Installation instructions #713

Yadunund · 2023-04-05T04:28:57Z

Follow the official installation instructions for the platform. If instructions have not been published for the platform, use the instructions for Rolling Ridley.

For source build platforms, this includes the installation of dependencies and building the packages.

Setup

DDS vendor: Connext
BuildType: Debian
Chip: Amd64
Os: Ubuntu Jammy

Links

Installation instructions

Checks

Install works

You can find the code used to generate this test case here

jjd9 · 2023-05-04T00:19:57Z

May I take this one?

jjd9 · 2023-05-04T00:25:41Z

Yay! Worked seamlessly 😄
Went through the Debian instructions on my machine: https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html
Setup the DDS: https://docs.ros.org/en/iron/How-To-Guides/Working-with-multiple-RMW-implementations.html

Then I ran the connextdds examples. here's the output
Terminal 1:

johnd@johnd-X510UQ:~$ source /opt/ros/iron/setup.bash
johnd@johnd-X510UQ:~$ RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only.
Expires on 00-jan-00 See www.rti.com for more information.
[INFO] [1683159650.731320356] [talker]: Publishing: 'Hello World: 1'
[INFO] [1683159651.731285056] [talker]: Publishing: 'Hello World: 2'
[INFO] [1683159652.731115675] [talker]: Publishing: 'Hello World: 3'
...

Terminal 2:

johnd@johnd-X510UQ:~$ source /opt/ros/iron/setup.bash
johnd@johnd-X510UQ:~$ RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_py listener
RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only.
Expires on 00-jan-00 See www.rti.com for more information.
[INFO] [1683159669.780425101] [listener]: I heard: [Hello World: 20]
[INFO] [1683159670.734953813] [listener]: I heard: [Hello World: 21]
[INFO] [1683159671.733945256] [listener]: I heard: [Hello World: 22]
[INFO] [1683159672.733670005] [listener]: I heard: [Hello World: 23]
[INFO] [1683159673.734492868] [listener]: I heard: [Hello World: 24]
[INFO] [1683159674.734437475] [listener]: I heard: [Hello World: 25]
[INFO] [1683159675.734368252] [listener]: I heard: [Hello World: 26]

jjd9 · 2023-05-04T00:30:34Z

here is evidence that my system is amd64 + jammy

johnd@johnd-X510UQ:~$ lsb_release -a
Distributor ID:	Ubuntu
Description:	Ubuntu 22.04.2 LTS
Release:	22.04
Codename:	jammy
johnd@johnd-X510UQ:~$ lscpu
Architecture:            x86_64

fujitatomoya · 2023-05-04T04:57:51Z

/assign @fujitatomoya

~~working on arm64 and amd64 together.~~

since https://docs.ros.org/en/iron/Installation/DDS-Implementations.html#id1 support amd64 only, this install procedure can be only applied to amd64.

fujitatomoya · 2023-05-04T05:31:45Z

Error observed during demo talker and listener.

root@tomoyafujita:~# RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
[ERROR] [1683177387.129087956] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_connextdds'), with error message 'failed to load shared library 'librmw_connextdds.so' due to dlopen error: librmw_connextdds.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99, at ./src/functions.cpp:65', exiting with 1., at ./src/rcl/rmw_implementation_identifier_check.c:139

[ros2run]: Process exited with failure 1

the reason is there is no ros-iron-rmw-connextdds debian package is installed with procedure.

