ROS2 - Colcon build Error

[nicolal01]

I am trying to build this package in ubuntu 22.04 with ROS2 Humble. I get the following error log when I run colcon build.

Does anyone know what i could do to solve this error?

[sbarber-dsi]

You have to change the code to make it build for ROS2
There's instructions in the readme

[AlessioGianu]

hi, i've followed the guideline in the readme but the colcon build command shows the follow:

How can i solve these errors? Thank you so much

[TZECHIN6]

might be you provide more details about your build step? seem you miss to source /opt/ros/<distro>/setup.bash

[AlessioGianu]

Hi, thank you for answering;
the source /opt/ros/<distro>/setup.bash is present inside the bashrc file.
I followed the following steps:

• Install via git clone
• Install all the dependency shown in the readme
• followed the sub-steps in the [4.3 Compile with ROS2 colcon]

I'm not expert of ROS2 so maybe I'm missing some trivial steps.
I also tried chatGPT but it wasn't helpful ( people are better ).

[sbarber-dsi]

I believe you have not configured the project to build for ROS2.
That looks like it is still trying to build against the ROS1 headers.

The Robosense ROS driver does not compile for ROS2 as-is.
You must make a number of changes in order for it to compile.

[AlessioGianu]

Sorry, do you mean changes that are not inside the readMe file?

[TZECHIN6]

Would you share your workspace structure with tree cmd? Also, could you run the demo_node example in ROS2?

I have built it several times today... all built are success.

which linux and ros version are you working on? Have you installed desktop version or base version of ROS? have you run rosdep install --from-paths src --ignore src -r -y to install dependency with rosdep?

[AlessioGianu]

Hi sorry for my late response, i have not my pc with me this WE.
I'm working with ROS2 Humble with full desktop installation and ubuntu 22.04 LTS.

I run the command rosdep install --from-paths src --ignore src -r -y inside the /robosense_ws/src/rslidar_sdk folder but didn't work so instead i run rosdep install --from-paths src -y -r and the result was "all deps are installed"

I want to thank you for your time.

