Not able to build the firmware for transport type UDP (although it is working for serial).

Tái hiện quá trình build firmware UDP trong firmware/freertos_apps/microros_esp32_extensions bằng thiết lập ESP-IDF tại firmware/toolchain/esp-idf. Bắt đầu với các đường dẫn include của lwip và ngữ cảnh CMakeLists.txt được build báo cáo, sau đó kiểm tra các mã nguồn UDP của Micro-XRCE-DDS-Client có include lwip/opt.h. Hoàn tất khi quá trình build firmware UDP hoàn thành mà không có lỗi thiếu lwipopts.h.

• Hardware description: esp32s3
• RTOS: freertos
• Installation type: micro_ros_setup
• Version or commit hash: jazzy

Steps to reproduce the issue

Create a fresh workspace and build micro-ROS setup for Jazzy

mkdir uros_ws && cd uros_ws
git clone -b jazzy https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

after cloning I changed the version to v5.2 from v4.1

apt update
rosdep update && rosdep install --from-paths src --ignore-src -y
apt install python3-pip
colcon build
source install/local_setup.bash

Create firmware for ESP32

ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

./firmware/toolchain/esp-idf/install.sh esp32s3
. ./firmware/toolchain/esp-idf/export.sh

Configure firmware for ESP32 using UDP transport

ros2 run micro_ros_setup configure_firmware.sh int32_publisher --transport udp

Attempt to build the firmware

ros2 run micro_ros_setup build_firmware.sh menuconfig

I set the ssid and password and save the sdkconfig

idf.py build

I ran the above command from inside the /uros_ws/firmware/freertos_apps/microros_esp32_extentions/ folder

Expected behavior

It should successfully build the firmware.

Actual behavior

It is throwing error with this error,

...

[100%] Generating binary image from built executable
esptool.py v4.11.0
Creating esp32s3 image...
Merged 2 ELF sections
Successfully created esp32s3 image.
Generated /uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader/bootloader.bin
make[5]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
[100%] Built target gen_project_binary
make[5]: Entering directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
make[5]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
make[5]: Entering directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
Bootloader binary size 0x5240 bytes. 0x2dc0 bytes (36%) free.
make[5]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
[100%] Built target bootloader_check_size
make[5]: Entering directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
make[5]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
[100%] Built target app
make[4]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
make[3]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader'
[  3%] No install step for 'bootloader'
cd /uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader && /usr/bin/cmake -E echo_append
[  3%] Completed 'bootloader'
/usr/bin/cmake -E make_directory /uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/CMakeFiles
/usr/bin/cmake -E touch /uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/CMakeFiles/bootloader-complete
/usr/bin/cmake -E touch /uros_ws/firmware/freertos_apps/microros_esp32_extensions/build/bootloader-prefix/src/bootloader-stamp/bootloader-done
make[2]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
[  3%] Built target bootloader
make[1]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
make: *** [Makefile:139: all] Error 2
Missing "lwipopts.h" file name found in the following component(s): lwip(/uros_ws/firmware/toolchain/esp-idf/components/lwip/port/include/lwipopts.h), lwip(/uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/test/unit/lwipopts.h), lwip(/uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/test/fuzz/lwipopts.h), lwip(/uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/test/apps/lwipopts.h). Maybe one of the components needs to add the missing header directory to INCLUDE_DIRS of idf_component_register call in CMakeLists.txt.
make failed with exit code 2

Additional information

I am using docker ros:jazzy image.

Running the command, ros2 run micro_ros_setup build_firmware.sh is also giving the same error in different format,

--- stderr: microxrcedds_client                                                                         
In file included from /uros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/util/time.c:3:
/uros_ws/firmware/toolchain/esp-idf/components/newlib/platform_include/time.h:11:2: warning: #include_next is a GCC extension
   11 | #include_next <time.h>
      |  ^~~~~~~~~~~~
In file included from /uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/src/include/lwip/sockets.h:42,
                 from /uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/src/include/compat/posix/sys/socket.h:33,
                 from /uros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_posix_nopoll.c:5:
/uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/src/include/lwip/opt.h:51:10: fatal error: lwipopts.h: No such file or directory
   51 | #include "lwipopts.h"
      |          ^~~~~~~~~~~~
compilation terminated.
gmake[6]: *** [CMakeFiles/microxrcedds_client.dir/build.make:415: CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/udp/udp_transport_posix_nopoll.c.obj] Error 1
gmake[6]: *** Waiting for unfinished jobs....
In file included from /uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/src/include/lwip/sockets.h:42,
                 from /uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/src/include/compat/posix/arpa/inet.h:33,
                 from /uros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/ip_posix.c:18:
/uros_ws/firmware/toolchain/esp-idf/components/lwip/lwip/src/include/lwip/opt.h:51:10: fatal error: lwipopts.h: No such file or directory
   51 | #include "lwipopts.h"
      |          ^~~~~~~~~~~~
compilation terminated.
gmake[6]: *** [CMakeFiles/microxrcedds_client.dir/build.make:429: CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/ip_posix.c.obj] Error 1
gmake[5]: *** [CMakeFiles/Makefile2:86: CMakeFiles/microxrcedds_client.dir/all] Error 2
gmake[4]: *** [Makefile:139: all] Error 2
---
Failed   <<< microxrcedds_client [4.55s, exited with code 2]
Aborted  <<< rcutils [8.32s]                                                                                         
Aborted  <<< rmw_implementation_cmake [2.62s]                                                                      
Aborted  <<< rosidl_adapter [1.83s]                            
                                 
Summary: 4 packages finished [9.75s]
  1 package failed: microxrcedds_client
  3 packages aborted: rcutils rmw_implementation_cmake rosidl_adapter
  2 packages had stderr output: microxrcedds_client rcutils
  68 packages not processed
make[3]: *** [libmicroros.mk:33: colcon_compile] Error 2
make[3]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions'
make[2]: *** [esp-idf/main/CMakeFiles/libmicroros.dir/build.make:89: libmicroros-prefix/src/libmicroros-stamp/libmicroros-build] Error 2
make[2]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
make[1]: *** [CMakeFiles/Makefile2:4756: esp-idf/main/CMakeFiles/libmicroros.dir/all] Error 2
make[1]: Leaving directory '/uros_ws/firmware/freertos_apps/microros_esp32_extensions/build'
make: *** [Makefile:139: all] Error 2
[ros2run]: Process exited with failure 2

Please help, thanks in advance!!