Cannot install caret on Ubuntu 20.04 with ROS2 Galactic

[ZiweiSong96]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've read document and no solution were found.

Issue type

Help wanted

Step where the issue is related to

Build

Environments

OS: Ubuntu 20.04.5 LTS Kernel version: Linux 5.15.0-84-generic Architecture: X86-64 ROS2: Galactic

CARET version

1: CARET: galactic CARET_analyze: main CARET_trace: v0.2.3 CARET_analyze_cpp_impl: main CARET/caret_common: main

2: CARET: v0.2.3 CARET_analyze: v0.2.3 CARET_trace: v0.2.3 CARET/CARET_analyze_cpp_impl: v0.2.3

Target application

Application name: Autoware.Universe

Description

I build the Autoware.Universe on Ubuntu 20.04 with ROS2 Galactic. The environment of my system was build by setup-dev-env.sh ( the environment bash provided by Autoware.Universe). All the functions of Autoware.Universe are correct.

When I try to build the CARET tools for tracing, I met some questions and bugs; At first I followed the documents on https://tier4.github.io/CARET_doc/refs-tags-v0.2.3/ since the documents of main branch says if I want to build CARET on Ubuntu 20.04 with ROS2 Galactic, I should follow the Installation Documents of version v0.2.3. So I clone the git repos of CARET and execute "git checkout galactic"; I followed the steps and build&compile successfully, when I validated the trace data of CARET demos (also the galactic branch) by executing "ros2 caret check_ctf -d ~/ros2_ws/evaluate/e2e_sample/", I met the KeyError as follows: from pkg_resources import load_entry_point Failed to load entry point 'check_ctf': unsupported operand type(s) for |: 'ABCMeta' and 'ABCMeta' Failed to load entry point 'create_architecture_file': unsupported operand type(s) for |: 'ABCMeta' and 'ABCMeta' Failed to load entry point 'node_summary': unsupported operand type(s) for |: 'ABCMeta' and 'ABCMeta' Failed to load entry point 'topic_summary': unsupported operand type(s) for |: 'ABCMeta' and 'ABCMeta' Failed to load entry point 'trace_point_summary': unsupported operand type(s) for |: 'ABCMeta' and 'ABCMeta' Failed to load entry point 'verify_paths': unsupported operand type(s) for |: 'ABCMeta' and 'ABCMeta' usage: ros2 caret [-h] Call ros2 caret <command> -h for more detailed usage. ...

optional arguments: -h, --help show this help message and exit

Commands: check_caret_rclcpp
record

Call ros2 caret <command> -h for more detailed usage.

TypeError: unsupported operand type(s) for |: 'ABCMeta' and 'ABCMeta'

I thought that was because the caret repos were wrong, so I changed the CARET version to v0.2.3, and followed the installation steps, then I met the following issues:

Steps to reproduce

1: git clone https://github.com/tier4/caret.git ros2_caret_ws cd ros2_caret_ws git checkout galactic mkdir src vcs import src < caret.repos ./setup_caret.sh source /opt/ros/galactic/setup.bash colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release source ~/ros2_caret_ws/install/local_setup.bash ros2 run tracetools status

mkdir -p ~/ros2_ws/src cd ~/ros2_ws git clone https://github.com/tier4/CARET_demos.git src/CARET_demos --recursive cd src/CARET_demos git checkout galactic cd ../../ source /opt/ros/galactic/setup.bash source ~/ros2_caret_ws/install/local_setup.bash # please keep the order after 'source /opt/ros/galactic/setup.bash' colcon build --symlink-install --packages-up-to caret_demos --cmake-args -DBUILD_TESTING=OFF ros2 caret check_caret_rclcpp --workspace ~/ros2_ws/ source /opt/ros/humble/setup.bash source ~/ros2_caret_ws/install/local_setup.bash source ~/ros2_ws/install/local_setup.bash

export LD_PRELOAD=$(readlink -f ~/ros2_caret_ws/install/caret_trace/lib/libcaret.so) ros2 launch caret_demos end_to_end_sample.launch.py Open a new terminal: source /opt/ros/galactic/setup.bash source ~/ros2_caret_ws/install/local_setup.bash mkdir -p ~/ros2_ws/evaluate export ROS_TRACE_DIR=~/ros2_ws/evaluate ros2 caret record -s e2e_sample ros2 caret check_ctf -d ~/ros2_ws/evaluate/e2e_sample/

2: git clone https://github.com/tier4/caret.git ros2_caret_ws cd ros2_caret_ws git checkout v0.2.3 mkdir src vcs import src < caret.repos ./setup_caret.sh source /opt/ros/galactic/setup.bash colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Commands

No response

Logs

No response

LTTng trace log file

No response

Screenshots

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[nabetetsu]

Hi, @ZiweiSong96 , Please try this workaround for build errors. https://tier4.github.io/CARET_doc/main/faq/known_issues/#build-using-ament_cmake

[OsamaThakur]

Hi all, Facing the same issue, @nabetetsu. The build-using-ament_cmake workaround didnt help

[nabetetsu]

Hi, @OsamaThakur , I'm sorry for the inconvenience. Have you also built CARET with Ubuntu 20.04 + galactic environment? In practice, working with galactic is difficult to support as it is treated as optional. Please try it in Ubuntu 22.04 + humble environment as described in the requrements. https://tier4.github.io/CARET_doc/main/installation/installation/

[ZiweiSong96]

Thanks a lot for the help, I changed my system to Ubuntu 22.04, Ubuntu 20.04 with ROS2 galactic has lot of bugs

[ymski]

I am closing this issue as the problem appears to be resolved.