/src/agent/graph_manager/graph_typesupport.cpp.o] Error 1
make[1]: *** [CMakeFiles/micro_ros_agent.dir/all] Error 2

This branch contains patches to fix the above issue: https://github.com/srmainwaring/micro-ROS-Agent/tree/prs/pr-rolling-fastcdr-2.2.x