rclcpp Unable to compile code that uses rclcpp::SubsciptionOptions with ROS Humble

Bug report

Required Info:

Operating System: Ubuntu 22.04
Installation type: Binaries
Version or commit hash: humble release version
DDS implementation: default
Client library (if applicable): rclcpp

Steps to reproduce issue

Moving from Galactic to Humble

Unable to compile code that uses rclcpp::SubsciptionOptions

Expected behavior

Code compiles and can use subscription options for multi-threaded executor

Actual behavior

Code doesnt compile

Additional information

--- stderr: sdcar_arrow                              
In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:45,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/nick/sdcar-poc5-ws/src/sdcar-arrow/src/arrow_sink_node.cpp:5:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:100:47: error: expected unqualified-id before ‘)’ token
  100 |   SubscriptionOptionsWithAllocator<Allocator>() {}
      |                                               ^
In file included from /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:42,
                 from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
                 from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/nick/sdcar-poc5-ws/src/sdcar-arrow/src/arrow_sink_node.cpp:5:
/opt/ros/humble/include/rclcpp/rclcpp/publisher_options.hpp:75:44: error: expected unqualified-id before ‘)’ token
   75 |   PublisherOptionsWithAllocator<Allocator>() {}
      |      
..
/home/nick/sdcar-poc5-ws/src/sdcar-arrow/src/arrow_sink_node.cpp:74:58: error: no matching function for call to ‘rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >::SubscriptionOptionsWithAllocator()’
   74 |     auto subscriptions_opt = rclcpp::SubscriptionOptions();
      |                                                          ^
In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:45,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/nick/sdcar-poc5-ws/src/sdcar-arrow/src/arrow_sink_node.cpp:5:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:103:12: note: candidate: ‘rclcpp::SubscriptionOptionsWithAllocator<Allocator>::SubscriptionOptionsWithAllocator(const rclcpp::SubscriptionOptionsBase&) [with Allocator = std::allocator<void>]’
  103 |   explicit SubscriptionOptionsWithAllocator(
      |            ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:103:12: note:   candidate expects 1 argument, 0 provided
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note: candidate: ‘rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >::SubscriptionOptionsWithAllocator(const rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >&)’
   91 | struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note:   candidate expects 1 argument, 0 provided
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note: candidate: ‘rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >::SubscriptionOptionsWithAllocator(rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >&&)’
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note:   candidate expects 1 argument, 0 provided
/home/nick/sdcar-poc5-ws/src/sdcar-arrow/src/arrow_sink_node.cpp:76:64: error: no matching function for call to ‘rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >::SubscriptionOptionsWithAllocator()’
   76 |     auto subscriptions_image_opt = rclcpp::SubscriptionOptions();
      |                                                                ^
In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:45,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/nick/sdcar-poc5-ws/src/sdcar-arrow/src/arrow_sink_node.cpp:5:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:103:12: note: candidate: ‘rclcpp::SubscriptionOptionsWithAllocator<Allocator>::SubscriptionOptionsWithAllocator(const rclcpp::SubscriptionOptionsBase&) [with Allocator = std::allocator<void>]’
  103 |   explicit SubscriptionOptionsWithAllocator(
      |            ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:103:12: note:   candidate expects 1 argument, 0 provided
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note: candidate: ‘rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >::SubscriptionOptionsWithAllocator(const rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >&)’
   91 | struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note:   candidate expects 1 argument, 0 provided
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note: candidate: ‘rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >::SubscriptionOptionsWithAllocator(rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >&&)’
/opt/ros/humble/include/rclcpp/rclcpp/subscription_options.hpp:91:8: note:   candidate expects 1 argument, 0 provided

May 19 '22 23:05 hortovanyi

I can't remember exactly, but we may have changed that API. Can you give a link to code to reproduce the issue?

May 20 '22 11:05 clalancette

All I’m doing is trying to use rclcpp:subscriptionIOptions the same as in galactic.

The actual code I’m using is private and has some other external library dependencies.

The compile error seems to suggest any program declaring a variable of that type will now fail.

On 20 May 2022, at 9:04 pm, Chris Lalancette @.***> wrote:

I can't remember exactly, but we may have changed that API. Can you give a link to code to reproduce the issue?

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.

May 20 '22 12:05 hortovanyi

It's a little hard to tell what is going on from the original report, so a minimal reproducible example would be helpful.