The Tree structure of the ws is:
.
└── src
├── rslidar_msg
│   ├── CMakeLists.txt
│   ├── LICENSE
│   ├── msg
│   │   └── RslidarPacket.msg
│   ├── package.xml
│   ├── README.md
│   ├── ros1
│   │   ├── CMakeLists.txt
│   │   └── package.xml
│   └── ros2
│   ├── CMakeLists.txt
│   └── package.xml
└── rslidar_sdk
├── CHANGELOG.md
├── CMakeLists.txt
├── config
│   └── config.yaml
├── create_debian.sh
├── doc
│   ├── howto
│   │   ├── 04_how_to_work_along_with_rslidar_sdk_node_v1.3.x_CN.md
│   │   ├── 05_how_to_change_point_type_CN.md
│   │   ├── 05_how_to_change_point_type.md
│   │   ├── 06_how_to_decode_online_lidar_CN.md
│   │   ├── 06_how_to_decode_online_lidar.md
│   │   ├── 07_online_lidar_advanced_topics_CN.md
│   │   ├── 07_online_lidar_advanced_topics.md
│   │   ├── 08_how_to_decode_pcap_file_CN.md
│   │   ├── 08_how_to_decode_pcap_file.md
│   │   ├── 09_pcap_file_advanced_topics_CN.md
│   │   ├── 09_pcap_file_advanced_topics.md
│   │   ├── 10_how_to_use_coordinate_transformation_CN.md
│   │   ├── 10_how_to_use_coordinate_transformation.md
│   │   ├── 11_how_to_record_replay_packet_rosbag_CN.md
│   │   ├── 11_how_to_record_replay_packet_rosbag.md
│   │   ├── 12_how_to_create_deb.md
│   │   └── img
│   │   ├── 04_01_packet_rosbag.png
│   │   ├── 07_01_broadcast.png
│   │   ├── 07_02_unicast.png
│   │   ├── 07_03_multicast.png
│   │   ├── 07_04_multi_lidars_port.png
│   │   ├── 07_05_multi_lidars_ip.png
│   │   ├── 07_06_vlan_layer.png
│   │   ├── 07_07_vlan.png
│   │   └── 07_08_user_layer.png
│   ├── intro
│   │   ├── 02_parameter_intro_CN.md
│   │   ├── 02_parameter_intro.md
│   │   ├── 03_hiding_parameters_intro_CN.md
│   │   └── 03_hiding_parameters_intro.md
│   └── src_intro
│   ├── img
│   │   ├── class_destination_packet.png
│   │   ├── class_destination_pointcloud.png
│   │   ├── class_node_manager.png
│   │   ├── class_source_destination.png
│   │   ├── class_source_driver.png
│   │   └── class_source_packet_ros.png
│   └── rslidar_sdk_intro_CN.md
├── img
│   └── 01_01_download_page.png
├── launch
│   ├── elequent_start.py
│   ├── start.launch
│   └── start.py
├── LICENSE
├── node
│   └── rslidar_sdk_node.cpp
├── package.xml
├── README_CN.md
├── README.md
├── rviz
│   ├── rviz2.rviz
│   └── rviz.rviz
└── src
├── manager
│   ├── node_manager.cpp
│   └── node_manager.hpp
├── msg
│   ├── ros_msg
│   │   ├── rs_compressed_image.hpp
│   │   ├── RsCompressedImage.msg
│   │   ├── rslidar_packet.hpp
│   │   ├── rslidar_packet_legacy.hpp
│   │   ├── RslidarPacket.msg
│   │   └── rslidar_scan_legacy.hpp
│   └── rs_msg
│   └── lidar_point_cloud_msg.hpp
├── rs_driver
│   ├── CHANGELOG.md
│   ├── cmake
│   │   ├── cmake_uninstall.cmake.in
│   │   ├── FindPCAP.cmake
│   │   ├── rs_driverConfig.cmake
│   │   ├── rs_driverConfig.cmake.in
│   │   ├── rs_driverConfigVersion.cmake
│   │   └── rs_driverConfigVersion.cmake.in
│   ├── CMakeLists.txt
│   ├── demo
│   │   ├── CMakeLists.txt
│   │   ├── demo_online.cpp
│   │   ├── demo_online_multi_lidars.cpp
│   │   └── demo_pcap.cpp
│   ├── doc
│   │   ├── howto
│   │   │   ├── 07_how_to_port_your_app_from_rs_driver_1.3.x_to_1.5.x_CN.md
│   │   │   ├── 07_how_to_port_your_app_from_rs_driver_1.3.x_to_1.5.x.md
│   │   │   ├── 08_how_to_decode_online_lidar_CN.md
│   │   │   ├── 08_how_to_decode_online_lidar.md
│   │   │   ├── 09_online_lidar_advanced_topics_CN.md
│   │   │   ├── 09_online_lidar_advanced_topics.md
│   │   │   ├── 10_how_to_decode_pcap_file_CN.md
│   │   │   ├── 10_how_to_decode_pcap_file.md
│   │   │   ├── 11_pcap_file_advanced_topics_CN.md
│   │   │   ├── 11_pcap_file_advanced_topics.md
│   │   │   ├── 12_how_to_configure_by_pcap_file_CN.md
│   │   │   ├── 12_how_to_configure_by_pcap_file.md
│   │   │   ├── 13_how_to_capture_pcap_file_CN.md
│   │   │   ├── 13_how_to_capture_pcap_file.md
│   │   │   ├── 14_how_to_use_rs_driver_viewer_CN.md
│   │   │   ├── 14_how_to_use_rs_driver_viewer.md
│   │   │   ├── 15_how_to_transform_pointcloud_CN.md
│   │   │   ├── 15_how_to_transform_pointcloud.md
