micro_ros_platformio
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micro-ROS
Build failing for humble in vscode - clock_gettime missing
Issue template
- Hardware description: raspberry pi pico
- RTOS: freertos
- Installation type: platformio
- Version or commit hash: humble
Steps to reproduce the issue
Hit build in vscode on platformio
platformio.ini
[platformio]
default_envs = pico
[env]
framework = arduino
lib_deps =
https://github.com/micro-ROS/micro_ros_platformio
https://github.com/end2endzone/AnyRtttl
sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@^1.2.12
adafruit/Adafruit NeoPixel@^1.12.3
lib_archive = false
board_microros_distro = humble
board_microros_transport = serial
; Enable Sensor Fusion on the IMU
build_flags =
-DICM_20948_USE_DMP
[env:pico]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = pico
board_build.core = earlephilhower
board_build.mcu = rp2040
board_build.f_cpu = 133000000L
upload_protocol = cmsis-dap
debug_tool = cmsis-dap
debug_speed = 5000
upload_speed = 5000
monitor_speed = 115200
build_type = debug
; Examples 1: disable initial breakpoint
debug_init_break =
Expected behavior
Builds successfully. This same project worked a couple months ago before re-cloning it.
Actual behavior
Processing pico (platform: https://github.com/maxgerhardt/platform-raspberrypi.git; board: pico; framework: arduino)
-----------------------------------------------------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/raspberrypi/pico.html
PLATFORM: Raspberry Pi RP2040 (1.14.0+sha.2a8c40e) > Raspberry Pi Pico
HARDWARE: RP2040 133MHz, 256KB RAM, 2MB Flash
DEBUG: Current (cmsis-dap) External (blackmagic, cmsis-dap, jlink, pico-debug, picoprobe, raspberrypi-swd)
PACKAGES:
- framework-arduinopico @ 1.40003.0+sha.6acf03e
- tool-picotool-rp2040-earlephilhower @ 5.140200.240926 (14.2.0)
- toolchain-rp2040-earlephilhower @ 5.140200.240926 (14.2.0)
Flash size: 2.00MB
Sketch size: 2.00MB
Filesystem size: 0.00MB
Maximium Sketch size: 2093056 EEPROM start: 0x101ff000 Filesystem start: 0x101ff000 Filesystem end: 0x101ff000
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing importlib-resources with pip at PlatformIO environment
/home/matt/.platformio/penv/bin/python -m pip install importlib-resources
Requirement already satisfied: importlib-resources in /home/matt/.platformio/penv/lib/python3.10/site-packages (6.4.5)
Installing pyyaml with pip at PlatformIO environment
/home/matt/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /home/matt/.platformio/penv/lib/python3.10/site-packages (6.0.2)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/matt/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /home/matt/.platformio/penv/lib/python3.10/site-packages (2.0.1)
Configuring pico with transport serial
Downloading micro-ROS dev dependencies
- Downloaded ament_cmake
- Downloaded ament_lint
- Downloaded ament_package
- Downloaded googletest
- Downloaded ament_cmake_ros
- Downloaded ament_index
Building micro-ROS dev dependencies
Downloading micro-ROS library
- Downloaded microcdr
- Downloaded microxrcedds_client
- Downloaded rcl_lifecycle
- Downloaded rcl
- Downloaded rcl_yaml_param_parser (ignored)
- Downloaded rcl_action
- Downloaded rclc_examples (ignored)
- Downloaded rclc
- Downloaded rclc_lifecycle
- Downloaded rclc_parameter
- Downloaded micro_ros_utilities
- Downloaded rcutils
- Downloaded micro_ros_msgs
- Downloaded rmw_microxrcedds
- Downloaded rosidl_typesupport_cpp (ignored)
- Downloaded rosidl_typesupport_c
- Downloaded rosidl_typesupport_microxrcedds_cpp (ignored)
- Downloaded rosidl_typesupport_microxrcedds_cpp_tests
- Downloaded rosidl_typesupport_microxrcedds_c_tests
- Downloaded rosidl_typesupport_microxrcedds_test_msg
- Downloaded rosidl_typesupport_microxrcedds_c
- Downloaded rosidl_runtime_cpp (ignored)
- Downloaded rosidl_runtime_c
- Downloaded rosidl_generator_c
- Downloaded rosidl_typesupport_introspection_tests
- Downloaded rosidl_typesupport_introspection_cpp (ignored)
- Downloaded rosidl_typesupport_interface
- Downloaded rosidl_parser
- Downloaded rosidl_cmake
- Downloaded rosidl_cli
- Downloaded rosidl_adapter
- Downloaded rosidl_typesupport_introspection_c
- Downloaded rosidl_generator_cpp (ignored)
- Downloaded rmw_implementation_cmake
- Downloaded rmw
- Downloaded rosgraph_msgs
- Downloaded test_msgs
