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How to use a light-weight version of ros2, packages up to rclc and ros2cli_common_extensions

ros2lint's Introduction

ros2lint

How to use a light-weight version of ros2, packages are up to rclc and ros2cli_common_extensions when building from source code.

Description

This repository demonstrate how to build a light-weight version of ros2, packages up to rclc and ros2cli_common_extensions. It is intended to be used for linting purposes only.

Install from source code

Prerequisites

reference(humble)

TODO: For specific dependencies, please refer to the Dockerfile.

Build

Instead of building the entire ros2, we only build the packages we need. In this case we build packages up to rclc and ros2cli_common_extensions.

colcon build --packages-up-to rclc --packages-up-to ros2cli_common_extensions

Install

We install the packages to a custom location, in this case install.

Use a soft link to make the packages available to the system.

sudo ln -s /path/to/install /opt/ros/${ROS_DISTRO}

Docker

The Docker Image is available on Docker Hub. It's based on Ubuntu 20.04 and ROS2 Humble.

Docker Hub

docker pull tonghezhang/ros2_x86:humble_lint_0.1

Run

example:

sudo docker run --shm-size=1024m --name ros2_humble_lint --privileged -it -d -p 2337:22 -p 4907:4000 -v /Users/zhangtonghe/share:/share   tonghezhang/ros2_x86:humble_lint   /bin/bash

Limitation

The Docker Image is based on Ubuntu 20.04 and ROS2 Humble. It's not possible to run the image on a host with a different OS or ROS2 version.
Using iceoryx as the RMW implementation is not always supported due to #1776, so we recommand rmw_fastrtps_cpp as the default RMW implementation. But you can find a solution in #1776 to use iceoryx as the RMW implementation.

Docker update record

Update Record

ros2lint's People

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ros2lint's Issues

[feature]: libelf

For unix-like systems, we want to use libelf to get the symbols( especially for function names ) for *.so]

sudo apt install libelf-dev

Debug version: build and install rclc

We need to build and install rclc in debug version.
using command

colcon build --packages-up-to rclc --ament-cmake-args -DCMAKE_BUILD_TYPE=DEBUG

[feature]: docker file

We can use docker file to build the image, which is more generic and convinient.

Docker Image: humble_lint, need to install other dds.

Need to install other dds

Docker Image: humble_lint doesn't have other dds(such as connextdds, cyclonedds iceoryx, etc) installed, which would cause run timer error when set env as other dds, for example:

 export RMW_IMPLEMENTATION=rmw_connextdds

Description:

[ERROR] [1693811491.110734726] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_connextdds'), with error message 'failed to load shared library 'librmw_connextdds.so' due to dlopen error: librmw_connextdds.so: cannot open shared object file: No such file or directory, at /root/ros2_humble/src/ros2/rcutils/src/shared_library.c:99, at /root/ros2_humble/src/ros2/rmw_implementation/rmw_implementation/src/functions.cpp:65', exiting with 1., at /root/ros2_humble/src/ros2/rcl/rcl/src/rcl/rmw_implementation_identifier_check.c:139

[ERROR] [1693811534.722311830] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_connextdds'), with error message 'failed to load shared library 'librmw_connextdds.so' due to dlopen error: librmw_connextdds.so: cannot open shared object file: No such file or directory, at /root/ros2_humble/src/ros2/rcutils/src/shared_library.c:99, at /root/ros2_humble/src/ros2/rmw_implementation/rmw_implementation/src/functions.cpp:65', exiting with 1., at /root/ros2_humble/src/ros2/rcl/rcl/src/rcl/rmw_implementation_identifier_check.c:139

[feature]: install google/benchmark

For the need of benchmarking.

[feature]: add debug version

Feature

New docker image

We're considering add a debug(which is also lint) version for ros2:humble

we can use

colcon build --packages-up-to demo_nodes_cpp --ament-cmake-args "-DBUILD_TESTING=OFF" "-DCMAKE_BUILD_TYPE=Debug"

when making docker image

Docker Image

Not a Bug

Description

The docker image : docker pull tonghezhang/ros2_x86:humble_lint doesn't contain ros2/rclc installation.

Solution

add rclc source code and colcon build --packages-up-to rclc, then update the image.

The following repositories might not be in the default ROS 2 distribution: osrf_testing_tools_cpp and test_msgs. In this case install them manually:

 sudo apt-get install ros-$ROS_DISTRO-osrf-testing-tools-cpp
 sudo apt-get install ros-$ROS_DISTRO-test-msgs

zard-c / ros2lint Goto Github PK

ros2lint's Introduction

ros2lint

Description

Install from source code

Prerequisites

Build

Install

Docker

Run

Limitation

Docker update record

ros2lint's People

Contributors

Stargazers

Watchers

ros2lint's Issues

Need to install other dds

Description:

Feature

Not a Bug

Description

Solution

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