Unable to use underlay ros2 installation with drake-ros as an external in a Bazel Workspace

Question

Using ros2_local_repository following the ros-humble installation (the debian way) yields errors the following CMAKE errors -

--- captured stderr ---
CMake Warning at /opt/ros/humble/share/quality_of_service_demo_cpp/cmake/ament_cmake_export_include_directories-extras.cmake:11 (message):
  Package 'quality_of_service_demo_cpp' exports the include directory
  '/opt/ros/humble/share/quality_of_service_demo_cpp/cmake/../../../include/quality_of_service_demo_cpp'
  which doesn't exist
Call Stack (most recent call first):
  /opt/ros/humble/share/quality_of_service_demo_cpp/cmake/quality_of_service_demo_cppConfig.cmake:41 (include)
  CMakeLists.txt:16 (find_package)


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_generator_c" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_typesupport_fastrtps_c" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_generator_cpp" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_typesupport_fastrtps_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_c" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_typesupport_c" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_cpp" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_typesupport_cpp" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs__rosidl_generator_py" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_image_tools" links to target
  "sensor_msgs::sensor_msgs_library" but the target was not found.  Perhaps a
  find_package() call is missing for an IMPORTED target, or an ALIAS target
  is missing?


CMake Generate step failed.  Build files cannot be regenerated correctly.
CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target "tf2::tf2" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_generator_c" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_typesupport_fastrtps_c" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_typesupport_c" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_generator_cpp" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_typesupport_fastrtps_cpp" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp" but
  the target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_typesupport_cpp" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target
  "geometry_msgs::geometry_msgs__rosidl_generator_py" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target "tf2_ros::tf2_ros" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Generate step failed.  Build files cannot be regenerated correctly.

Trying to build my [outdoor_slam_ros2][1] package with drake-ros' bazel rules.

Relevant snippet from WORKSPACE. Is there some other way to pull in packages and use via an overlay workspace?

# Use ROS 2
ros2_local_repository(
    name = "ros2",
    workspaces = ["/opt/ros/humble/"],
    )

score 3 · Accepted Answer · answered Jan 23 '23 at 19:57

I can reproduce the same error after installing ros-humble-desktop. The solution is to include just the packages you need from a workspace with the include_packages option to ros2_local_repository().

ros2_local_repository(
    name = "ros2",
    include_packages = [
      "rclcpp",
    ],
    workspaces = ["/opt/ros/humble/"],
)

In the background ros2_local_repository() uses the CMake File API to "scrape" information about ROS 2 packages to build a BUILD.bazel file for the @ros2 repo. That "scraping" works by generating a CMake package for each package in the ROS 2 workspace. The generated package tries to depend on everything in the ROS 2 package it's responsible for scraping. This can uncover bugs in the CMake logic of the ROS 2 package that might not be seen in typical use.

Take for example this one:

CMake Error at CMakeLists.txt:19 (add_library):
  Target "empty_using_tf2_bullet" links to target "tf2_ros::tf2_ros" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?

The bug is that tf2_bullet publicly depends on tf2_ros::tf2_ros, but does not tell downstream packages to find_package(tf2_ros) to get access to that target. The tf2_bullet package's CMakeLists.txt is missing the line ament_export_dependencies(tf2_ros) which would make downstream packages automatically find_package(tf2_ros) when they find_package(tf2_bullet). The fact that this bug exists probably means that not many developers are using tf2_bullet, or they're also already directly or indirectly calling find_package(tf2_ros).

Using the include_packages option avoids these kinds of bugs by instructing ros2_local_repository() to only scrape the ROS 2 packages that are actually needed, instead of scraping all of them in the workspace.

Thanks a ton! This is awesome and helps in the understanding a lot :) — adeeb10abbas, Jan 25 '23 at 22:08

Unable to use underlay ros2 installation with drake-ros as an external in a Bazel Workspace

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