Failed to build webots_ros2_driver as Required is exact version "3.10"

[wangruoyao]

I got the issue when using colcon build in windows with ros2-humble looks like the cmakelist set an exact version. How can I fix it?

Finished <<< webots_ros2_core [1.75s] Starting >>> webots_ros2_mavic Starting >>> webots_ros2_tesla --- stderr: webots_ros2_driver CMake Error at C:/Program Files/CMake/share/cmake-3.23/Modules/FindPackageHandleStandardArgs.cmake:230 (message): Could NOT find PythonLibs (missing: PYTHON_LIBRARIES PYTHON_INCLUDE_DIRS) (Required is exact version "3.10") Call Stack (most recent call first): C:/Program Files/CMake/share/cmake-3.23/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE) C:/Program Files/CMake/share/cmake-3.23/Modules/FindPythonLibs.cmake:310 (FIND_PACKAGE_HANDLE_STANDARD_ARGS) CMakeLists.txt:34 (find_package)

---

Failed <<< webots_ros2_driver [2.58s, exited with code 1] Aborted <<< webots_ros2_tesla [0.66s] Aborted <<< webots_ros2_mavic [0.91s] Aborted <<< controller_interface [8.28s]

Summary: 13 packages finished [20.8s] 1 package failed: webots_ros2_driver 3 packages aborted: controller_interface webots_ros2_mavic webots_ros2_tesla 3 packages had stderr output: webots_ros2_core webots_ros2_driver webots_ros2_importer 11 packages not processed

I found the CMakelist in webots_ros2_driver has content below: if($ENV{ROS_DISTRO} MATCHES "foxy" OR $ENV{ROS_DISTRO} MATCHES "galactic") ament_python_install_package(${PROJECT_NAME}_webots PACKAGE_DIR ${WEBOTS_LIB_BASE}/python38) else() ament_python_install_package(${PROJECT_NAME}_webots PACKAGE_DIR ${WEBOTS_LIB_BASE}/python310) endif()

But I only installed python3.8 when installing humble. So how can I avoid such error? Maybe I can modify the txt but I cannot locate where it is in my local directory. Or should I install another python to fulfil the requirement

[wangruoyao]

I changed the CMakelist in src and compiled again but met another issue:

Finished <<< webots_ros2_tesla [3.39s] Finished <<< control_toolbox [31.4s] Finished <<< webots_ros2_driver [32.1s] Finished <<< hardware_interface [42.8s] Starting >>> controller_interface Finished <<< controller_interface [29.9s] Starting >>> controller_manager Failed <<< controller_manager [22.0s, exited with code 1]

Summary: 17 packages finished [2min 20s] 1 package failed: controller_manager 4 packages had stderr output: webots_ros2_core webots_ros2_importer webots_ros2_mavic webots_ros2_tesla 10 packages not processed

[ad-daniel]

I don't have windows to test, but did you try installing python 3.10? Otherwise which version of python are you using?

[wangruoyao]

I don't have windows to test, but did you try installing python 3.10? Otherwise which version of python are you using?

I‘m using python3.83 which the humble documentation recommended.

Install Python

Open a Command Prompt and type the following to install Python via Chocolatey: choco install -y python --version 3.8.3

I also used choco to install python3.10 and built again but failed.

Starting >>> controller_interface Finished <<< controller_interface [26.9s] Starting >>> controller_manager Failed <<< controller_manager [19.5s, exited with code 1]

Summary: 17 packages finished [2min 9s] 1 package failed: controller_manager 1 package had stderr output: webots_ros2_core 10 packages not processed

[omichel]

Can you check the error message you are getting in the log file of the failing package (control_manager)? It could be a missing python module.

[wangruoyao]

Can you check the error message you are getting in the log file of the failing package (control_manager)? It could be a missing python module.

I found this in streams.log but don't know if it is helpful.

