ros
[kirkstone]{humble} Python nodes not locating correctly [Kirkstone/Humble]
Describe the bug Python nodes not running through ros2 command.
To Reproduce Yocto version: Kirkstone ROS Distro: Humble
I'm building a basic image which is in essence ros-image-core with additional packages demo-nodes-cpp demo-nodes-py for imx8 platform.
When listing the executables in the packages, only the cpp package works.
root@imx8mn-var-som:~# source ros_setup.bash
root@imx8mn-var-som:~# ros2 pkg executables demo_nodes_cpp
demo_nodes_cpp add_two_ints_client
(..snip..)
demo_nodes_cpp talker
demo_nodes_cpp talker_loaned_message
demo_nodes_cpp talker_serialized_message
root@imx8mn-var-som:~# ros2 pkg executables demo_nodes_py
root@imx8mn-var-som:~#
Using an invalid package name it will give an error, so the package name is validated, but it cannot find any executables.
If I run a strace on the ros2 command it seems to only check for binaries in /usr/lib/<pkg-name>/
openat(AT_FDCWD, "/usr/lib/demo_nodes_py", O_RDONLY|O_NONBLOCK|O_CLOEXEC|O_DIRECTORY) = -1 ENOENT (No such file or directory) write(2, "No executable found\n", 20No executable found
I can find the python module in /usr/lib/python3.10/site-packages/demo_nodes_py/ and running the scripts from there directly works.
Expected behavior ros2 locating python packages, nodes, executables
Seems to affect all python ros packages. Thinking it might be related to the ament_python build type installation task ?
actually it seems the entry_points are installed in /usr/bin/,
while ros expects them to be in /usr/lib/<pkg-name>/
tmp/work/armv8a-fslc-linux/demo-nodes-py/0.20.3-1-r0/package/usr/bin/talker_qos tmp/work/armv8a-fslc-linux/demo-nodes-py/0.20.3-1-r0/package/usr/bin/talker
root@imx8mn-var-som:~# /usr/bin/talker
[INFO] [1702914104.194657681] [talker]: Publishing: "Hello World: 0"
[INFO] [1702914105.107813555] [talker]: Publishing: "Hello World: 1"
Seems like the setup.cfg file with paths is not used.
You can refer to my PR for fixing this issue: https://github.com/ros/meta-ros/commit/9ac73da79c8134cf7b9da167ddb891dfc9909e8b