root@tomoyafujita:~# apt install ros-iron-rmw-connextdds

then,

root@tomoyafujita:~# RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only.
Expires on 00-jan-00 See www.rti.com for more information.
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10F60DB,0XDA25FD13,0,0X200C7 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://5560:DB00:0000:0000:0000:0000:0000:0000:7414
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10F60DB,0XDA25FD13,0,0X3C7 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://5560:DB00:0000:0000:0000:0000:0000:0000:7414
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10F60DB,0XDA25FD13,0,0X4C7 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://5560:DB00:0000:0000:0000:0000:0000:0000:7414
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10F60DB,0XDA25FD13,0,0X204 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://5560:DB00:0000:0000:0000:0000:0000:0000:7415
[INFO] [1683177443.602486553] [talker]: Publishing: 'Hello World: 1'
[INFO] [1683177444.602454236] [talker]: Publishing: 'Hello World: 2'
[INFO] [1683177445.602417128] [talker]: Publishing: 'Hello World: 3'
[INFO] [1683177446.602458255] [talker]: Publishing: 'Hello World: 4'
[INFO] [1683177447.602428608] [talker]: Publishing: 'Hello World: 5'
^C[INFO] [1683177448.260345849] [rclcpp]: signal_handler(signum=2)
[D0000|DELETE Participant] PRESPsService_removeMatchingRemoteEndpoints:!precondition: "me == ((void *)0) || worker == ((void *)0) || remoteGuid == ((void *)0) || !( ((remoteGuid->prefix.hostId == (0x00000000)) && (remoteGuid->prefix.appId == (0x00000000)) && (remoteGuid->prefix.instanceId == (0x00000000)) && (remoteGuid->objectId != (0x00000000))) || ((remoteGuid->prefix.hostId != (0x00000000)) && (remoteGuid->prefix.appId != (0x00000000)) && (remoteGuid->prefix.instanceId != (0x00000000)) && (remoteGuid->objectId == (0x00000000))) )"
        Backtrace:
        #1      ?? ??:0 [0xA7B8D2E7]
        #2      ?? ??:0 [0xA799DF72]
        #3      ?? ??:0 [0xA797C127]
        #4      ?? ??:0 [0xA791A650]
        #5      ?? ??:0 [0xA791B97F]
        #6      ?? ??:0 [0xA7931C19]
        #7      ?? ??:0 [0xA7931801]
        #8      ?? ??:0 [0xA790BE5F]
        #9      ?? ??:0 [0xA7973BDE]
        #10     ?? ??:0 [0xA8670541]
        #11     ?? ??:0 [0xA863E1FC]
        #12     ?? ??:0 [0xA8F001F5]
        #13     ?? ??:0 [0xA8F3A74C]
        #14     ?? ??:0 [0xAA39C5F8]
        #15     ?? ??:0 [0xAA9AE309]
        #16     ?? ??:0 [0xAA9AE4A5]
        #17     ?? ??:0 [0xAA9746BA]
        #18     ?? ??:0 [0xAA9ADCF7]
        #19     ?? ??:0 [0xAA9ADDAA]
        #20     ?? ??:0 [0xAA9746BA]
        #21     ?? ??:0 [0xAA9AD7AF]
        #22     ?? ??:0 [0x523AA825]
        #23     ?? ??:0 [0xAA3EBD90]
        #24     ?? ??:0 [0xAA3EBE40]
        #25     ?? ??:0 [0x523AB0D5]
[D0000|DELETE Participant] DISCParticipantDiscoveryPlugin_removeRemoteParticipantI:!remove remote endpoints of remote participant: 0X10F60DB,0XDA25FD13,0,0X1C1

I am not even sure the above standart output is expected result.

Yadunund · 2023-05-04T07:31:43Z

@jjd9 could I check if you installed the rmw_connextdds binary via sudo apt install ros-iron-rmw-connextdds prior to your testing?

john-maidbot · 2023-05-04T12:37:39Z

@jjd9 could I check if you installed the rmw_connextdds binary via sudo apt install ros-iron-rmw-connextdds prior to your testing?

@Yadunund yes, that is what I did prior to testing.
(Sorry accidentally replied from my other account 🤦 )

jjd9 · 2023-05-04T12:54:46Z

@fujitatomoya I think the problem is that you have a node already running that isnt using RTI connextdds. when I run two nodes with RTI connext dds, it runs fine. but if i run a talker on RTI connext dds and a listener on fast-dds, it gives the same warnings you mentioned and throws that backtrace when i exit. i'll post an example. can you please try the demo again after verifying there are no lingering ros2 nodes running and both nodes you launch have RMW_IMPLEMENTATION=rmw_connextdds set?

Idk if that is expected behavior when mixing RMW's though.

jjd9 · 2023-05-04T12:55:15Z

start listener on fastdds

^Cjohnd@johnd-X510UQ:~ros2 run demo_nodes_py listener
[INFO] [1683204945.704955625] [listener]: I heard: [Hello World: 1]
[INFO] [1683204946.652667261] [listener]: I heard: [Hello World: 2]
[INFO] [1683204947.652551670] [listener]: I heard: [Hello World: 3]
[INFO] [1683204948.652866581] [listener]: I heard: [Hello World: 4]

