Some issues we've experienced and potential solutions.
You were just screwing around and ROS 2 blew up in your face! Maybe it won't even talk to the DDS at this point?
This can happen if you killall python3, which messes with ROS 2:
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main)> ros2 topic list
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')())
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 91, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/command/topic.py", line 41, in main
return extension.main(args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/list.py", line 56, in main
topic_names_and_types = get_topic_names_and_types(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/api/__init__.py", line 41, in get_topic_names_and_types
topic_names_and_types = node.get_topic_names_and_types()
File "/usr/lib/python3.10/xmlrpc/client.py", line 1122, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python3.10/xmlrpc/client.py", line 1464, in __request
response = self.__transport.request(
File "/usr/lib/python3.10/xmlrpc/client.py", line 1166, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python3.10/xmlrpc/client.py", line 1182, in single_request
return self.parse_response(resp)
File "/usr/lib/python3.10/xmlrpc/client.py", line 1354, in parse_response
return u.close()
File "/usr/lib/python3.10/xmlrpc/client.py", line 668, in close
raise Fault(**self._stack[0])
xmlrpc.client.Fault: <Fault 1: "<class 'RuntimeError'>:!rclpy.ok()">
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main) [1]> ros2 daemon stop
The daemon has been stopped
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main)> ros2 daemon start
The daemon has been started
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main)> ros2 topic list
/control/wheelsTo fix this, restart its daemon: ros2 daemon stop && ros2 daemon start
If you do a clean build, but only use colcon build (as opposed to colcon build --symlink-install), you're going to get this kind of error:
importlib_metadata.PackageNotFoundError: No package metadata was found for ros2cli
Also, make sure to refresh your environment afterwards by re-sourcing the local_install.bash file. . ./SOURCE_SCRIPT.fish works well for this! :)
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main)> rm -rfd install/ build/ log/
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main)> colcon build --packages-select navigator_node
Starting >>> navigator_node
Finished <<< navigator_node [0.74s]
Summary: 1 package finished [0.94s]
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main)> ros2 run navigator_node navigator_node
No executable foundLike above, you need to use colcon build --symlink-install.
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main)> ros2 launch simulator sim.launch.py
[INFO] [launch]: All log files can be found below /home/barrett/.ros/log/2025-02-25-01-25-56-666083-sls2-52704
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): package 'navigator_node' found at '/home/barrett/Documents/projects/Rover/auto_ros2/install/navigator_node', but libexec directory '/home/barrett/Documents/projects/Rover/auto_ros2/install/navigator_node/lib/navigator_node' does not exist
(autonomous) barrett@sls2 ~/D/p/R/auto_ros2 (main) [1]>Use --symlink-install!
[simulator-4] 2025-02-25 01:29:30.844 | INFO | simulator.main:main:127 - starting simulator driver...
[simulator-4] Traceback (most recent call last):
[simulator-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 224, in spin
[simulator-4] executor.add_node(node)
[simulator-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 254, in add_node
[simulator-4] if node not in self._nodes:
[simulator-4] TypeError: unhashable type: 'SoroBridge'
[simulator-4]
[simulator-4] During handling of the above exception, another exception occurred:
[simulator-4]
[simulator-4] Traceback (most recent call last):
[simulator-4] File "/home/barrett/Documents/projects/Rover/auto_ros2/install/simulator/lib/simulator/simulator", line 33, in <module>
[simulator-4] sys.exit(load_entry_point('simulator', 'console_scripts', 'simulator')())
[simulator-4] File "/home/barrett/Documents/projects/Rover/auto_ros2/build/simulator/simulator/main.py", line 139, in main
[simulator-4] rclpy.spin(bridge_node)
[simulator-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 228, in spin
[simulator-4] executor.remove_node(node)
[simulator-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 270, in remove_node
[simulator-4] self._nodes.remove(node)
[simulator-4] TypeError: unhashable type: 'SoroBridge'Implement Hash for your type:
from dataclasses import dataclass
from typing_extensions import override
from rclpy.node import Node
@dataclass
class MyClass(Node):
def __init__():
super().__init__("my_class")
@override
def __hash__(self) -> int:
return super().__hash__()We use just to build the code! However, it's included in the virtual environment - not on your system.
To use just, run the uv sync command first, then source the virtual environment. The SOURCE_SCRIPT (either for Fish or Bash shell) will work great for that!
soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat)> just sim
fish: Unknown command: just
soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat)> uv sync
Resolved 90 packages in 7ms
Audited 68 packages in 0.02ms
soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat)> . ./SOURCE_SCRIPT.fish
You should be running this script using `. ./SOURCE_SCRIPT.fish`.
If you didn't do so, please restart the script.
Sourcing virtual environment...
Done!
Sourcing ROS 2 environment files...
Done!
(autonomous) soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat)> just sim
Building the ROS 2 workspace...
colcon build --symlink-install
Starting >>> aruco_nodeIf you're coming from a clean repo, with no build files, then you try to run the simulator, it'll complain loudly:
soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat)> just sim
fish: Unknown command: just
soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat) [127]> uv sync
Resolved 90 packages in 7ms
Audited 68 packages in 0.02ms
soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat)> . ./SOURCE_SCRIPT.fish
You should be running this script using `. ./SOURCE_SCRIPT.fish`.
If you didn't do so, please restart the script.
Sourcing virtual environment...
Done!
Sourcing ROS 2 environment files...
bass: line 1: install/local_setup.bash: No such file or directory
Done!