- Downloaded lifecycle_msgs
- Downloaded composition_interfaces
- Downloaded builtin_interfaces
- Downloaded rcl_interfaces
- Downloaded action_msgs
- Downloaded statistics_msgs
- Downloaded rosidl_default_generators
- Downloaded rosidl_default_runtime
- Downloaded unique_identifier_msgs
- Downloaded geometry_msgs
- Downloaded stereo_msgs
- Downloaded sensor_msgs_py
- Downloaded visualization_msgs
- Downloaded common_interfaces
- Downloaded shape_msgs
- Downloaded std_srvs
- Downloaded nav_msgs
- Downloaded sensor_msgs
- Downloaded actionlib_msgs
- Downloaded diagnostic_msgs
- Downloaded std_msgs
- Downloaded trajectory_msgs
- Downloaded test_interface_files
- Downloaded test_rmw_implementation
- Downloaded rmw_implementation
- Downloaded rcl_logging_noop
- Downloaded rcl_logging_spdlog (ignored)
- Downloaded rcl_logging_interface
- Downloaded test_tracetools
- Downloaded ros2trace
- Downloaded tracetools_launch
- Downloaded test_tracetools_launch
- Downloaded tracetools_trace
- Downloaded tracetools_read
- Downloaded tracetools
- Downloaded tracetools_test
- Extra packages folder not found, skipping...
Building micro-ROS library
Build mcu micro-ROS environment failed:
--- stderr: microxrcedds_client
/home/matt/src/deepdrive_micro/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/Micro-XRCE-DDS-Client/src/c/util/time.c: In function 'uxr_nanos':
/home/matt/src/deepdrive_micro/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/Micro-XRCE-DDS-Client/src/c/util/time.c:71:5: error: implicit declaration of function 'clock_gettime' [-Wimplicit-function-declaration]
71 | clock_gettime(CLOCK_REALTIME, &ts);
| ^~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/microxrcedds_client.dir/build.make:272: CMakeFiles/microxrcedds_client.dir/src/c/util/time.c.obj] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/microxrcedds_client.dir/all] Error 2
gmake: *** [Makefile:136: all] Error 2
---
Failed <<< microxrcedds_client [0.27s, exited with code 2]
Error calling StartServiceByName for org.freedesktop.Notifications: Process org.freedesktop.Notifications exited with status 1
========================================================= [FAILED] Took 35.89 seconds =========================================================
Additional information
Please check pull request #156.
[env:pico] platform = raspberrypi board = pico lib_ldf_mode = chain+
Please check wiki https://github.com/hippo5329/micro_ros_arduino_examples_platformio/wiki.
Clean all and build again.
@hippo5329 Unfortunately the issue is not resolved
- ROS2 version: Humble
- Hardware: adafruit feather (CAN version)
- Issue:
74 | clock_gettime(CLOCK_REALTIME, ×pec_now);
| ^~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/rcutils.dir/build.make:418: CMakeFiles/rcutils.dir/src/time_unix.c.obj] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:192: CMakeFiles/rcutils.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
Failed <<< rcutils [1.87s, exited with code 2]
Environment:
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = adafruit_feather_can
board_build.core = earlephilhower
board_microros_distro = humble
framework = arduino
lib_deps =
https://github.com/micro-ROS/micro_ros_platformio```
@mattwilliamson @hippo5329 was micro_ros, platformio and earle core working together at some point? I started only recently and also got errors using PIO+ Portenta H7 🥲 Only thing that is sucessfully uploading is arduino micro ros + Portenta, but that's different repo...
- Portenta H7 m7 core is supported.
https://github.com/micro-ROS/micro_ros_platformio/blob/main/ci/platformio.ini
[env:portenta_h7_m7] platform = ststm32 board = portenta_h7_m7
The clock_gettime issue is caused by recent toolchain update. You may revert to older version.
You should use the stable version as I suggested earlier. board=pico should work for Adafruit feather can.
@mattwilliamson You can get older versions of Earle's core by specifying commit:
platform = https://github.com/maxgerhardt/platform-raspberrypi.git#196d31bbafaf60b84751b1a415d8dca2365debdf
This one is before adding rp2350 and Pico SDK 2.0, maybe there were some breaking changes.
@mattwilliamson Apparently #156 was supposed to fix this problem but I am experiencing the same behaviour despite the patch being applied. Did you find any other solutions apart from downgrading platform-rassberypi.
