[Kirkstone] (humble) mrpt2 building not work

[gyuhwan-park]

Describe the bug I am building on meta-ros kirkstone and encountering the following error when running bitbake mrpt2:

ERROR: Nothing PROVIDES 'ROS_UNRESOLVED_DEP-liboctomap-dev' (but /home/myname/yocto-orin/brain_base/my-build/build/../layers/meta-ros/meta-ros2-humble/generated-recipes/mrpt2/mrpt2_2.13.5-1.bb DEPENDS on or otherwise requires it)

To resolve this error, I added the following to ros-distro.inc: ROS_UNRESOLVED_DEP-liboctomap-dev = "octomap"

After applying this change and running bitbake again, I encountered a new error:

| -- Found Python3: /usr/bin/python3 (found version "3.8.10") found components: Interpreter | Traceback (most recent call last): | File "/home/myname/yocto-orin/brain_base/my-build/build/tmp-glibc/work/armv8a-oe-linux/mrpt2/2.13.5-1-r0/recipe-sysroot/usr/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py", line 21, in | from ament_package.templates import get_environment_hook_template_path | ModuleNotFoundError: No module named 'ament_package'

To address this, I modified the mrpt2_2.13.5-1.bb file as follows:

inherit setuptools3  
DEPENDS += "ament-package-native ament-package"  

Despite these changes, I encountered additional errors. To resolve each error, I had to repeatedly add more lines to the recipe.

inherit setuptools3 pkgconfig autotools cuda

EXTRA_OECMAKE += "-DENTYPO_TTF_FILE=${S}/3rdparty/nanogui/resources/entypo.ttf"
EXTRA_OECMAKE += "-DROBOTO_BOLD_TTF_FILE=${S}/3rdparty/nanogui/resources/Roboto-Bold.ttf"
EXTRA_OECMAKE += "-DROBOTO_REGULAR_TTF_FILE=${S}/3rdparty/nanogui/resources/Roboto-Regular.ttf"
CFLAGS += "-I${STAGING_DIR_TARGET}/usr/include"

do_configure:prepend() {
    source ${STAGING_DIR_HOST}/usr/share/rosidl_typesupport_c/local_setup.bash
}

DEPENDS += " \
    ament-package-native ament-package \
    ament-cmake-libraries \
    ament-cmake-export-definitions \
 ... (Omitted for brevity)
"

However, with every error fixed, new errors kept arising. This has led me to suspect that I might be approaching this problem incorrectly.

So, I would like to report that I am unable to successfully build mrpt2 using bitbake and seek guidance on how to resolve this issue. Could you please help me with this problem?

To Reproduce I started the build with the command: kas build ../kas/oeros-kirkstone-humble-jetson-agx-xavier-devkit.yml and added several layers to the configuration. All additional layers were cloned using git clone -b kirkstone <layers>. Additional layers outside of meta-ros:

    ${TOPDIR}/../layers/meta-qt5 \
    ${TOPDIR}/../layers/meta-lmp/meta-lmp-base \
    ${TOPDIR}/../layers/meta-updater \
    ${TOPDIR}/../layers/meta-security \
    ${TOPDIR}/../layers/meta-security/meta-tpm \

Expected behavior bitbake mrpt2 succeed

[robwoolley]

Hi @gyuhwan-park , thanks for reporting the problem you are having. There is work going on to make all of ros-image-world build for kirkstone+humble. You can see the work-in-progress (WIP) pull request here: https://github.com/ros/meta-ros/pull/1150/commits

The commit relating to mrpt2 is here: https://github.com/ros/meta-ros/pull/1150/commits/eb2c38a8d67788992aba7035444722bfee64aace#diff-82e82d17f2d91756400deba50de2e2af857d2dceab42a2c019ca4498181780ea

However, it may depend on other changes in the commit series.

I hope that it may help address your issue. Please let me know if it does or not as that would be valuable feedback.

[robwoolley]

The mrpt2 package is no longer in Humble, but the mrpt packages now are at 2.x: https://index.ros.org/?search_packages=true&pkgs=mrpt

However, mrpt has a dependency on openblas which is not supported in kirkstone. I have recently added meta-python-ai to provide support for python3-scipy and openblas. It does support the newer Yocto releases, but not kirkstone. If kirkstone support is still needed, you may be able to contribute kirkstone support to meta-python-ai to get it working.

Please open a new issue if you still have problems with mrpt.