Examples of currently working SubscriptionOptions and PublisherOptions are in https://github.com/ros2/demos/blob/bd49f4b64ee7f65616dccbe37e96fb64a9cad6ee/demo_nodes_cpp/src/topics/content_filtering_subscriber.cpp#L51-L60 and https://github.com/ros2/demos/blob/bd49f4b64ee7f65616dccbe37e96fb64a9cad6ee/quality_of_service_demo/rclcpp/src/qos_overrides_talker.cpp#L59-L98 , so maybe that will give you some idea of what is different.

May 20 '22 12:05 clalancette

I’m using it with the multithreaded executor to place subscriptions in different callback groups.

#include #include <math.h> #include #include #include "rclcpp/rclcpp.hpp" #include "rclcpp_components/register_node_macro.hpp" #include "sensor_msgs/msg/nav_sat_fix.hpp" #include "sensor_msgs/msg/nav_sat_status.hpp"

#include "sensor_msgs/msg/imu.hpp" #include "sensor_msgs/msg/time_reference.hpp" #include "sensor_msgs/msg/image.hpp"

#include "std_msgs/msg/float64.hpp"

#include "sdcar_arrow_interfaces/srv/write_table.hpp" #include "car_msgs/msg/vehicle_state.hpp" #include <arrow/api.h> #include <parquet/arrow/writer.h> #include <parquet/exception.h> #include #include

#include "sdcar_arrow/visibility.h"

#include "sdcar_arrow/arrow_writer.hpp" #include <ublox_ubx_msgs/msg/ubx_nav_hp_pos_llh.hpp>

using namespace std::chrono_literals; using namespace std; using std::placeholders::_1; using std::placeholders::_2; using std::placeholders::_3;

…

callback_group_subscribers_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
callback_group_image_subscribers_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
callback_group_pointcloud2_subscribers_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
callback_group_writers_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);

auto subscriptions_opt = rclcpp::SubscriptionOptions();
subscriptions_opt.callback_group = callback_group_subscribers_;
auto subscriptions_image_opt = rclcpp::SubscriptionOptions();
subscriptions_image_opt.callback_group = callback_group_image_subscribers_;
auto subscription_pointcloud2_opt = rclcpp::SubscriptionOptions();
subscription_pointcloud2_opt.callback_group = callback_group_pointcloud2_subscribers_;

….

left_image_sub_ = this->create_subscription<sensor_msgs::msg::Image>( "/stereo/left/image_raw", qos, std::bind(&ArrowSinkNode::left_image_callback, this, 1), subscriptions_image_opt); right_image_sub = this->create_subscription<sensor_msgs::msg::Image>( "/stereo/right/image_raw", qos, std::bind(&ArrowSinkNode::right_image_callback, this, 1), subscriptions_image_opt); // imu_sub = this->create_subscription<sensor_msgs::msg::Imu> // ("/jy901/imu/data", qos, std::bind(&ArrowSink::imu_callback, this, 1)); // imu2_sub = this->create_subscription<sensor_msgs::msg::Imu> // ("/imu/data", qos, std::bind(&ArrowSink::imu_callback, this, 1)); vehicle_state_sub = this->create_subscription<car_msgs::msg::VehicleState>( "/car/state", qos, std::bind( &ArrowSinkNode::vehicle_state_callback, this, 1), subscriptions_opt); point_cloud_sub = this->create_subscription<sensor_msgs::msg::PointCloud2>( "/lidar_point_cloud", qos, std::bind(&ArrowSinkNode::point_cloud_callback, this, _1), subscription_pointcloud2_opt);

ubx_nav_hpposllh_sub_ = create_subscription<ublox_ubx_msgs::msg::UBXNavHPPosLLH>(
  "/ubx_nav_hp_pos_llh", qos, std::bind(&ArrowSinkNode::ubx_nav_hpposllh_callback, this, _1),
  subscriptions_opt);

timer_ = this->create_wall_timer(5s, std::bind(&ArrowSinkNode::timer_callback, this),
  callback_group_writers_);

On 20 May 2022, at 10:10 pm, Chris Lalancette @.***> wrote:

It's a little hard to tell what is going on from the original report, so a minimal reproducible example would be helpful.

Examples of currently working SubscriptionOptions and PublisherOptions are in https://github.com/ros2/demos/blob/bd49f4b64ee7f65616dccbe37e96fb64a9cad6ee/demo_nodes_cpp/src/topics/content_filtering_subscriber.cpp#L51-L60 and https://github.com/ros2/demos/blob/bd49f4b64ee7f65616dccbe37e96fb64a9cad6ee/quality_of_service_demo/rclcpp/src/qos_overrides_talker.cpp#L59-L98 , so maybe that will give you some idea of what is different.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.

