build failure micro-ros application on NuttX with olimex-stm32-e407

[MaZhengg]

• Ubuntu20.04
• foxy
• olimex-stm32-e407
• nuttx

following the tutorial:https://micro.ros.org/docs/tutorials/core/first_application_rtos/nuttx/

A small episode: at the configure step, the rcutils(in branch foxy) compile failure due to the dependence of tinydir_vendor, then I overwrite the rcutils with that in branch main, then the rcutils compile successed.

my question: the create_firmware, configure_firmware steps are successed, then the build step failed with the following message:
pong_server.cxx: In constructor 'PongServer::PongServer(int, char**)': /home/mazhg/microros_ws/firmware/apps/include/uros/ros_util.h:50:133: **error:** exception handling disabled, use '-fexceptions' to enable 50 | W_RET_OK) { throw RCLException(rcutils_get_error_string().str); } }

and the full operation are presented here:
https://asciinema.org/a/qbXwwH0VGAT1kEcAlqCYNTrQz

Thank you for your help!

[Acuadros95]

The configure_firmware.sh is not working as expected, could you use the menuconfig utility to configure the application and transport?

Anyway, you can also try the new micro-ROS build approach for nuttx: https://github.com/micro-ROS/micro_ros_nuttx_app

[MaZhengg]

thanks for your help, I will double check the step of configure_firmware.sh. For the menuconfig operation, yes, the configuration has been done.

Also, I will try the new micro-ROS build approach for nuttx, one problem for this tutorial, whether it works with foxy ?

[Acuadros95]

I am afraid its not available on foxy.

We will rework the tutorial and the configure_firmware.sh script to avoid errors like this.

[MaZhengg]

I recreate the firmware folder, then I rerun the configure_firmware.sh with drive_base, while the following error message appeared:

cd /home/username/micro_ws/firmware/apps/; colcon build --cmake-target clean --cmake-target-skip-unavailable
Starting >>> firmware
stderr: firmware
CMake Error: The source directory "/home/username/micro_ws/firmware/apps" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
Failed <<< firmware [0.09s, exited with code 1]
Summary: 0 packages finished [0.24s]
1 package failed: firmware
1 package had stderr output: firmware

The operation are presented as following link:
http://asciinema.org/a/458660

according to the issues before, it seems that the ros2 distro is messing up with micro-ROS, any tips on this? Is there any way to solve the problem except reinstalling the ros2 and micro-ROS?

And when I run the configure_firmware.sh with pingpong-eth, the compiling begins, while the package rosidl_typesupport_c failed with package rcpptils not found error even that the package is downloaded successfully.

[Acuadros95]

I have a fix for the configuration problem, try again with the branch fix/ping_pong of this repository. That is:
- Use git clone -b fix/ping_pong https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
- Instead of git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

[Acuadros95]

The fix has been merged: micro-ROS/NuttX#57.
And the tutorial has been updated: micro-ROS/micro-ROS.github.io#359 (review).

I am closing this, please give feedback and reopen if needed.

[MaZhengg]

• We have test the updated tutorials, the configure_firmware step failed due to the dependence problem, the package rosidl_typesupport_microxrcedds_c_tests and rosidl_typesupport_microxrcedds_cpp_tests depends on the package rosidl_typesupport_microxrcedds_test_msg , while cmake could not find the rosidl_typesupport_microxrcedds_test_msg package with the following error message:

`--- stderr: rosidl_typesupport_microxrcedds_c_tests                           
CMake Error at CMakeLists.txt:26 (find_package):
  By not providing "Findrosidl_typesupport_microxrcedds_test_msg.cmake" in
  CMAKE_MODULE_PATH this project has asked CMake to find a package
  configuration file provided by "rosidl_typesupport_microxrcedds_test_msg",
  but CMake did not find one.
  Could not find a package configuration file provided by
  "rosidl_typesupport_microxrcedds_test_msg" with any of the following names:
    rosidl_typesupport_microxrcedds_test_msgConfig.cmake
    rosidl_typesupport_microxrcedds_test_msg-config.cmake
  Add the installation prefix of "rosidl_typesupport_microxrcedds_test_msg"
  to CMAKE_PREFIX_PATH or set "rosidl_typesupport_microxrcedds_test_msg_DIR"
  to a directory containing one of the above files.  If
  "rosidl_typesupport_microxrcedds_test_msg" provides a separate development
  package or SDK, be sure it has been installed.
---
Failed   <<< rosidl_typesupport_microxrcedds_c_tests [1.58s, exited with code 1]`

• When i colcon ignore the two package(rosidl_typesupport_microxrcedds_c_tests and rosidl_typesupport_microxrcedds_cpp_tests ), the following steps goes well with no error, while no usb-NuttX serial device found, therefore, the nuttx shell cannot open.

• With the nuttx.bin and nuttx.hex provided by @pablogs9 in issue No connection to agent (Olimex board with NuttX) #268 , everything goes fine, and the topic goes well.

and the whole operation are recorded in the following link:
https://asciinema.org/a/460409

any help are grateful!