How to source custom ros 2 workspace?

[mzahana]

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Hi @dusty-nv I am using dustynv/ros:humble-desktop-l4t-r35.1.0 docker image on Jetson Xavier NX.

I added my custom Dockerfile layer based on dustynv/ros:humble-desktop-l4t-r35.1.0 . In my custom layer, I need to build a custom ros2_ws. I can execute colcon build inside ros2_ws successfully. However, even after I execute source install/setup.bash, I am not able to use ros2 launch pkg_name launch_file.py.launch. I get the following error

Package  'pkg_name' not found: "package 'pkg_name' not found, searching: [ '/ros_deep_learning/install/ros_deep_learning', '/opt/ros/humble/install']"

How can I fix this issues such that I can launch nodes from my custom ros2_ws ?

Thanks

[mzahana]

Also one weird thing! I have multiple ros2 packages inside ros2_ws/src. When I execute colcon build, only 2 out of the many packages get recognized and built. I am sure that the other packages are proper ros2 packages as I can build them on regular ros installation. This is driving me crazy. What could be the issue here?

[dusty-nv]

@mzahana for some reason, it looks like I set AMENT_PREFIX_PATH in addition to sourcing pkg/install/setup.bash:

https://github.com/dusty-nv/jetson-containers/blob/413372747f67dcba487846fb357293bd9c9a747d/scripts/ros_entrypoint.sh#L19

I kind of remember debugging it and ROS not updating that environment var for some reason, but could not figure out why not.

[dusty-nv]

It would seem that it could be related to https://github.com/colcon/colcon-ros/issues/67

[mzahana]

I think the colcon tool is not installed properly in the docker image.

[dusty-nv]

@mzahana colcon gets installed the "normal" way from the python3-colcon-common-extensions debian package (which is available)

ament_cmake does get replaced though: https://github.com/dusty-nv/jetson-containers/blob/413372747f67dcba487846fb357293bd9c9a747d/scripts/ros2_build.sh#L102

[mzahana]

So, is there a solution that I may try for the problem I mentioned?

[dusty-nv]

So, is there a solution that I may try for the problem I mentioned?

@mzahana try including the path to your package in AMENT_PREFIX_PATH as mentioned in https://github.com/dusty-nv/jetson-containers/issues/251#issuecomment-1575628217