[6.125s] C:\dev_ws\src\ros2_control\controller_manager\src\realtime.cpp(17,10): fatal error C1083: Cannot open include file: 'sched.h': No such file or directory [C:\dev_ws\build\controller_manager\controller_manager.vcxproj]

[6.281s] gmock.vcxproj -> C:\dev_ws\build\controller_manager\gmock\Release\gmock.lib

[6.359s] gmock_main.cc

[6.906s] gmock_main.vcxproj -> C:\dev_ws\build\controller_manager\gmock\Release\gmock_main.lib

[7.094s] Invoked command in 'C:\dev_ws\build\controller_manager' returned '1':

[omichel]

That probably means that the ros2_control package has problems on Windows. It doesn't seem to be related with Webots.

[wangruoyao]

That probably means that the ros2_control package has problems on Windows. It doesn't seem to be related with Webots.

ok, I will back to foxy.

[wangruoyao]

That probably means that the ros2_control package has problems on Windows. It doesn't seem to be related with Webots.

I've tried foxy with webots on windows and got some errors, but don't know if it matters.

Summary: 27 packages finished [46.7s] 11 packages had stderr output: webots_ros2 webots_ros2_control webots_ros2_core webots_ros2_epuck webots_ros2_importer webots_ros2_mavic webots_ros2_tesla webots_ros2_tests webots_ros2_tiago webots_ros2_turtlebot webots_ros2_universal_robot

--- stderr: webots_ros2_control CMake Warning at C:/dev_ws/install/webots_ros2_driver/share/webots_ros2_driver/cmake/ament_cmake_export_libraries-extras.cmake:116 (message): Package 'webots_ros2_driver' exports library 'Controller.dll' which couldn't be found Call Stack (most recent call first): C:/dev_ws/install/webots_ros2_driver/share/webots_ros2_driver/cmake/webots_ros2_driverConfig.cmake:41 (include) CMakeLists.txt:36 (find_package)

CMake Warning at C:/dev_ws/install/webots_ros2_driver/share/webots_ros2_driver/cmake/ament_cmake_export_libraries-extras.cmake:116 (message): Package 'webots_ros2_driver' exports library 'car.dll' which couldn't be found Call Stack (most recent call first): C:/dev_ws/install/webots_ros2_driver/share/webots_ros2_driver/cmake/webots_ros2_driverConfig.cmake:41 (include) CMakeLists.txt:36 (find_package)

CMake Warning at C:/dev_ws/install/webots_ros2_driver/share/webots_ros2_driver/cmake/ament_cmake_export_libraries-extras.cmake:116 (message): Package 'webots_ros2_driver' exports library 'driver.dll' which couldn't be found Call Stack (most recent call first): C:/dev_ws/install/webots_ros2_driver/share/webots_ros2_driver/cmake/webots_ros2_driverConfig.cmake:41 (include) CMakeLists.txt:36 (find_package)

AND the same warning

setup.py install is deprecated. Use build and pip and other standards-based tools.

[dmorris0]

@wangruoyao, I got the same error with my Humble install, so I was going to try Foxy too. Did you get it to work with Foxy despite those errors?

[wangruoyao]

@wangruoyao, I got the same error with my Humble install, so I was going to try Foxy too. Did you get it to work with Foxy despite those errors?

Yes, it worked, although I don't know what the errors affect. Anyway, it worked.

[dmorris0]

I built it with Foxy and the only outputs to stderr were warnings, not those missing DLLs. Then I was able to control the robot with ROS topics.

[wangruoyao]

I built it with Foxy and the only outputs to stderr were warnings, not those missing DLLs. Then I was able to control the robot with ROS topics.

could you double check your output or rebuild it by colcon and focus on the line of stderr: webots_ros2_control

[zzhawk]

Search $ENV{ROS_DISTRO} MATCHES "foxy" OR $ENV{ROS_DISTRO} MATCHES "galactic" And make it if($ENV{ROS_DISTRO} MATCHES "foxy" OR $ENV{ROS_DISTRO} MATCHES "galactic" OR $ENV{ROS_DISTRO} MATCHES "humble") Or upgrade to python 3.10