May 20 '22 12:05 hortovanyi

this is related to https://github.com/ros2/rclcpp/pull/1926 (humble backport is W.I.P, https://github.com/ros2/rclcpp/pull/1937)

@hortovanyi do you use C++20? if that is so, that leads to the following compile error.

--- stderr: rclcpp
In file included from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/subscription.hpp:45,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/any_executable.hpp:25,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/any_executable.cpp:15:
/root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/subscription_options.hpp:100:47: error: expected unqualified-id before ‘)’ token
  100 |   SubscriptionOptionsWithAllocator<Allocator>() {}
      |                                               ^
gmake[2]: *** [CMakeFiles/rclcpp.dir/build.make:181: CMakeFiles/rclcpp.dir/src/rclcpp/any_executable.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
In file included from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/subscription.hpp:45,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/any_executable.hpp:25,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/memory_strategy.hpp:25,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/memory_strategies.hpp:18,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executor_options.hpp:20,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executor.hpp:37,
                 from /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/executor.cpp:28:
/root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/subscription_options.hpp:100:47: error: expected unqualified-id before ‘)’ token
  100 |   SubscriptionOptionsWithAllocator<Allocator>() {}
      |                                               ^
...<snip>

we use C++ 17 in default, see https://github.com/ros2/rclcpp/pull/1926#issuecomment-1124426168. https://github.com/ros2/rclcpp/blob/491475f2324bb9dfcc943f4b9f3d4528d6e81716/rclcpp/CMakeLists.txt#L25-L28

May 20 '22 17:05 fujitatomoya

@fujitatomoya I changed it from c++14 to c++17 for Humble .... ohh the target_compile_features statement had cxx_std_20. Changed it to cxx_std_17 and it worked. Strange compiled on Galactic

cmake_minimum_required(VERSION 3.8)
project(sdcar_arrow)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
LIST(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_SOURCE_DIR}/CMake)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ublox_ubx_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(Zstd REQUIRED)
if (ZSTD_FOUND)
  set(ZSTD_LIB ${ZSTD_LIBRARY})
endif (ZSTD_FOUND)
find_package(Arrow REQUIRED)
find_package(car_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(sdcar_arrow_interfaces REQUIRED)

include_directories(include SYSTEM ${ARROW_INCLUDE_DIR} ${PARQUET_INCLUDE_DIR})

add_library(sdcar_arrow_components SHARED
  src/arrow_sink_node.cpp
)
ament_generate_version_header(sdcar_arrow_components)

target_compile_definitions(sdcar_arrow_components
  PRIVATE "SDCAR_ARROW_BUILDING_DLL"
)
target_compile_features(sdcar_arrow_components PUBLIC c_std_99 cxx_std_20)  # Require C99 and C++20

ament_target_dependencies(sdcar_arrow_components
  rclcpp
  rclcpp_components
  std_msgs
  sensor_msgs
  ublox_ubx_msgs
  sdcar_arrow_interfaces
  car_msgs
)

target_link_libraries(sdcar_arrow_components
  arrow
  parquet
  plasma
)

rclcpp_components_register_node(sdcar_arrow_components PLUGIN "sdcar::ArrowSinkNode" EXECUTABLE arrow_sink_node)

install(TARGETS
  sdcar_arrow_components
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(
  DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

May 20 '22 20:05 hortovanyi

@hortovanyi thanks for checking, the fix will be delivered in next patch release. (see https://github.com/ros2/rclcpp/pull/1937#issuecomment-1133327125)

May 20 '22 20:05 fujitatomoya

It worked for my application switching from: set(CMAKE_CXX_STANDARD 20) to: set(CMAKE_CXX_STANDARD 17)

Nov 02 '22 19:11 pabloinigoblasco

Since both of the backports have been merged and the original problem has been fixed, is this issue finished?

Oct 06 '23 01:10 CursedRock17

Since both of the backports have been merged and the original problem has been fixed, is this issue finished?

Yeah, good call. I'll close this out.

Oct 06 '23 01:10 clalancette

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Unable to compile code that uses rclcpp::SubsciptionOptions with ROS Humble

Bug report

Steps to reproduce issue

Expected behavior

Actual behavior

Additional information

rclcpp
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