(autonomous) soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat)> just sim
Building the ROS 2 workspace...
colcon build --symlink-install
Starting >>> aruco_node
# (...)
Finished <<< sensors_node [7.14s]
Sourcing virtual environment...
gazebo: no process found
ruby: no process found
gzserver: no process found
gzclient: no process found
ign: no process found
Done!
Sourcing ROS 2 environment files...
The simulation is about to begin...
ros2 launch simulator sim.launch.py
Done!
Package 'simulator' not found: "package 'simulator' not found, searching: ['/opt/ros/humble']"
error: Recipe `sim` failed on line 13 with exit code 1
(autonomous) soro@71b7d4dde026 ~/auto_ros2 (feat/docker_better_compat) [1]>You'll need to source again after building a new ROS 2 package.
After building on the Jetson, a lot of packages say they have "stderr output." What does that even mean?
tl;dr: ignore the errors! :D
When running a build, you probably got some logs like this:
Finished <<< sensors [9.61s]
[Processing: zed_components]
[Processing: zed_components]
[Processing: zed_components]
[Processing: zed_components]
[Processing: zed_components]
--- stderr: zed_components
gmake: Warning: File 'Makefile' has modification time 1049 s in the future
gmake[2]: Warning: File 'CMakeFiles/zed_camera_component.dir/flags.make' has modification time 3908 s in the future
gmake[2]: Warning: File 'CMakeFiles/zed_camera_one_component.dir/flags.make' has modification time 3908 s in the future
gmake[2]: warning: Clock skew detected. Your build may be incomplete.
gmake[2]: Warning: File 'CMakeFiles/zed_camera_component.dir/flags.make' has modification time 3908 s in the future
gmake[2]: warning: Clock skew detected. Your build may be incomplete.
gmake[2]: Warning: File 'CMakeFiles/zed_camera_one_component.dir/flags.make' has modification time 3908 s in the future
gmake[2]: warning: Clock skew detected. Your build may be incomplete.
gmake[2]: warning: Clock skew detected. Your build may be incomplete.
gmake: warning: Clock skew detected. Your build may be incomplete.
---
Finished <<< zed_components [3min 28s]
Starting >>> zed_wrapper
--- stderr: zed_wrapper
gmake: Warning: File 'Makefile' has modification time 1050 s in the future
gmake: warning: Clock skew detected. Your build may be incomplete.
---
Finished <<< zed_wrapper [1.76s]
Starting >>> zed_ros2
--- stderr: zed_ros2
gmake: Warning: File 'Makefile' has modification time 1049 s in the future
gmake: warning: Clock skew detected. Your build may be incomplete.
---
Finished <<< zed_ros2 [0.75s]
Summary: 17 packages finished [3min 32s]
9 packages had stderr output: custom_interfaces drive_launcher see3cam sensors simulator zed zed_components zed_ros2 zed_wrapper
The Jetson doesn't have a clock - it gets the current time from the internet. However, when no internet connection is available, it can't update the time, which makes it assume a time of 0_u64 - which is around January 1st, 1970.
Since a lot of files are uploaded to the Rover directly, or maintain their modification times from git, you'll often see these "file is from the future" errors when the Rover is building code while not connected to a WAN network.
In other words, you can safely ignore the errors.
Colcon might accidentally be building with the wrong Python version.
In my case, it tried to build with the uv Python, which doesn't ship the same C binding stuff. You'll never get the exact versions to line up on macOS due to system Python version contraints, so libraries found in the correct pixi Python won't count as "real" libraries. (on Windows, it might do the same with the Visual Studio Python)
Either way, you'll probably end up with some weird build error:
(autonomous) ~/D/p/R/auto_ros2 (main|✚8) $ colcon build --symlink-install --packages-skip manual_control (auto_ros2)
Starting >>> custom_interfaces_shim
Starting >>> aruco_node
Starting >>> custom_interfaces
Starting >>> drive_launcher
Starting >>> log_node
Starting >>> navigator
Starting >>> see3cam
Starting >>> simulator
Finished <<< log_node [2.10s]
Starting >>> zed
Finished <<< aruco_node [2.24s]
--- stderr: navigator
...
---
Finished <<< navigator [2.27s]
--- stderr: drive_launcher
...
---
Finished <<< see3cam [3.35s]
Finished <<< custom_interfaces_shim [3.70s]
Starting >>> drive_tui
Starting >>> lights
Starting >>> maps_backend
Starting >>> sensors
Starting >>> wheels
--- stderr: zed
...
---
Finished <<< zed [1.75s]
--- stderr: simulator
...
---
Finished <<< simulator [4.02s]
Finished <<< drive_tui [0.91s]
--- stderr: custom_interfaces
CMake Error at /Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/share/cmake-4.1/Modules/FindPackageHandleStandardArgs.cmake:227 (message):
Could NOT find Python (missing: Python_EXECUTABLE Python_INCLUDE_DIRS
Python_LIBRARIES Python_NumPy_INCLUDE_DIRS Interpreter Development NumPy
Development.Module Development.Embed)
Call Stack (most recent call first):
/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/share/cmake-4.1/Modules/FindPackageHandleStandardArgs.cmake:591 (_FPHSA_FAILURE_MESSAGE)
/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/share/cmake-4.1/Modules/FindPython.cmake:727 (find_package_handle_standard_args)
/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:34 (find_package)
/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:28 (rosidl_generate_interfaces)
---
Failed <<< custom_interfaces [10.5s, exited with code 1]To fix this, you can avoid using the virtual environment and pulling in dependencies directly with Pixi's PyPi support.
