Error building micro-ROS component on Raspberry Pi 4 with ESP32

[liamhan0905]

Issue template

• Hardware description:

  • Raspberry Pi 4
  • esp32 WROOM

• RTOS: freertos on esp32

• Installation type: tried micro_ros_setup but got error (mentioned below). Tried installing ESP-IDF directly and then using micro-ROS component for ESP-IDF. (More errors mentioned below)

• Version or commit hash:

  • installed ROS 2 humble on Rapsberry Pi
  • ESP-IDF (v5.0)

Description

I first tried installing micro_ros_setup. The build process was okay but when creating micro-ROS firmware by running the following command,

ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

I get the following error

Installing ESP-IDF tools
Installing tools: xtensa-esp32-elf, xtensa-esp32s2-elf, esp32ulp-elf, esp32s2ulp-elf, openocd-esp32
ERROR: tool xtensa-esp32-elf does not have versions compatible with platform linux-arm64
[ros2run]: Process exited with failure 1

It seems like micro_ros_setup is not compatible with raspberry pi 4.

So instead, I installed the ESP-IDF following this link. I was able to flash the hello_world example. The version I installed was v5.0 since it states that micro-ROS component has been tested in ESP-IDF v4.3, v4.4, and v5.0 with ESP32 shown here.

ubuntu@ubuntu:~$ idf.py --version
ESP-IDF v5.0.1-397-g3050ea656f

I wanted to ask

1. Can micro_ros_setup work for raspberry pi 4? Or is it not compatible for linux-arm64?

2. I think the Example section can be elaborated. In the example shown here, why isn't components directory created under the int32_publisher directory? Under the Usage section, it states to clone the repo directly in the components folder. Please correct me if I'm wrong.

   I copied the int32_publisher example from the micro_ros_espidf_component(link) into the home directory, created a components directory instead int32_publisher directory and then git cloned micro_ros_espidf_component inside it.

   ubuntu@ubuntu:~/int32_publisher/components$ ls
   micro_ros_espidf_component
   

   Running idf.py build command inside the int32_publisher directory, generates the error below

   MakeFiles/__idf_main.dir/main.c.obj.d -o esp-idf/main/CMakeFiles/__idf_main.dir/main.c.obj   -c ../main/main.c
   ../main/main.c:10:10: fatal error: uros_network_interfaces.h: No such file or directory
      10 | #include <uros_network_interfaces.h>
         |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~
   compilation terminated.
   [844/851] Building C object esp-idf/wifi_provisioning/CMakeFiles/__idf_wifi_provisioning.dir/src/scheme_softap.c.objninja: build stopped: subcommand failed.
   HINT: Please make sure that the header name is correct. Also please check if you've specified all component dependencies with 'idf_component_register(REQUIRES ...)'. If the component is not present then it should be added by the IDF Component Manager. For more information run 'idf.py docs -sp api-guides/build-system.html'.
   Also, please check if the header file has been removed, renamed or relocated - refer to the migration guide for more information.
   ninja failed with exit code 1, output of the command is in the /home/ubuntu/int32_publisher/build/log/idf_py_stderr_output_651110 and /home/ubuntu/int32_publisher/build/log/idf_py_stdout_output_651110
   

   I googled this error but didn't get anything helpful.

[pablogs9]

You can run your idf.py build directly into the example folder since it is prepared to find the micro-ROS component two folders above.

Copying the micro-ROS module into the components folder is the way for integrating it into your own IDF project because it is the default way of doing it: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/build-system.html#example-project

[liamhan0905]

If I run idf.py build directly into the example folder under micro_ros_espidf_component, I get the following error.

