instruction for solving issue with this error : " AttributeError: module 'em' has no attribute 'BUFFERED_OPT' when building firmware for esp32 on udp transfering

Bắt đầu với lỗi được báo cáo khi chạy ros2 run micro_ros_setup build_firmware.sh và môi trường Python của ESP32 tại firmware/toolchain/espressif/python_env/idf4.1_py3.8_env. Xác minh lỗi em.BUFFERED_OPT và các bước cài đặt Empy được liệt kê, sau đó xác định nơi nên ghi lại workaround này; công việc được xem là hoàn tất khi hướng dẫn build firmware nêu rõ lỗi và cách khôi phục.

Issue template

• Hardware description: esp32
• RTOS: freeRtos
• Installation type: micro_ros_setup
• Version or commit hash: version of micro-ROS used: galactic for Ubuntu 20.04

Steps to reproduce the issue

Assuming you have already setup the firmware using ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32 and after proper wifi configuration, when you try to build the firmware for udp transferring using ros2 run micro_ros_setup build_firmware.sh you will most likely get an error which related to the Python environment and the em (Empy) module. The specific error is:

   AttributeError: module 'em' has no attribute 'BUFFERED_OPT'

To resolve this issue, follow these steps:

1. First, deactivate any active Python virtual environments:

   deactivate

To install empy in the specific Python environment used by the build process, you should use the pip associated with that Python installation. Here's the command to install empy version 3.3.4 in that environment:

~/microros_ws/firmware/toolchain/espressif/python_env/idf4.1_py3.8_env/bin/pip3 install empy==3.3.4

2. After that, verify the installation:

~/microros_ws/firmware/toolchain/espressif/python_env/idf4.1_py3.8_env/bin/python3 -c "import em; print(em.__file__)"

3. Update setuptools and wheel:

~/microros_ws/firmware/toolchain/espressif/python_env/idf4.1_py3.8_env/bin/pip3 install --upgrade setuptools wheel

5. Clean your micro-ROS workspace:

cd ~/microros_ws
rm -rf build install log

6. Rebuild the workspace:

colcon build --symlink-install

7. Source the setup file:

source install/local_setup.bash

8. Try building the firmware again:

ros2 run micro_ros_setup build_firmware.sh