However, to do so without using the macOS system Python, you'll need some special flags, like so: colcon build --symlink-install --cmake-args -DPython_ROOT_DIR="$CONDA_PREFIX" -DPython_EXECUTABLE="$(python -c 'import sys; print(sys.executable)')".
This correctly builds everything:
bash-3.2$ colcon build --symlink-install --packages-skip manual_control --cmake-args -DPython_ROOT_DIR="$CONDA_PREFIX" -DPython_EXECUTABLE="$(python -c 'import sys; print(sys.executable)')"
Starting >>> custom_interfaces_shim
Starting >>> aruco_node
Starting >>> custom_interfaces
Starting >>> drive_launcher
Starting >>> log_node
Starting >>> navigator
Starting >>> see3cam
Starting >>> simulator
Finished <<< custom_interfaces_shim [0.57s]
Starting >>> zed
Finished <<< drive_launcher [0.79s]
Starting >>> drive_tui
Finished <<< see3cam [0.81s]
Starting >>> lights
Finished <<< zed [0.31s]
Starting >>> maps_backend
Finished <<< drive_tui [0.37s]
Starting >>> sensors
Finished <<< simulator [1.19s]
Starting >>> wheels
Finished <<< maps_backend [0.34s]
Finished <<< aruco_node [1.36s]
--- stderr: navigator
(meaningless warnings)
---
Finished <<< navigator [1.35s]
Finished <<< log_node [1.36s]
Finished <<< sensors [0.23s]
Finished <<< wheels [0.18s]
Finished <<< lights [1.35s]
--- stderr: custom_interfaces
(meaningless warnings)
---
Finished <<< custom_interfaces [2.43s]
Summary: 14 packages finished [2.61s]
2 packages had stderr output: custom_interfaces navigator
bash-3.2$Can't find a package?
bash-3.2$ ros2 pkg list | grep custom_interfaces
bash-3.2$No worries - you've probably forgotten to source the install script. Try this:
bash-3.2$ . install/local_setup.bash
bash-3.2$ ros2 pkg list | grep custom_interfaces
custom_interfaces # <----- fixed! :D
bash-3.2$I'm getting a weird conda error when trying to run a node. It can't seem to find a dynamic library ("library not loaded")..?
Yeah - it seems that, on macOS, the ROS 2 source scripts may not work just right in Conda. For that reason, certain packages might not be found at runtime by rcl and friends:
bash-3.2$ ros2 run lights lights_node
dyld[32674]: Library not loaded: @rpath/libgeographic_msgs__rosidl_typesupport_c.dylib
Referenced from: <6818C4EB-F418-3A4D-B1E4-585677365D8B> /Users/barrett/Documents/projects/Rover/auto_ros2/install/lights/lib/lights/lights_node
Reason: tried: '/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces/lib/libgeographic_msgs__rosidl_typesupport_c.dylib' (no such file), '/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/opt/rviz_ogre_vendor/lib/libgeographic_msgs__rosidl_typesupport_c.dylib' (no such file)
[ros2run]: Abort trap: 6
bash-3.2$Pixi is probably trying to run the zsh script for another shell, which causes some packages to not be registered. You can check if that's the case with the following command:
bash-3.2$ echo $DYLD_LIBRARY_PATH
/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces/lib:/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/opt/rviz_ogre_vendor/lib
bash-3.2$Here's a better-formatted version:
/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces/lib/Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/opt/rviz_ogre_vendor/lib
As you can see, $CONDA_PREFIX/lib (which, for me, evaluates to /Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/lib) isn't present in the list!
Try running this: export DYLD_LIBRARY_PATH="$CONDA_PREFIX/lib:$DYLD_LIBRARY_PATH"
That works for me, allowing me to run the lights_node, for example!
bash-3.2$ export DYLD_LIBRARY_PATH="$CONDA_PREFIX/lib:$DYLD_LIBRARY_PATH"
bash-3.2$ ros2 run lights lights_node
[INFO] [1755467673.395787951] [lights_node]: The `lights_node` has been created.
[INFO] [1755467673.396941477] [lights_node]: Server created! Starting request watcher...Caution
Running the above export command WILL cause builds to stop working. You'll need to run unset DYLD_LIBRARY_PATH to get it working again. (otherwise, macOS will use the wrong libraries for building)
One of the Rust nodes explodes with a linker error when I try to build in the new Pixi environment. What's going on?
This happens when setting $DYLD_LIBRARY_PATH as shown above. It causes macOS to use the wrong libraries during linking, which XCode reeeeally doesn't like (lol):
~/D/p/R/auto_ros2 (main|✚8) $ colcon build --symlink-install --packages-skip manual_control --cmake-args -DPython_ROOT_DIR="$CONDA_PREFIX" -DPython_EXECUTABLE="$(python -c 'import sys; print(sys.executable)')"
...
