Stuck with dependency problem trying to compile Fast-RTPS-Gen

ROS / MAVROS / MicroDDS
1

Hello there! I’ve had no problems compiling Fast DDS 2.0.2 as explained on https://docs.px4.io/master/en/dev_setup/fast-dds-installation.html, but I’m having a hard time trying to compile Fast-DDS-Gen.

  • What I managed:
    – Cloned the correct version for Fast DDS the repo (2.0.2)
    – Build it as explained.
    – Cloned the correct version of Fast DDS Gen the repo (1.0.4)

  • What I tried:
    – Download multiple versions of Gradle to try to compile it (all by manually installing it on /opt/gradle, as explained on the gradle website):
    — 6.2.2,
    — 6.3 (the recommended version)
    — 6.4 (after seeing it worked out for someone else
    — 6.6.1
    — 7.0.0 (didn’t work and gave a different error this time)

  • My problem:
    – Trying to run Gradle assemble with 7.0.0 gives an expected problem, trying to compile with the other versions give something like this (this is for Gradle 6.4):

> Task :buildIDLParser FAILED

FAILURE: Build failed with an exception.

* Where:
Build file '/home/evandro/Fast-RTPS-Gen/thirdparty/idl-parser/idl.gradle' line: 89

* What went wrong:
Could not determine the dependencies of task ':idl-parser:jar'.
> Could not resolve all files for configuration ':idl-parser:compile'.
   > Could not resolve org.antlr:antlr4:4.5.
     Required by:
         project :idl-parser
      > Could not resolve org.antlr:antlr4:4.5.
         > Could not get resource 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
            > Could not GET 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
               > sun.security.validator.ValidatorException: PKIX path building failed: sun.security.provider.certpath.SunCertPathBuilderException: unable to find valid certification path to requested target
   > Could not resolve org.antlr:antlr4:4.5.
     Required by:
         project :idl-parser
      > Could not resolve org.antlr:antlr4:4.5.
         > Could not get resource 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
            > Could not GET 'https://repo.maven.apache.org/maven2/org/antlr/antlr4/4.5/antlr4-4.5.pom'.
               > sun.security.validator.ValidatorException: PKIX path building failed: sun.security.provider.certpath.SunCertPathBuilderException: unable to find valid certification path to requested target
   > Could not resolve org.antlr:stringtemplate:3.2.
     Required by:
         project :idl-parser
      > Could not resolve org.antlr:stringtemplate:3.2.
         > Could not get resource 'https://repo.maven.apache.org/maven2/org/antlr/stringtemplate/3.2/stringtemplate-3.2.pom'.
            > Could not GET 'https://repo.maven.apache.org/maven2/org/antlr/stringtemplate/3.2/stringtemplate-3.2.pom'.
               > sun.security.validator.ValidatorException: PKIX path building failed: sun.security.provider.certpath.SunCertPathBuilderException: unable to find valid certification path to requested target

* Try:
Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output. Run with --scan to get full insights.

* Get more help at https://help.gradle.org

Deprecated Gradle features were used in this build, making it incompatible with Gradle 7.0.
Use '--warning-mode all' to show the individual deprecation warnings.
See https://docs.gradle.org/6.4/userguide/command_line_interface.html#sec:command_line_warnings

BUILD FAILED in 653ms
4 actionable tasks: 2 executed, 2 up-to-date
2

Investigated a little, seems to be a security certificate problem, didn’t manage to solve it though

3

Managed to solve it by compiling with sudo:

sudo env "PATH=$PATH" gradle assemble

Took me the whole day since I know nothing about gradle, and it ended up just being a stupid simple solution. I proposed to add this as a note on the PX4 install guide.

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