Compile error with main branch, Ubuntu focal

[ahmadnav]

Finished <<< ament_cmake_export_jni_libraries [0.15s]
Finished <<< ament_cmake_export_jars [0.16s]
--- stderr: rcutils
CMake Error at CMakeLists.txt:187 (find_package):
By not providing "Findmimick_vendor.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"mimick_vendor", but CMake did not find one.

Could not find a package configuration file provided by "mimick_vendor"
with any of the following names:

mimick_vendorConfig.cmake
mimick_vendor-config.cmake

Add the installation prefix of "mimick_vendor" to CMAKE_PREFIX_PATH or set
"mimick_vendor_DIR" to a directory containing one of the above files. If
"mimick_vendor" provides a separate development package or SDK, be sure it
has been installed.

---

Failed <<< rcutils [0.42s, exited with code 1]
Aborted <<< rosidl_parser [0.45s]
Aborted <<< fastrtps [2.73s]

Summary: 69 packages finished [9.13s]
1 package failed: rcutils
2 packages aborted: fastrtps rosidl_parser
2 packages had stderr output: fastrtps rcutils
34 packages not processed

[ahmadnav]

I have double checked that the package mimick_vendor has been installed, I have tried

• Installing mickicj by itself and sourcing it
• Setting the mimick_vendor_DIR path my self to the path of mimick_vendorConfig.cmake

[ahmadnav]

This error can be resolved by setting the following in cmake, after making mimick_vendor from source
set(mimick_vendor_DIR /home/ros2_android_dep/install/mimick_vendor/share/mimick_vendor/cmake)
set(mimick_DIR /home/ros2_android_dep/install/mimick_vendor/lib/cmake/mimick/)

[jacobperron]

I presume you are following the build instructions for Android, is this correct?

We worked around the issue with mimick in our CI by not building tests for some packages. This is done by creating a colcon.meta file in the workspace with the following contents:

ros2_java/.github/workflows/build_and_test.yml

Lines 37 to 61 in 5134c54

	{
	"names": {
	"rcl": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rcl_yaml_param_parser": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rclcpp": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rclcpp_action": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rclcpp_lifecycle": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rcutils": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rosidl_typesupport_c": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	}
	}

I think we should update the README to reflect the changes in the CI script.

[ahmadnav]

I presume you are following the build instructions for Android, is this correct?

We worked around the issue with mimick in our CI by not building tests for some packages. This is done by creating a colcon.meta file in the workspace with the following contents:

ros2_java/.github/workflows/build_and_test.yml

Lines 37 to 61 in 5134c54

	{
	"names": {
	"rcl": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rcl_yaml_param_parser": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rclcpp": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rclcpp_action": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rclcpp_lifecycle": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rcutils": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	"rosidl_typesupport_c": {
	"cmake-args": [ "-DBUILD_TESTING=OFF" ]
	},
	}
	}

I think we should update the README to reflect the changes in the CI script.

That's true. Thanks Jacob I would also like to add the you have to add -DBOOST_ROOT=/opt/boost/boost_1_77_0/boost
-DBOOST_INCLUDEDIR=/opt/boost/boost_1_77_0/boost
as a Cmake arg other wise asio.hpp is not detected. You have to use ndk 21+ as the <18 cause a compile error, failing basic test.

[ahmadnav]

I have gotten the same issue with spdlog_vendor, will update when I find the solution. After setting -Dspdlog_vendor_DIR=/opt/ros/galactic/share/spdlog_vendor/cmake the error than changes to
CMake Error at CMakeLists.txt:19 (find_package):
By not providing "Findspdlog.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "spdlog", but
CMake did not find one.

Could not find a package configuration file provided by "spdlog" with any
of the following names:

spdlogConfig.cmake
spdlog-config.cmake

Add the installation prefix of "spdlog" to CMAKE_PREFIX_PATH or set
"spdlog_DIR" to a directory containing one of the above files. If "spdlog"
provides a separate development package or SDK, be sure it has been
installed.

I have no solution for this at the moment as there is no such files as spdlogConfig.cmake or spdlog-config.cmake

[jacobperron]

We shouldn't need spdlog as I'm pretty sure we're not relying on rcl_logging.

I'll try going through the Android setup myself and see if I can update the instructions for a smoother experience.

[ahmadnav]

We shouldn't need spdlog as I'm pretty sure we're not relying on rcl_logging.

I'll try going through the Android setup myself and see if I can update the instructions for a smoother experience.

Thanks Jacob, Now I get the following error;

eProsima/Fast-DDS/src/cpp/rtps/transport/UDPChannelResource.h:18:10: fatal error: 'asio.hpp' file not found

I definitely have boost and libiso installed, and can see asio.hpp in /usr/include.

[ahmadnav]

@jacobperron

--- stderr: rcl
CMake Error at cmake/get_default_rcl_logging_implementation.cmake:43 (find_package):
By not providing "Findrcl_logging_spdlog.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"rcl_logging_spdlog", but CMake did not find one.

Could not find a package configuration file provided by
"rcl_logging_spdlog" with any of the following names:

rcl_logging_spdlogConfig.cmake
rcl_logging_spdlog-config.cmake

Add the installation prefix of "rcl_logging_spdlog" to CMAKE_PREFIX_PATH or
set "rcl_logging_spdlog_DIR" to a directory containing one of the above
files. If "rcl_logging_spdlog" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
CMakeLists.txt:18 (get_default_rcl_logging_implementation)

---

Failed <<< rcl [0.47s, exited with code 1]

Looks like SPDLog is necessary

###############

/home//ros2_android_ws/src/eProsima/Fast-DDS/src/cpp/utils/IPFinder.cpp:165:9: error: use of undeclared identifier 'getifaddrs'; did you mean 'ifaddrs'?
if (getifaddrs(&ifaddr) == -1)
^
/opt/ndk/android-ndk-r21e/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/include/ifaddrs.h:45:8: note: 'ifaddrs' declared here
struct ifaddrs {
^
/home//ros2_android_ws/src/eProsima/Fast-DDS/src/cpp/utils/IPFinder.cpp:223:5: error: use of undeclared identifier 'freeifaddrs'
freeifaddrs(ifaddr);
^

Solution:
ANDROID_NDK=/opt/ndk/android-ndk-r21e
Set API >=24

[ahmadnav]

As for the asio.hpp issue you need to git submodule update --init --recursive within the Fast-DDS directory, to get the asio libraries under thirdparty (which are currently link folders so aren't cloned) than add

    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/thirdparty/asio/asio/include>
    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/thirdparty/tinyxml2>

within target_include_directories(${PROJECT_NAME} PUBLIC ) in eProsima/Fast-DDS/src/cpp/CMakeLists.txt

[ahmadnav]

@jacobperron I can't seem to find a solution to the spd log issue. Not sure why spdlog_vendor requires spdlog as well

EDIT
set(RCL_LOGGING_IMPLEMENTATION rcl_logging_noop) in rcl CMAKE removes this dependency otherwise the get_default_rcl_logging_implementation() call brings it in. This allows for ignoring spdlog. Its finally compiled now.