--- stderr: lights
error: linking with `cc` failed: exit status: 1
|
= note: "cc" "/var/folders/bd/_ch9ytrj07l39d478lyt79l00000gn/T/rustcRUWodD/symbols.o" "<98 object files omitted>" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/lights/debug/deps/{libfeedback.rlib,libtracing-8b021a3922359756.rlib,libtracing_core-6d380ae9cd153ea2.rlib,libthiserror-cf437b33fe0624af.rlib,libcustom_interfaces-29543dedbd622365.rlib,libgeographic_msgs-859c17fe847f2e34.rlib,libunique_identifier_msgs-e9b300bad247ba10.rlib,libgeometry_msgs-ebd8eefd7973ae99.rlib,libstd_msgs-2df969f80f4f561d.rlib,libbuiltin_interfaces-e3c5501948944802.rlib,libsafe_drive-5ef6f5ee911f2e82.rlib,libsignal_hook-94ab49f0a0e2e53a.rlib,libcrossbeam_channel-f9c3e6eb69613ae6.rlib,libcrossbeam_utils-b0f6f16dad74b38e.rlib,libregex-2de19355f5d547cd.rlib,libregex_automata-d7cd47aa8bcf6a39.rlib,libaho_corasick-399951cffc4932fe.rlib,libregex_syntax-93102c852b1d4176.rlib,libnum_traits-e3b29dbad17cb9c6.rlib,libonce_cell-5d51a55a1a353586.rlib,libfutures-0b1a3d0006602cb7.rlib,libfutures_executor-c1ba222ad16213fd.rlib,libfutures_util-0d5cf13edd3e01a6.rlib,libmemchr-5f6df43509e8007e.rlib,libfutures_io-7840600bdc8a191e.rlib,libslab-f8add2a141d83c8d.rlib,libfutures_channel-594c2d552b63de6b.rlib,libfutures_sink-0b87a188f09b64e0.rlib,libfutures_task-ff04a30ae94c4831.rlib,libpin_utils-d60247b6540d1416.rlib,libfutures_core-e5892b2b95d7dcbe.rlib,libparking_lot-f431797de471071a.rlib,libparking_lot_core-3c7b3d369874b9e1.rlib,libcfg_if-6ae6bfdb17ac5f33.rlib,libsmallvec-7ba979a68c120aa3.rlib,liblock_api-a97bb167ef1d9c2d.rlib,libscopeguard-3a94de5a59526d7e.rlib,libpin_project-7314e391fde4d088.rlib,libtokio-9e21f93e3dfed765.rlib,libsignal_hook_registry-5555a8bebe180af7.rlib,libsocket2-b924fecdb9a011ec.rlib,libmio-2b5681e2891c946b.rlib,liblibc-3bfe410cc699aefd.rlib,libpin_project_lite-e2422973c5166238.rlib}.rlib" "<sysroot>/lib/rustlib/aarch64-apple-darwin/lib/{libstd-*,libpanic_unwind-*,libobject-*,libmemchr-*,libaddr2line-*,libgimli-*,librustc_demangle-*,libstd_detect-*,libhashbrown-*,librustc_std_workspace_alloc-*,libminiz_oxide-*,libadler2-*,libunwind-*,libcfg_if-*,liblibc-*,librustc_std_workspace_core-*,liballoc-*,libcore-*,libcompiler_builtins-*}.rlib" "-lcustom_interfaces__rosidl_typesupport_c" "-lcustom_interfaces__rosidl_generator_c" "-lgeographic_msgs__rosidl_typesupport_c" "-lgeographic_msgs__rosidl_generator_c" "-lunique_identifier_msgs__rosidl_typesupport_c" "-lunique_identifier_msgs__rosidl_generator_c" "-lgeometry_msgs__rosidl_typesupport_c" "-lgeometry_msgs__rosidl_generator_c" "-lstd_msgs__rosidl_typesupport_c" "-lstd_msgs__rosidl_generator_c" "-lbuiltin_interfaces__rosidl_typesupport_c" "-lbuiltin_interfaces__rosidl_generator_c" "-lrcl" "-lrcl_action" "-lrcutils" "-lrmw" "-lrosidl_runtime_c" "-lactionlib_msgs__rosidl_typesupport_c" "-lactionlib_msgs__rosidl_generator_c" "-lbuiltin_interfaces__rosidl_typesupport_c" "-lbuiltin_interfaces__rosidl_generator_c" "-ldiagnostic_msgs__rosidl_typesupport_c" "-ldiagnostic_msgs__rosidl_generator_c" "-lgeometry_msgs__rosidl_typesupport_c" "-lgeometry_msgs__rosidl_generator_c" "-lnav_msgs__rosidl_typesupport_c" "-lnav_msgs__rosidl_generator_c" "-lsensor_msgs__rosidl_typesupport_c" "-lsensor_msgs__rosidl_generator_c" "-lshape_msgs__rosidl_typesupport_c" "-lshape_msgs__rosidl_generator_c" "-lstd_msgs__rosidl_typesupport_c" "-lstd_msgs__rosidl_generator_c" "-lstd_srvs__rosidl_typesupport_c" "-lstd_srvs__rosidl_generator_c" "-lstereo_msgs__rosidl_typesupport_c" "-lstereo_msgs__rosidl_generator_c" "-ltrajectory_msgs__rosidl_typesupport_c" "-ltrajectory_msgs__rosidl_generator_c" "-lunique_identifier_msgs__rosidl_typesupport_c" "-lunique_identifier_msgs__rosidl_generator_c" "-lvisualization_msgs__rosidl_typesupport_c" "-lvisualization_msgs__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-laction_msgs__rosidl_typesupport_c" "-laction_msgs__rosidl_generator_c" "-liconv" "-lSystem" "-lc" "-lm" "-arch" "arm64" "-mmacosx-version-min=11.0.0" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/src/custom_interfaces/bindings/custom_interfaces/../../../../install/custom_interfaces/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-o" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/lights/debug/deps/lights_node-1db2c44ccab8761d" "-Wl,-dead_strip" "-nodefaultlibs"
= note: some arguments are omitted. use `--verbose` to show all linker arguments