│   │   │   ├── 16_how_to_compile_on_windows_CN.md
│   │   │   ├── 16_how_to_compile_on_windows.md
│   │   │   ├── 17_how_to_avoid_packet_loss_CN.md
│   │   │   ├── 17_how_to_avoid_packet_loss.md
│   │   │   ├── 18_about_point_layout_CN.md
│   │   │   ├── 18_about_point_layout.md
│   │   │   ├── 19_about_splitting_frame_CN.md
│   │   │   ├── 19_about_splitting_frame.md
│   │   │   ├── 20_about_usage_of_cpu_and_memory_CN.md
│   │   │   ├── 20_about_usage_of_cpu_and_memory.md
│   │   │   ├── 21_how_to_parse_difop_CN.md
│   │   │   ├── 21_how_to_parse_difop.md
│   │   │   └── img
│   │   │   ├── 07_01_branches.png
│   │   │   ├── 07_02_cpu_usage_dev.png
│   │   │   ├── 07_03_cpu_usage_dev_opt.png
│   │   │   ├── 09_01_broadcast.png
│   │   │   ├── 09_02_unicast.png
│   │   │   ├── 09_03_multicast.png
│   │   │   ├── 09_04_multi_lidars_port.png
│   │   │   ├── 09_05_multi_lidars_ip.png
│   │   │   ├── 09_06_vlan_layer.png
│   │   │   ├── 09_07_vlan.png
│   │   │   ├── 09_08_user_layer.png
│   │   │   ├── 12_01_select_by_port.png
│   │   │   ├── 12_02_select_by_non_port.png
│   │   │   ├── 12_03_rs32_msop_packet.png
│   │   │   ├── 12_04_rs32_difop_packet.png
│   │   │   ├── 12_05_with_vlan.png
│   │   │   ├── 12_06_with_user_layer.png
│   │   │   ├── 12_07_with_tail_layer.png
│   │   │   ├── 12_08_not_supported.png
│   │   │   ├── 13_01_wireshark_select_nic.png
│   │   │   ├── 13_02_wireshark_capture.png
│   │   │   ├── 13_03_wireshark_filter_by_port.png
│   │   │   ├── 13_04_wireshark_export_all.png
│   │   │   ├── 13_05_wireshark_export_range.png
│   │   │   ├── 13_06_wireshark_mark.png
│   │   │   ├── 13_07_wireshark_export_marked.png
│   │   │   ├── 13_08_wireshark_export_marked_range.png
│   │   │   ├── 14_01_rs_driver_viewer_point_cloud.png
│   │   │   ├── 16_01_demo_project.png
│   │   │   ├── 16_02_demo_use_cpp14.png
│   │   │   ├── 16_03_demo_extra_include.png
│   │   │   ├── 16_04_demo_include_path.png
│   │   │   ├── 16_05_demo_lib_path.png
│   │   │   ├── 16_06_demo_lib.png
│   │   │   ├── 16_07_demo_precompile_macro.png
│   │   │   ├── 16_08_viewer_install_pcl.png
│   │   │   ├── 16_09_viewer_install_pcl_dep.png
│   │   │   ├── 16_10_viewer_add_env_var.png
│   │   │   ├── 16_11_viewer_project.png
│   │   │   ├── 16_12_viewer_sdl_check.png
│   │   │   ├── 16_13_viewer_include_path.png
│   │   │   ├── 16_14_viewer_lib_path.png
│   │   │   ├── 16_15_viewer_lib.png
│   │   │   ├── 16_16_viewer_precompile_macro.png
│   │   │   ├── 18_01_mech_lasers.png
│   │   │   ├── 18_02_mems_lasers.png
│   │   │   ├── 18_03_mech_lasers_and_points.png
│   │   │   ├── 18_04_mech_points.png
│   │   │   ├── 18_05_mems_lasers_and_points.png
│   │   │   ├── 18_06_mems_points.png
│   │   │   ├── 19_01_split_angle.png
│   │   │   ├── 19_02_safe_range.png
│   │   │   └── 20_01_components_and_threads.png
│   │   ├── intro
│   │   │   ├── 02_directories_and_files_CN.md
│   │   │   ├── 02_directories_and_files.md
│   │   │   ├── 03_thread_model_CN.md
│   │   │   ├── 03_thread_model.md
│   │   │   ├── 04_parameter_intro_CN.md
│   │   │   ├── 04_parameter_intro.md
│   │   │   ├── 05_cmake_macros_intro_CN.md
│   │   │   ├── 05_cmake_macros_intro.md
│   │   │   ├── 06_error_code_intro_CN.md
│   │   │   ├── 06_error_code_intro.md
│   │   │   └── img
│   │   │   ├── 03_01_components_and_threads.png
│   │   │   └── 03_02_interface_with_threads.png
│   │   └── src_intro
│   │   ├── img
│   │   │   ├── class_azimuth_section.png
│   │   │   ├── class_chan_angles.png
│   │   │   ├── class_decoder_factory.png
│   │   │   ├── class_decoder_mech.png
│   │   │   ├── class_decoder.png
│   │   │   ├── class_decoder_rsbp.png
│   │   │   ├── class_decoder_rsm1.png
│   │   │   ├── class_distance_section.png
│   │   │   ├── classes_block_iterator.png
│   │   │   ├── classes_decoder.png
│   │   │   ├── classes_input.png
│   │   │   ├── classes_rs16_block_iterator.png
│   │   │   ├── classes_split_strategy_by_seq.png
│   │   │   ├── classes_split_strategy.png
│   │   │   ├── class_input_factory.png
