How to add geometry_msgs and other message types ?

[whiteplatin]

How to add geometry_msgs and other message types ?

[nnmm]

You need to clone geometry_msgs into your workspace. std_msgs is already cloned by the vcs import src < src/ros2_rust/ros2_rust_foxy.repos step.

[whiteplatin]

Shouldnt geometry_msg also be cloned alongside with std_msgs ?

Since both are from url: https://github.com/ros2/common_interfaces.git , which is in vcs import src < src/ros2_rust/ros2_rust_foxy.repos

You might as well give some instructions too

[nnmm]

Oh, you're right.

Did you add geometry_msgs to package.xml of your package? Are you building with colcon or cargo?

[whiteplatin]

I tried both via colcon and cargo.
And I've added geometry_msg to package.xml

[nnmm]

Ok. When you build with colcon, does it say that it's building geometry_msgs? And is geometry_msgs mentioned in your .cargo/config.toml file afterwards?

[whiteplatin]

Oh, I havent noticed this before.
It does say that it finished building Finished <<< geometry_msgs [2.01s] , when I did colcon build , but I get the cargo build error nonetheless.

Starting >>> turtle_rust
--- stderr: turtle_rust                                                                                                                                                               
error: failed to compile `turtle_rust v0.1.0 (/home/us/turtlebot3_ws/src/turtle_rust)`, intermediate artifacts can be found at `/home/us/turtlebot3_ws/src/turtle_rust/target`

Caused by:
  no matching package named `geometry_msgs` found
  location searched: registry `crates-io`
  required by package `turtle_rust v0.1.0 (/home/us/turtlebot3_ws/src/turtle_rust)`
---
Failed   <<< turtle_rust [0.83s, exited with code 101]

Heres the .cargo/config.toml:

[patch.crates-io.test_msgs]
path = "/home/us/turtlebot3_ws/install/test_msgs/share/test_msgs/rust"

[patch.crates-io.action_msgs]
path = "/home/us/turtlebot3_ws/install/action_msgs/share/action_msgs/rust"

[patch.crates-io.unique_identifier_msgs]
path = "/home/us/turtlebot3_ws/install/unique_identifier_msgs/share/unique_identifier_msgs/rust"

[patch.crates-io.builtin_interfaces]
path = "/home/us/turtlebot3_ws/install/builtin_interfaces/share/builtin_interfaces/rust"

[patch.crates-io.rclrs]
path = "/home/us/turtlebot3_ws/install/rclrs/share/rclrs/rust"

[patch.crates-io.rosidl_runtime_rs]
path = "/home/us/turtlebot3_ws/install/rosidl_runtime_rs/share/rosidl_runtime_rs/rust"

[patch.crates-io.turtlebot3_msgs]
path = "/home/us/turtlebot3_ws/install/turtlebot3_msgs/share/turtlebot3_msgs/rust"

[patch.crates-io.dynamixel_sdk_custom_interfaces]
path = "/home/us/turtlebot3_ws/install/dynamixel_sdk_custom_interfaces/share/dynamixel_sdk_custom_interfaces/rust"

[patch.crates-io.example_interfaces]
path = "/home/us/turtlebot3_ws/install/example_interfaces/share/example_interfaces/rust"

[patch.crates-io.std_msgs]
path = "/home/us/turtlebot3_ws/install/std_msgs/share/std_msgs/rust"

[patch.crates-io.rclrs_example_msgs]
path = "/home/us/turtlebot3_ws/install/rclrs_example_msgs/share/rclrs_example_msgs/rust"

package.xml:

<package format="3">
  <name>turtle_rust</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="[email protected]">user</maintainer>
  <license>TODO: License declaration</license>

  <depend>rclrs</depend>
  <depend>std_msgs</depend>
  <depend>geometry_msgs</depend>

  <export>
    <build_type>ament_cargo</build_type>
  </export>
</package>

[nnmm]

Very strange. Do you have a repo somewhere that I could clone to reproduce this behavior?

[whiteplatin]

I do not I'll just say what I did, maybe it's something very "silly". If it can't be seen, I'll just upload it on GitHub.

1. mkdir -p workspace/src && cd workspace
2. git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
3. vcs import src < src/ros2_rust/ros2_rust_foxy.repos
4. . /opt/ros/foxy/setup.sh
5. colcon build
6. cd src
7. ~/workspace/src$ cargo new republisher_node && cd republisher_node
8. ~/workspace/src/republisher_node/Cargo.toml:

[package]
name = "republisher_node"
version = "0.1.0"
edition = "2021"

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

[dependencies]
rclrs = "*"
std_msgs = "*"

10. Create a new ~/workspace/src/republisher_node/package.xml:

<package format="3">
  <name>republisher_node</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="[email protected]">user</maintainer>
  <license>TODO: License declaration</license>

  <depend>rclrs</depend>
  <depend>std_msgs</depend>

  <export>
    <build_type>ament_cargo</build_type>
  </export>
</package>

11. ~/workspace$ colcon build ==> Success

12. Update cargo.toml by adding geometry_msgs = "*" under [dependencies]:

13. Add <depend>geometry_msgs</depend> in ~/workspace/src/republisher_node/package.xml:

14. (catkin clean) : ~/workspace$ rm -r build install log

15. ~/workspace$ colcon build EDIT: Works now after typo fix

--- stderr: republisher_node
error: no matching package named geometry_msg found
location searched: registry crates-io
required by package `republisher_node v0.1.0

EDIT: Fixed spelling error geometry_msg to geometry_msgs, after closing.

[esteve]

13. geometry_msg

The name of the package is geometry_msgs, in plural.

[whiteplatin]

Oh yeah, its working now !
Dont know where I went wrong the first time , since I had geometry_msgs.
I'll just continue with this new one.

Thanks!