= note: ld: warning: ignoring duplicate libraries: '-lbuiltin_interfaces__rosidl_generator_c', '-lbuiltin_interfaces__rosidl_typesupport_c', '-lgeometry_msgs__rosidl_generator_c', '-lgeometry_msgs__rosidl_typesupport_c', '-lstd_msgs__rosidl_generator_c', '-lstd_msgs__rosidl_typesupport_c', '-lunique_identifier_msgs__rosidl_generator_c', '-lunique_identifier_msgs__rosidl_typesupport_c'
ld: warning: search path '/Users/barrett/Documents/projects/Rover/auto_ros2/src/custom_interfaces/bindings/custom_interfaces/../../../../install/custom_interfaces/lib' not found
ld: library 'custom_interfaces__rosidl_typesupport_c' not found
clang: error: linker command failed with exit code 1 (use -v to see invocation)
error: could not compile `lights` (bin "lights_node") due to 1 previous error
---
Failed <<< lights [24.2s, exited with code 1]
Aborted <<< wheels [24.5s]
Aborted <<< sensors [24.7s]
Aborted <<< maps_backend [24.9s]
Aborted <<< custom_interfaces [44.9s]
Summary: 9 packages finished [45.8s]
1 package failed: lights
4 packages aborted: custom_interfaces maps_backend sensors wheels
7 packages had stderr output: custom_interfaces drive_launcher lights navigator see3cam simulator zed
~/D/p/R/auto_ros2 (main|✚8) $The error may also look like this:
Starting >>> custom_interfaces_shim
Starting >>> aruco_node
Starting >>> custom_interfaces
Starting >>> drive_launcher
Starting >>> log_node
Starting >>> navigator
Starting >>> see3cam
Starting >>> simulator
--- stderr: custom_interfaces_shim
error: linking with `cc` failed: exit status: 1
|
= note: "cc" "/var/folders/bd/_ch9ytrj07l39d478lyt79l00000gn/T/rustcDwbCc2/symbols.o" "<2 object files omitted>" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/custom_interfaces_shim/debug/deps/{libautocfg-e81b1139685d3438.rlib}.rlib" "<sysroot>/lib/rustlib/aarch64-apple-darwin/lib/{libstd-*,libpanic_unwind-*,libobject-*,libmemchr-*,libaddr2line-*,libgimli-*,librustc_demangle-*,libstd_detect-*,libhashbrown-*,librustc_std_workspace_alloc-*,libminiz_oxide-*,libadler2-*,libunwind-*,libcfg_if-*,liblibc-*,librustc_std_workspace_core-*,liballoc-*,libcore-*,libcompiler_builtins-*}.rlib" "-lSystem" "-lc" "-lm" "-arch" "arm64" "-mmacosx-version-min=11.0.0" "-o" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/custom_interfaces_shim/debug/build/num-traits-20de173a03953515/build_script_build-20de173a03953515" "-Wl,-dead_strip" "-nodefaultlibs"
= note: some arguments are omitted. use `--verbose` to show all linker arguments
= note: dyld[58746]: Symbol not found: __ZNK4tapi2v119LinkerInterfaceFile28getPlatformsAndMinDeploymentEv
Referenced from: <565CE761-C1EB-37F5-9738-E1BCF6F2EC75> /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld
Expected in: <15C501C6-0EF4-3E32-9C14-04EC4CD23D35> /Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/lib/libtapi.dylib
clang: error: unable to execute command: Abort trap: 6
clang: error: linker command failed due to signal (use -v to see invocation)
error: linking with `cc` failed: exit status: 1
|
= note: "cc" "/var/folders/bd/_ch9ytrj07l39d478lyt79l00000gn/T/rustcBXf5w2/symbols.o" "<2 object files omitted>" "<sysroot>/lib/rustlib/aarch64-apple-darwin/lib/{libstd-*,libpanic_unwind-*,libobject-*,libmemchr-*,libaddr2line-*,libgimli-*,librustc_demangle-*,libstd_detect-*,libhashbrown-*,librustc_std_workspace_alloc-*,libminiz_oxide-*,libadler2-*,libunwind-*,libcfg_if-*,liblibc-*,librustc_std_workspace_core-*,liballoc-*,libcore-*,libcompiler_builtins-*}.rlib" "-lSystem" "-lc" "-lm" "-arch" "arm64" "-mmacosx-version-min=11.0.0" "-o" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/custom_interfaces_shim/debug/build/lexical-core-b3a025ed89c7d5b5/build_script_build-b3a025ed89c7d5b5" "-Wl,-dead_strip" "-nodefaultlibs"
= note: some arguments are omitted. use `--verbose` to show all linker arguments
= note: dyld[58747]: Symbol not found: __ZNK4tapi2v119LinkerInterfaceFile28getPlatformsAndMinDeploymentEv
Referenced from: <565CE761-C1EB-37F5-9738-E1BCF6F2EC75> /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld
Expected in: <15C501C6-0EF4-3E32-9C14-04EC4CD23D35> /Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/lib/libtapi.dylib
clang: error: unable to execute command: Abort trap: 6
clang: error: linker command failed due to signal (use -v to see invocation)
error: linking with `cc` failed: exit status: 1
|