│   │   │   ├── class_input_pcap.png
│   │   │   ├── class_input.png
│   │   │   ├── class_input_raw.png
│   │   │   ├── class_input_sock.png
│   │   │   ├── class_lidar_driver_impl.png
│   │   │   ├── class_trigon.png
│   │   │   ├── components.png
│   │   │   ├── fov.png
│   │   │   ├── msop_dual_return.png
│   │   │   ├── msop_ruby128.png
│   │   │   ├── msop_single_return.png
│   │   │   ├── packet_layers_full.png
│   │   │   ├── packet_layers.png
│   │   │   ├── packet_record_replay.png
│   │   │   ├── rs16_msop_dual_return.png
│   │   │   ├── rs16_msop_single_return.png
│   │   │   ├── safe_range.png
│   │   │   ├── split_angle.png
│   │   │   ├── split_position.png
│   │   │   └── trigon_sinss.png
│   │   └── rs_driver_intro_CN.md
│   ├── LICENSE
│   ├── README_CN.md
│   ├── README.md
│   ├── src
│   │   └── rs_driver
│   │   ├── api
│   │   │   └── lidar_driver.hpp
│   │   ├── common
│   │   │   ├── error_code.hpp
│   │   │   ├── rs_common.hpp
│   │   │   └── rs_log.hpp
│   │   ├── driver
│   │   │   ├── decoder
│   │   │   │   ├── basic_attr.hpp
│   │   │   │   ├── block_iterator.hpp
│   │   │   │   ├── chan_angles.hpp
│   │   │   │   ├── decoder_factory.hpp
│   │   │   │   ├── decoder.hpp
│   │   │   │   ├── decoder_mech.hpp
│   │   │   │   ├── decoder_RS128.hpp
│   │   │   │   ├── decoder_RS16.hpp
│   │   │   │   ├── decoder_RS32.hpp
│   │   │   │   ├── decoder_RS48.hpp
│   │   │   │   ├── decoder_RS80.hpp
│   │   │   │   ├── decoder_RSBP.hpp
│   │   │   │   ├── decoder_RSE1.hpp
│   │   │   │   ├── decoder_RSHELIOS_16P.hpp
│   │   │   │   ├── decoder_RSHELIOS.hpp
│   │   │   │   ├── decoder_RSM1.hpp
│   │   │   │   ├── decoder_RSM1_Jumbo.hpp
│   │   │   │   ├── decoder_RSM2.hpp
│   │   │   │   ├── decoder_RSP128.hpp
│   │   │   │   ├── decoder_RSP48.hpp
│   │   │   │   ├── decoder_RSP80.hpp
│   │   │   │   ├── member_checker.hpp
│   │   │   │   ├── section.hpp
│   │   │   │   ├── split_strategy.hpp
│   │   │   │   └── trigon.hpp
│   │   │   ├── driver_param.hpp
│   │   │   ├── input
│   │   │   │   ├── input_factory.hpp
│   │   │   │   ├── input.hpp
│   │   │   │   ├── input_pcap.hpp
│   │   │   │   ├── input_pcap_jumbo.hpp
│   │   │   │   ├── input_raw.hpp
│   │   │   │   ├── input_raw_jumbo.hpp
│   │   │   │   ├── input_sock.hpp
│   │   │   │   ├── input_sock_jumbo.hpp
│   │   │   │   ├── jumbo.hpp
│   │   │   │   ├── unix
│   │   │   │   │   ├── input_sock_epoll.hpp
│   │   │   │   │   └── input_sock_select.hpp
│   │   │   │   └── win
│   │   │   │   └── input_sock_select.hpp
│   │   │   └── lidar_driver_impl.hpp
│   │   ├── macro
│   │   │   ├── version.hpp
│   │   │   └── version.hpp.in
│   │   ├── msg
│   │   │   ├── packet.hpp
│   │   │   ├── pcl_point_cloud_msg.hpp
│   │   │   └── point_cloud_msg.hpp
│   │   └── utility
│   │   ├── buffer.hpp
│   │   ├── dbg.hpp
│   │   └── sync_queue.hpp
│   ├── test
│   │   ├── ab_dual_return_block_iterator_test.cpp
│   │   ├── basic_attr_test.cpp
│   │   ├── buffer_test.cpp
│   │   ├── chan_angles_test.cpp
│   │   ├── CMakeLists.txt
│   │   ├── decoder_rs16_test.cpp
│   │   ├── decoder_rs32_test.cpp
│   │   ├── decoder_rsbp_test.cpp
│   │   ├── decoder_test.cpp
│   │   ├── dual_return_block_iterator_test.cpp
│   │   ├── res
│   │   │   └── angle.csv
│   │   ├── rs16_dual_return_block_iterator_test.cpp
│   │   ├── rs16_single_return_block_iterator_test.cpp
│   │   ├── rs_driver_test.cpp
│   │   ├── section_test.cpp
│   │   ├── single_return_block_iterator_test.cpp
│   │   ├── split_strategy_test.cpp
│   │   ├── sync_queue_test.cpp
│   │   └── trigon_test.cpp
│   ├── tool
│   │   ├── CMakeLists.txt
│   │   ├── rs_driver_pcdsaver.cpp
│   │   └── rs_driver_viewer.cpp
│   └── win
│   ├── demo_online
│   │   └── demo_online.vcxproj
│   ├── demo_pcap
│   │   └── demo_pcap.vcxproj
│   ├── rs_driver.sln
│   └── rs_driver_viewer
│   └── rs_driver_viewer.vcxproj
├── source
│   ├── source_driver.hpp
│   ├── source.hpp
│   ├── source_packet_ros.hpp
│   └── source_pointcloud_ros.hpp
└── utility
├── common.hpp
└── yaml_reader.hpp

