Having an issue in cmake while colcon building the px4_msgs

Junaid_ck · December 22, 2024, 1:22pm

colcon build
Starting >>> px4_msgs
— stderr: px4_msgs
CMake Error at /opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message):
execute_process(/usr/bin/python3 -m rosidl_adapter --package-name px4_msgs
–arguments-file
/home/junaid/ros2_px4_offboard_example_ws/build/px4_msgs/rosidl_adapter__arguments__px4_msgs.json
–output-dir
/home/junaid/ros2_px4_offboard_example_ws/build/px4_msgs/rosidl_adapter/px4_msgs
–output-file
/home/junaid/ros2_px4_offboard_example_ws/build/px4_msgs/rosidl_adapter/px4_msgs.idls)
returned error code 1:

AttributeError processing template ‘msg.idl.em’

Traceback (most recent call last):

File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template
  em.BUFFERED_OPT: True,

AttributeError: module ‘em’ has no attribute ‘BUFFERED_OPT’

During handling of the above exception, another exception occurred:

Traceback (most recent call last):

File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main
  return _run_code(code, main_globals, None,
File "/usr/lib/python3.10/runpy.py", line 86, in _run_code
  exec(code, run_globals)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__main__.py", line 19, in <module>
  sys.exit(main())
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/main.py", line 53, in main
  abs_idl_file = convert_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__init__.py", line 19, in convert_to_idl
  return convert_msg_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl
  expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1')
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template
  content = evaluate_template(template_name, data)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template
  _interpreter.shutdown()

AttributeError: ‘NoneType’ object has no attribute ‘shutdown’

Call Stack (most recent call first):
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
CMakeLists.txt:28 (rosidl_generate_interfaces)

Failed <<< px4_msgs [0.33s, exited with code 1]

Summary: 0 packages finished [0.44s]
1 package failed: px4_msgs
1 package had stderr output: px4_msgs

Junaid_ck · December 22, 2024, 1:25pm

please anyone help me

coolvision · December 25, 2024, 11:41am

probably, this?

github.com/ros2/rosidl

Incompatibility with EmPy 4.0

opened 04:08PM - 02 Jan 24 UTC

wentasah

## Bug report rosidl is not compatible with [recently released](http://www.al…cyone.com/software/empy/ANNOUNCE.html#recent-release-history-since-3-x) EmPy 4.0.x. This manifests with errors like (the last few lines are the most important): ``` ... -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_introspection_cpp;rosidl_typesupport_fastrtps_cpp CMake Error at /nix/store/f6hkk0fbrjnwibg1gxr285cqr66pnx86-ros-humble-rosidl-adapter-3.1.5-r2/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message): execute_process(/nix/store/qp5zys77biz7imbk6yy85q5pdv7qk84j-python3-3.11.6/bin/python3.11 -m rosidl_adapter --package-name builtin_interfaces --arguments-file /build/rcl_interfaces-release-release-humble-builtin_interfaces-1.2.1-1/build/rosidl_adapter__arguments__builtin_interfaces.json --output-dir /build/rcl_interfaces-release-release-humble-builtin_interfaces-1.2.1-1/build/rosidl_adapter/builtin_interfaces --output-file /build/rcl_interfaces-release-release-humble-builtin_interfaces-1.2.1-1/build/rosidl_adapter/builtin_interfaces.idls) returned error code 1: AttributeError processing template 'msg.idl.em' Traceback (most recent call last): File "/nix/store/f6hkk0fbrjnwibg1gxr285cqr66pnx86-ros-humble-rosidl-adapter-3.1.5-r2/lib/python3.11/site-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template em.BUFFERED_OPT: True, ^^^^^^^^^^^^^^^ AttributeError: module 'em' has no attribute 'BUFFERED_OPT' ``` I was able to get rid of the errors after applying the following patch (for humble version): ```diff diff --git a/rosidl_adapter/rosidl_adapter/resource/__init__.py b/rosidl_adapter/rosidl_adapter/resource/__init__.py index ce33358..4a0c2e2 100644 --- a/rosidl_adapter/rosidl_adapter/resource/__init__.py +++ b/rosidl_adapter/rosidl_adapter/resource/__init__.py @@ -44,19 +44,20 @@ def evaluate_template(template_name, data): template_path = os.path.join(os.path.dirname(__file__), template_name) output = StringIO() + config = em.Configuration() + config.deleteOnError = True + config.rawErrors = True try: _interpreter = em.Interpreter( output=output, - options={ - em.BUFFERED_OPT: True, - em.RAW_OPT: True, - }) + config=config, + ) with open(template_path, 'r') as h: content = h.read() _interpreter.invoke( 'beforeFile', name=template_name, file=h, locals=data) - _interpreter.string(content, template_path, locals=data) + _interpreter.string(content, locals=data) _interpreter.invoke('afterFile') return output.getvalue() @@ -78,7 +79,7 @@ def _evaluate_template(template_name, **kwargs): 'beforeInclude', name=template_path, file=h, locals=kwargs) content = h.read() try: - _interpreter.string(content, template_path, kwargs) + _interpreter.string(content, kwargs) except Exception as e: # noqa: F841 print( f"{e.__class__.__name__} processing template '{template_name}': " diff --git a/rosidl_cmake/rosidl_cmake/__init__.py b/rosidl_cmake/rosidl_cmake/__init__.py index 0c7d1ed..0b4e680 100644 --- a/rosidl_cmake/rosidl_cmake/__init__.py +++ b/rosidl_cmake/rosidl_cmake/__init__.py @@ -125,12 +125,12 @@ def expand_template( global interpreter output = StringIO() + config = em.Configuration() + config.deleteOnError = True + config.rawErrors = True interpreter = em.Interpreter( output=output, - options={ - em.BUFFERED_OPT: True, - em.RAW_OPT: True, - }, + config=config, ) global template_prefix_path @@ -146,7 +146,7 @@ def expand_template( template_content = h.read() interpreter.invoke( 'beforeFile', name=template_name, file=h, locals=data) - interpreter.string(template_content, template_path, locals=data) + interpreter.string(template_content, locals=data) interpreter.invoke('afterFile') except Exception as e: # noqa: F841 if os.path.exists(output_file): @@ -195,7 +195,7 @@ def _expand_template(template_name, **kwargs): 'beforeInclude', name=str(template_path), file=h, locals=kwargs) content = h.read() try: - interpreter.string(content, str(template_path), kwargs) + interpreter.string(content, kwargs) except Exception as e: # noqa: F841 print(f"{e.__class__.__name__} in template '{template_path}': {e}", file=sys.stderr) ``` I'm not really sure whether the change to `interpreter.string()` is correct, but I was able to compile my project with it. Unfortunately, I'm not experienced with using EmPy and the lack of EmPy source code repository with development history doesn't make it easy to figure out what changes would be correct. Therefore, I hope somebody more experienced would be able to follow from here.

check which version of empy you have, for example I have 3.3.4, and it works fine for me, with ros2 humble:

pip list | grep em
empy                                 3.3.4

as an alternative, you can just start using mavros for communicating with px4 instead of px4_msgs