start talker on RTI connext dds

johnd@johnd-X510UQ:~$ RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only.
Expires on 00-jan-00 See www.rti.com for more information.
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10FB557,0XCA18E7B7,0,0X3C7 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://55B5:5700:0000:0000:0000:0000:0000:0000:7410
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10FB557,0XCA18E7B7,0,0X4C7 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://55B5:5700:0000:0000:0000:0000:0000:0000:7410
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10FB557,0XCA18E7B7,0,0X200C7 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://55B5:5700:0000:0000:0000:0000:0000:0000:7410
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10FB557,0XCA18E7B7,0,0X204 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://55B5:5700:0000:0000:0000:0000:0000:0000:7411
COMMENDSrWriterService_assertRemoteReader:Discovered remote reader with GUID 0X10FB557,0XCA18E7B7,0,0X1104 using a non-addressable locator.
This can occur if the transport is not installed and/or enabled in the local participant.
See https://community.rti.com/kb/what-does-cant-reach-locator-error-message-mean for additional info.
can't reach: locator: 16://55B5:5700:0000:0000:0000:0000:0000:0000:7411
[INFO] [1683204945.649356494] [talker]: Publishing: 'Hello World: 1'
[INFO] [1683204946.649790185] [talker]: Publishing: 'Hello World: 2'
[INFO] [1683204947.649335367] [talker]: Publishing: 'Hello World: 3'
[INFO] [1683204948.649424703] [talker]: Publishing: 'Hello World: 4'
^C[INFO] [1683204949.098342316] [rclcpp]: signal_handler(signum=2)
[D0100|DELETE Participant] PRESPsService_removeMatchingRemoteEndpoints:!precondition: "me == ((void *)0) || worker == ((void *)0) || remoteGuid == ((void *)0) || !( ((remoteGuid->prefix.hostId == (0x00000000)) && (remoteGuid->prefix.appId == (0x00000000)) && (remoteGuid->prefix.instanceId == (0x00000000)) && (remoteGuid->objectId != (0x00000000))) || ((remoteGuid->prefix.hostId != (0x00000000)) && (remoteGuid->prefix.appId != (0x00000000)) && (remoteGuid->prefix.instanceId != (0x00000000)) && (remoteGuid->objectId == (0x00000000))) )"
	Backtrace:
	#1	?? ??:0 [0xCAD8D2E7]
	#2	?? ??:0 [0xCAB9DF72]
	#3	?? ??:0 [0xCAB7C127]
	#4	?? ??:0 [0xCAB1A650]
	#5	?? ??:0 [0xCAB1B97F]
	#6	?? ??:0 [0xCAB31C19]
	#7	?? ??:0 [0xCAB31801]
	#8	?? ??:0 [0xCAB0BE5F]
	#9	?? ??:0 [0xCAB73BDE]
	#10	?? ??:0 [0xCB870541]
	#11	?? ??:0 [0xCB83E1FC]
	#12	?? ??:0 [0xD0B2C1F5]
	#13	?? ??:0 [0xD0B6674C]
	#14	?? ??:0 [0xD23E15F8]
	#15	?? ??:0 [0xD2525309]
	#16	?? ??:0 [0xD25254A5]
	#17	?? ??:0 [0xD24EB6BA]
	#18	?? ??:0 [0xD2524CF7]
	#19	?? ??:0 [0xD2524DAA]
	#20	?? ??:0 [0xD24EB6BA]
	#21	?? ??:0 [0xD25247AF]
	#22	?? ??:0 [0x1A969825]
	#23	?? ??:0 [0xD1C29D90]
	#24	?? ??:0 [0xD1C29E40]
	#25	?? ??:0 [0x1A96A0D5]
[D0100|DELETE Participant] DISCParticipantDiscoveryPlugin_removeRemoteParticipantI:!remove remote endpoints of remote participant: 0X10FB557,0XCA18E7B7,0,0X1C1

fujitatomoya · 2023-05-04T16:41:05Z

test

fujitatomoya · 2023-05-04T16:42:11Z

@jjd9 thanks for checking on that. yeah i was playing with multiple RMWs with containers, that might have led to that issue.

fujitatomoya · 2023-05-04T16:43:30Z

@Yadunund this can be closed after ros2/ros2_documentation#3505 merged.

Kartik9250 · 2023-05-05T15:30:40Z

Error observed during demo talker and listener.

root@tomoyafujita:~# RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
[ERROR] [1683177387.129087956] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_connextdds'), with error message 'failed to load shared library 'librmw_connextdds.so' due to dlopen error: librmw_connextdds.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99, at ./src/functions.cpp:65', exiting with 1., at ./src/rcl/rmw_implementation_identifier_check.c:139

I went through the installation it worked just fine. I also did came across a similar error I think that was because earlier i was using ros2 humble & connextdds earlier and humble wasnt properly removed. I did a sudo apt autoremove and opened a new terminal. It worked after that.

fujitatomoya · 2023-05-05T15:52:34Z

@Kartik9250 thanks for the information. just fyi, i did use vanilla ubuntu:22.04 container image.

fujitatomoya · 2023-05-09T17:23:44Z

@Yadunund i created the follow-up issue ros2/ros2_documentation#3573, with that we can follow-up and enhance the docs later. i think this test issue for iron can be closed.

Yadunund · 2023-05-10T04:11:49Z

Awesome, thanks.

Yadunund added amd64 connext core debian generation-1 installation iron jammy labels Apr 5, 2023

fujitatomoya mentioned this issue May 4, 2023

ros-{DISTRO}-rmw-connextdds should be installed. ros2/ros2_documentation#3505

Closed

Yadunund added the bug Something isn't working label May 4, 2023

Yadunund assigned jjd9 and fujitatomoya May 4, 2023

fujitatomoya mentioned this issue May 9, 2023

RTI Connext DDS installation procedure needs to be reorganized ros2/ros2_documentation#3573

Open

Yadunund closed this as completed May 10, 2023

clalancette assigned Kartik9250 May 15, 2023

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Installation instructions #713

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Installation instructions #713

Installation instructions #713

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Setup

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