53 directories, 298 files

[TZECHIN6]

from what i saw in here is that, you put all the packages outside the src directory.

If you follow the ros2_ws structure should look like this:

ros2_ws
└── src
    ├── package1
    ├── package2
    └── ...

Under the root dir ros2_ws, run cmd rosdep install --from-paths src --ignore-src -r -y should install all required dependencies.

[AlessioGianu]

Hi, maybe the tree structure shows not correctly the structure; i don't know why but the structure is like you posted and the command for dependencies tell me all is installed correctly. I will try on another computer to understand better why this happens

[TZECHIN6]

One of my new team members also encountered some weird issues, he told me that after reinstalling everything CAREFULLY and structured, the build was a success.

I am not sure do you run any venv or conda I suggest not to use it for now if you have used those and build on top of it.

You could log down the step when reinstalling, then might be I could help a better understanding which part cause the issue

[AlessioGianu]

I'm not using any environments at all.
I will try to reinstall all as you suggests, and than the next days there will be a colleague of mine that had used this sensor before so maybe with 4 hands we will be able to solve this issue. Thanks for now and if the problems subsist, and if you have time and you want, i will ask you again.
Thanks so much for your time and your suggestions.

[TZECHIN6]

Yeah I will reply when I am free. Just leave the finding and step to reproduce in here.