= note: "cc" "/var/folders/bd/_ch9ytrj07l39d478lyt79l00000gn/T/rustcZYW0fB/symbols.o" "<2 object files omitted>" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/custom_interfaces_shim/debug/deps/{libversion_check-bbf5ab18e1d12d3a.rlib}.rlib" "<sysroot>/lib/rustlib/aarch64-apple-darwin/lib/{libstd-*,libpanic_unwind-*,libobject-*,libmemchr-*,libaddr2line-*,libgimli-*,librustc_demangle-*,libstd_detect-*,libhashbrown-*,librustc_std_workspace_alloc-*,libminiz_oxide-*,libadler2-*,libunwind-*,libcfg_if-*,liblibc-*,librustc_std_workspace_core-*,liballoc-*,libcore-*,libcompiler_builtins-*}.rlib" "-lSystem" "-lc" "-lm" "-arch" "arm64" "-mmacosx-version-min=11.0.0" "-o" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/custom_interfaces_shim/debug/build/nom-5bd9852eec4e5707/build_script_build-5bd9852eec4e5707" "-Wl,-dead_strip" "-nodefaultlibs"
= note: some arguments are omitted. use `--verbose` to show all linker arguments
= note: dyld[58745]: Symbol not found: __ZNK4tapi2v119LinkerInterfaceFile28getPlatformsAndMinDeploymentEv
Referenced from: <565CE761-C1EB-37F5-9738-E1BCF6F2EC75> /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld
Expected in: <15C501C6-0EF4-3E32-9C14-04EC4CD23D35> /Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/lib/libtapi.dylib
clang: error: unable to execute command: Abort trap: 6
clang: error: linker command failed due to signal (use -v to see invocation)
error: could not compile `num-traits` (build script) due to 1 previous error
error: could not compile `lexical-core` (build script) due to 1 previous error
error: could not compile `nom` (build script) due to 1 previous error
error: linking with `cc` failed: exit status: 1
|
= note: "cc" "/var/folders/bd/_ch9ytrj07l39d478lyt79l00000gn/T/rustcwg8vxU/symbols.o" "<4 object files omitted>" "<sysroot>/lib/rustlib/aarch64-apple-darwin/lib/{libstd-*,libpanic_unwind-*,libobject-*,libmemchr-*,libaddr2line-*,libgimli-*,librustc_demangle-*,libstd_detect-*,libhashbrown-*,librustc_std_workspace_alloc-*,libminiz_oxide-*,libadler2-*,libunwind-*,libcfg_if-*,liblibc-*,librustc_std_workspace_core-*,liballoc-*,libcore-*,libcompiler_builtins-*}.rlib" "-lSystem" "-lc" "-lm" "-arch" "arm64" "-mmacosx-version-min=11.0.0" "-o" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/custom_interfaces_shim/debug/build/typenum-e60d33863fd5ed94/build_script_build-e60d33863fd5ed94" "-Wl,-dead_strip" "-nodefaultlibs"
= note: some arguments are omitted. use `--verbose` to show all linker arguments
= note: dyld[58758]: Symbol not found: __ZNK4tapi2v119LinkerInterfaceFile28getPlatformsAndMinDeploymentEv
Referenced from: <565CE761-C1EB-37F5-9738-E1BCF6F2EC75> /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld
Expected in: <15C501C6-0EF4-3E32-9C14-04EC4CD23D35> /Users/barrett/Documents/projects/Rover/auto_ros2/.pixi/envs/default/lib/libtapi.dylib
clang: error: unable to execute command: Abort trap: 6
clang: error: linker command failed due to signal (use -v to see invocation)
error: could not compile `typenum` (build script) due to 1 previous error
---
Failed <<< custom_interfaces_shim [0.76s, exited with code 1]You can fix the build by unsetting that temporarily, as it's only required at runtime (not build time):
# first, unset the variable
bash-3.2$ unset DYLD_LIBRARY_PATH
# then, run the build again!
bash-3.2$ colcon build --symlink-install --packages-skip manual_control --cmake-args -DPython_ROOT_DIR="$CONDA_PREFIX" -DPython_EXECUTABLE="$(python -c 'import sys; print(sys.executable)')"
Starting >>> custom_interfaces_shim
Starting >>> aruco_node
Starting >>> custom_interfaces
Starting >>> drive_launcher
Starting >>> log_node
Starting >>> navigator
Starting >>> see3cam
Starting >>> simulator
Finished <<< custom_interfaces_shim [0.57s]
Starting >>> zed
Finished <<< drive_launcher [0.79s]
Starting >>> drive_tui
Finished <<< see3cam [0.81s]
Starting >>> lights
Finished <<< zed [0.31s]
Starting >>> maps_backend
Finished <<< drive_tui [0.37s]
Starting >>> sensors
Finished <<< simulator [1.19s]
Starting >>> wheels
Finished <<< maps_backend [0.34s]
Finished <<< aruco_node [1.36s]
--- stderr: navigator
(meaningless warnings)
---
Finished <<< navigator [1.35s]
Finished <<< log_node [1.36s]
Finished <<< sensors [0.23s]
Finished <<< wheels [0.18s]
Finished <<< lights [1.35s]
--- stderr: custom_interfaces
(meaningless warnings)
---
Finished <<< custom_interfaces [2.43s]
Summary: 14 packages finished [2.61s]
2 packages had stderr output: custom_interfaces navigator
bash-3.2$Yeah, sometimes you'll get a GIANT LINKER ERROR like this:
~/D/p/R/auto_ros2 (refactor/pixi|✚5) $ pixi s
~/D/p/R/auto_ros2 (refactor/pixi|✚5) $ just clean (auto_ros2)
Attempting to clean build files...
rm -rfd install/ install/ log/ .cargo/
rm -rfd build/
rm -rfd .venv/
Build files have been removed!