ubuntu@ubuntu:~/micro_ros_espidf_component/examples/int32_publisher$ get_idf
Setting IDF_PATH to '/home/ubuntu/esp/esp-idf'
Detecting the Python interpreter
Checking "python3" ...
Python 3.8.10
"python3" has been detected
Checking Python compatibility
Checking other ESP-IDF version.
Using a supported version of tool cmake found in PATH: 3.16.3.
However the recommended version is 3.24.0.
Adding ESP-IDF tools to PATH...
Using a supported version of tool cmake found in PATH: 3.16.3.
However the recommended version is 3.24.0.
Checking if Python packages are up to date...
Constraint file: /home/ubuntu/.espressif/espidf.constraints.v5.0.txt
Requirement files:
 - /home/ubuntu/esp/esp-idf/tools/requirements/requirements.core.txt
Python being checked: /home/ubuntu/.espressif/python_env/idf5.0_py3.8_env/bin/python
Python requirements are satisfied.
Added the following directories to PATH:
  /home/ubuntu/esp/esp-idf/components/esptool_py/esptool
  /home/ubuntu/esp/esp-idf/components/espcoredump
  /home/ubuntu/esp/esp-idf/components/partition_table
  /home/ubuntu/esp/esp-idf/components/app_update
  /home/ubuntu/.espressif/tools/xtensa-esp-elf-gdb/11.2_20220823/xtensa-esp-elf-gdb/bin
  /home/ubuntu/.espressif/tools/xtensa-esp32-elf/esp-2022r1-11.2.0/xtensa-esp32-elf/bin
  /home/ubuntu/.espressif/tools/esp32ulp-elf/2.35_20220830/esp32ulp-elf/bin
  /home/ubuntu/.espressif/tools/openocd-esp32/v0.11.0-esp32-20221026/openocd-esp32/bin
  /home/ubuntu/.espressif/python_env/idf5.0_py3.8_env/bin
  /home/ubuntu/esp/esp-idf/tools
Done! You can now compile ESP-IDF projects.
Go to the project directory and run:

  idf.py build


//////////////////////////////////////////////ERROR BELOW//////////////////////////////////////////////
ubuntu@ubuntu:~/micro_ros_espidf_component/examples/int32_publisher$ idf.py build
Executing action: all (aliases: build)
Running ninja in directory /home/ubuntu/micro_ros_espidf_component/examples/int32_publisher/build
Executing "ninja all"...
ninja: error: '/home/ubuntu/micro_ros_espidf_component/libmicroros.a', needed by 'int32_publisher.elf', missing and no known rule to make it
ninja failed with exit code 1, output of the command is in the /home/ubuntu/micro_ros_espidf_component/examples/int32_publisher/build/log/idf_py_stderr_output_700773 and /home/ubuntu/micro_ros_espidf_component/examples/int32_publisher/build/log/idf_py_stdout_output_700773
[0/2] Re-checking globbed directories...ubuntu@ubuntu:~/micro_ros_espidf_component/examples/int32_publisher$ 

Also is it possible to use Raspberry Pi 4 as the host and esp32 as the client? Everything worked well if I used my desktop but running into errors if I use Raspberry Pi 4. when I run create_firmware command,

ubuntu@ubuntu:~/uros_ws$ ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

I get the following error.

Installing ESP-IDF tools
Installing tools: xtensa-esp32-elf, xtensa-esp32s2-elf, esp32ulp-elf, esp32s2ulp-elf, openocd-esp32
ERROR: tool xtensa-esp32-elf does not have versions compatible with platform linux-arm64
[ros2run]: Process exited with failure 1

[pablogs9]

Regarding the first error, have you installed the required dependencies https://github.com/micro-ROS/micro_ros_espidf_component#dependencies ?

Regarding

Installing ESP-IDF tools Installing tools: xtensa-esp32-elf, xtensa-esp32s2-elf, esp32ulp-elf, esp32s2ulp-elf, openocd-esp32 ERROR: tool xtensa-esp32-elf does not have versions compatible with platform linux-arm64 [ros2run]: Process exited with failure 1

It is not related to micro-ROS

[liamhan0905]

Regarding the first error, have you installed the required dependencies https://github.com/micro-ROS/micro_ros_espidf_component#dependencies ? Yes, all the dependencies is installed Seems like others are also getting the same error

ninja: error: '/home/ubuntu/micro_ros_espidf_component/libmicroros.a', needed by 'int32_publisher.elf', missing and no known rule to make it
ninja failed with exit code 1, output of the command is in the /home/ubuntu/micro_ros_espidf_component/examples/int32_publisher/build/log/idf_py_stderr_output_700773 and /home/ubuntu/micro_ros_espidf_component/examples/int32_publisher/build/log/idf_py_stdout_output_700773
[0/2] Re-checking globbed directories...ubuntu@ubuntu:~/micro_ros_espidf_component/examples/int32_publisher$ 

I followed the build and then ran ros2 run micro_ros_setup component esp_idf from the uros_ws directory. Tree shown below. And then tried building the int32_publisher example.

ubuntu@ubuntu:~/uros_ws$ tree -d -L 1
.
├── build
├── install
├── log
├── micro_ros_espidf_component
└── src

So it is possible to use raspberry pi 4 with esp32?