~/D/p/R/auto_ros2 (refactor/pixi|✚5) $ colcon build --symlink-install --cmake-args -DPython_ROOT_DIR="$CONDA_PREFIX" -DPython_EXECUTABLE="$(python -c 'import sys; print(sys.executable)')"
Starting >>> custom_interfaces_shim
Starting >>> aruco_node
Starting >>> custom_interfaces
Starting >>> drive_launcher
Starting >>> log_node
Starting >>> manual_control
Starting >>> navigator
Starting >>> see3cam
Finished <<< manual_control [2.31s]
Starting >>> simulator
Finished <<< aruco_node [2.35s]
Starting >>> zed
Finished <<< log_node [2.39s]
Finished <<< navigator [2.39s]
Finished <<< drive_launcher [2.87s]
Finished <<< see3cam [3.35s]
Finished <<< custom_interfaces_shim [3.56s]
Starting >>> drive_tui
Starting >>> lights
Starting >>> maps_backend
Starting >>> sensors
Starting >>> wheels
Finished <<< drive_tui [0.76s]
Finished <<< zed [3.08s]
Finished <<< simulator [5.70s]
--- stderr: lights
error: linking with `cc` failed: exit status: 1
|
= note: "cc" "/var/folders/bd/_ch9ytrj07l39d478lyt79l00000gn/T/rustcuyidcI/symbols.o" "<98 object files omitted>" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/lights/debug/deps/{libfeedback.rlib,libtracing-8b021a3922359756.rlib,libtracing_core-6d380ae9cd153ea2.rlib,libthiserror-cf437b33fe0624af.rlib,libcustom_interfaces-29543dedbd622365.rlib,libgeographic_msgs-859c17fe847f2e34.rlib,libunique_identifier_msgs-e9b300bad247ba10.rlib,libgeometry_msgs-ebd8eefd7973ae99.rlib,libstd_msgs-2df969f80f4f561d.rlib,libbuiltin_interfaces-e3c5501948944802.rlib,libsafe_drive-5ef6f5ee911f2e82.rlib,libsignal_hook-94ab49f0a0e2e53a.rlib,libcrossbeam_channel-f9c3e6eb69613ae6.rlib,libcrossbeam_utils-b0f6f16dad74b38e.rlib,libregex-2de19355f5d547cd.rlib,libregex_automata-d7cd47aa8bcf6a39.rlib,libaho_corasick-399951cffc4932fe.rlib,libregex_syntax-93102c852b1d4176.rlib,libnum_traits-e3b29dbad17cb9c6.rlib,libonce_cell-5d51a55a1a353586.rlib,libfutures-0b1a3d0006602cb7.rlib,libfutures_executor-c1ba222ad16213fd.rlib,libfutures_util-0d5cf13edd3e01a6.rlib,libmemchr-5f6df43509e8007e.rlib,libfutures_io-7840600bdc8a191e.rlib,libslab-f8add2a141d83c8d.rlib,libfutures_channel-594c2d552b63de6b.rlib,libfutures_sink-0b87a188f09b64e0.rlib,libfutures_task-ff04a30ae94c4831.rlib,libpin_utils-d60247b6540d1416.rlib,libfutures_core-e5892b2b95d7dcbe.rlib,libparking_lot-f431797de471071a.rlib,libparking_lot_core-3c7b3d369874b9e1.rlib,libcfg_if-6ae6bfdb17ac5f33.rlib,libsmallvec-7ba979a68c120aa3.rlib,liblock_api-a97bb167ef1d9c2d.rlib,libscopeguard-3a94de5a59526d7e.rlib,libpin_project-7314e391fde4d088.rlib,libtokio-9e21f93e3dfed765.rlib,libsignal_hook_registry-5555a8bebe180af7.rlib,libsocket2-b924fecdb9a011ec.rlib,libmio-2b5681e2891c946b.rlib,liblibc-3bfe410cc699aefd.rlib,libpin_project_lite-e2422973c5166238.rlib}.rlib" "<sysroot>/lib/rustlib/aarch64-apple-darwin/lib/{libstd-*,libpanic_unwind-*,libobject-*,libmemchr-*,libaddr2line-*,libgimli-*,librustc_demangle-*,libstd_detect-*,libhashbrown-*,librustc_std_workspace_alloc-*,libminiz_oxide-*,libadler2-*,libunwind-*,libcfg_if-*,liblibc-*,librustc_std_workspace_core-*,liballoc-*,libcore-*,libcompiler_builtins-*}.rlib" "-lcustom_interfaces__rosidl_typesupport_c" "-lcustom_interfaces__rosidl_generator_c" "-lgeographic_msgs__rosidl_typesupport_c" "-lgeographic_msgs__rosidl_generator_c" "-lunique_identifier_msgs__rosidl_typesupport_c" "-lunique_identifier_msgs__rosidl_generator_c" "-lgeometry_msgs__rosidl_typesupport_c" "-lgeometry_msgs__rosidl_generator_c" "-lstd_msgs__rosidl_typesupport_c" "-lstd_msgs__rosidl_generator_c" "-lbuiltin_interfaces__rosidl_typesupport_c" "-lbuiltin_interfaces__rosidl_generator_c" "-lrcl" "-lrcl_action" "-lrcutils" "-lrmw" "-lrosidl_runtime_c" "-lactionlib_msgs__rosidl_typesupport_c" "-lactionlib_msgs__rosidl_generator_c" "-lbuiltin_interfaces__rosidl_typesupport_c" "-lbuiltin_interfaces__rosidl_generator_c" "-ldiagnostic_msgs__rosidl_typesupport_c" "-ldiagnostic_msgs__rosidl_generator_c" "-lgeometry_msgs__rosidl_typesupport_c" "-lgeometry_msgs__rosidl_generator_c" "-lnav_msgs__rosidl_typesupport_c" "-lnav_msgs__rosidl_generator_c" "-lsensor_msgs__rosidl_typesupport_c" "-lsensor_msgs__rosidl_generator_c" "-lshape_msgs__rosidl_typesupport_c" "-lshape_msgs__rosidl_generator_c" "-lstd_msgs__rosidl_typesupport_c" "-lstd_msgs__rosidl_generator_c" "-lstd_srvs__rosidl_typesupport_c" "-lstd_srvs__rosidl_generator_c" "-lstereo_msgs__rosidl_typesupport_c" "-lstereo_msgs__rosidl_generator_c" "-ltrajectory_msgs__rosidl_typesupport_c" "-ltrajectory_msgs__rosidl_generator_c" "-lunique_identifier_msgs__rosidl_typesupport_c" "-lunique_identifier_msgs__rosidl_generator_c" "-lvisualization_msgs__rosidl_typesupport_c" "-lvisualization_msgs__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-laction_msgs__rosidl_typesupport_c" "-laction_msgs__rosidl_generator_c" "-liconv" "-lSystem" "-lc" "-lm" "-arch" "arm64" "-mmacosx-version-min=11.0.0" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/src/custom_interfaces/bindings/custom_interfaces/../../../../install/custom_interfaces/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-L" "/Users/barrett/Documents/projects/Rover/auto_ros2/install/custom_interfaces_shim/lib" "-L" "<sysroot>/lib" "-o" "/Users/barrett/Documents/projects/Rover/auto_ros2/build/lights/debug/deps/lights_node-1db2c44ccab8761d" "-Wl,-dead_strip" "-nodefaultlibs"
= note: some arguments are omitted. use `--verbose` to show all linker arguments
= note: ld: warning: ignoring duplicate libraries: '-lbuiltin_interfaces__rosidl_generator_c', '-lbuiltin_interfaces__rosidl_typesupport_c', '-lgeometry_msgs__rosidl_generator_c', '-lgeometry_msgs__rosidl_typesupport_c', '-lstd_msgs__rosidl_generator_c', '-lstd_msgs__rosidl_typesupport_c', '-lunique_identifier_msgs__rosidl_generator_c', '-lunique_identifier_msgs__rosidl_typesupport_c'
ld: warning: search path '/Users/barrett/Documents/projects/Rover/auto_ros2/src/custom_interfaces/bindings/custom_interfaces/../../../../install/custom_interfaces/lib' not found
ld: library 'custom_interfaces__rosidl_typesupport_c' not found
clang: error: linker command failed with exit code 1 (use -v to see invocation)
error: could not compile `lights` (bin "lights_node") due to 1 previous error
---
Failed <<< lights [22.3s, exited with code 1]
Aborted <<< sensors [23.6s]
Aborted <<< wheels [23.7s]
Aborted <<< maps_backend [23.7s]
Aborted <<< custom_interfaces [43.0s]
Summary: 10 packages finished [43.2s]
1 package failed: lights
4 packages aborted: custom_interfaces maps_backend sensors wheels
~/D/p/R/auto_ros2 (refactor/pixi|✚5) $ (auto_ros2)We have to ensure our custom interfaces build first. This is a known problem with the IDL generation stuff in compiled languages like C, C++, and Rust.
Here's an example showing you how to fix it:
# first, build only the `custom_interfaces` package!
#
# you can specify that with `colcon build --symlink-install --packages-select custom_interfaces`,
# or on macOS like so:
~/D/p/R/auto_ros2 (refactor/pixi) $ colcon build --symlink-install --packages-select custom_interfaces --cmake-args -DPython_ROOT_DIR="$CONDA_PREFIX" -DPython_EXECUTABLE="$(python -c 'import sys; print(sys.executable)')"
Starting >>> custom_interfaces
Finished <<< custom_interfaces [11.7s]
Summary: 1 package finished [11.8s]
~/D/p/R/auto_ros2 (refactor/pixi|✚5) $ (auto_ros2)
# now, build everything else by removing the `--packages-select`:
colcon build --symlink-install --cmake-args -DPython_ROOT_DIR="$CONDA_PREFIX" -DPython_EXECUTABLE="$(python -c 'import sys; print(sys.executable)')"
#
# ...
#
Summary: 15 packages finished [27.1s]
6 packages had stderr output: custom_interfaces drive_launcher navigator see3cam simulator zed
~/D/p/R/auto_ros2 (refactor/pixi|✚5) $
# source the source script like usual
. ./SOURCE_SCRIPT.fish
# finally, run the node you want to run!
ros2 run lights lights_node