Building micro_ros_agent inside docker container

Robotics & Edge Computing Jetson & Embedded Systems Jetson Nano
1

I’ve alredy read this thred but it doesn’t helpd me.

I’m using JetPack Version: 4.4.1-b50 (is there instructions to update to 4.6?) and dustynv/ros:humble-ros-base-l4t-r32.7.1 base image.
the part of my Dockerfile that faild is:

RUN git clone -b humble https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup && \
    # sudo rosdep fix-permissions && \
    rosdep update && \
    rosdep install --from-paths src --ignore-src -y && \
    colcon build

I get:

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
micro_ros_setup: No definition of [ament_cmake] for OS version [bionic]

Thank!

3

Hi,

ros:humble-ros-base requrires L4T >=32.6 so please upgrade your environment into JetPack >= 4.6.

Thanks.

4

Hello, I’ve updated my system following this steps, the ones under “To update to a new minor release”
Now I have:

Welcome to Ubuntu 18.04.6 LTS (GNU/Linux 4.9.337-tegra aarch64)

elgarbe@jetson:~$ head -1 /etc/nv_tegra_release
# R32 (release), REVISION: 7.4, GCID: 33514132, BOARD: t210ref, EABI: aarch64, DATE:Fri Jun  9 04:25:08 UTC 2023
elgarbe@jetson:~$ sudo apt-cache show nvidia-jetpack
Package: nvidia-jetpack
Version: 4.6.4-b39

Is my system updated correctly?

Now, I use the following:

elgarbe@jetson:~$ docker run --privileged --runtime nvidia -it --rm --network=bridge dustynv/ros:humble-ros-base-l4t-r32.7.1
sourcing   /opt/ros/humble/install/setup.bash
ROS_DISTRO humble
ROS_ROOT   /opt/ros/humble
root@a3b2e6157c59:/# apt-mark hold '*opencv*' && apt-get update && apt dist-upgrade -y
.......
root@a3b2e6157c59:/#

I have to use bridge network in this case in order to have internet connection inside the container, I’m not sure why.
Then follow the steps to build micro_ros agent from here:

root@a3b2e6157c59:/# mkdir uros_ws && cd uros_ws
root@a3b2e6157c59:/uros_ws# git clone -b humble https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
Cloning into 'src/micro_ros_setup'...
remote: Enumerating objects: 3657, done.
remote: Counting objects: 100% (234/234), done.
remote: Compressing objects: 100% (139/139), done.
remote: Total 3657 (delta 145), reused 160 (delta 95), pack-reused 3423
Receiving objects: 100% (3657/3657), 856.77 KiB | 3.66 MiB/s, done.
Resolving deltas: 100% (2531/2531), done.
root@a3b2e6157c59:/uros_ws# rosdep update && rosdep install --from-paths src --ignore-src -y
reading in sources list data from /etc/ros/rosdep/sources.list.d
.....
#All required rosdeps installed successfully
root@a3b2e6157c59:/uros_ws# colcon build
Starting >>> micro_ros_setup
Finished <<< micro_ros_setup [7.66s]
Summary: 1 package finished [8.29s]
root@a3b2e6157c59:/uros_ws# source install/local_setup.bash
root@a3b2e6157c59:/uros_ws#

then continue with this steps:

root@a3b2e6157c59:/uros_ws# ros2 run micro_ros_setup create_agent_ws.sh
..
=== ./uros/micro-ROS-Agent (git) ===
Cloning into '.'...
=== ./uros/micro_ros_msgs (git) ===
Cloning into '.'...
#All required rosdeps installed successfully
root@a3b2e6157c59:/uros_ws#

I take this issue

root@a3b2e6157c59:/uros_ws# ros2 run micro_ros_setup build_agent.sh
Building micro-ROS Agent
Starting >>> micro_ros_msgs
Finished <<< micro_ros_msgs [3.30s]
Starting >>> micro_ros_agent
--- stderr: micro_ros_agent
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `typeinfo for fmt::v7::format_error'
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `spdlog::details::log_msg::log_msg(spdlog::source_loc, fmt::v7::basic_string_view<char>, spdlog::level::level_enum, fmt::v7::basic_string_view<char>)'
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `void fmt::v7::detail::vformat_to<char>(fmt::v7::detail::buffer<char>&, fmt::v7::basic_string_view<char>, fmt::v7::basic_format_args<fmt::v7::basic_format_context<fmt::v7::detail::buffer_appender<fmt::v7::type_identity<char>::type>, fmt::v7::type_identity<char>::type> >, fmt::v7::detail::locale_ref)'
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `fmt::v7::detail::error_handler::on_error(char const*)'
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `fmt::v7::detail::basic_data<void>::left_padding_shifts'
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `std::locale fmt::v7::detail::locale_ref::get<std::locale>() const'
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `vtable for fmt::v7::format_error'
/uros_ws/install/micro_ros_agent/lib/libmicroxrcedds_agent.so.2.4.1: undefined reference to `fmt::v7::format_error::~format_error()'
collect2: error: ld returned 1 exit status
make[2]: *** [micro_ros_agent] Error 1
make[1]: *** [CMakeFiles/micro_ros_agent.dir/all] Error 2
make: *** [all] Error 2
---                                                                                                                                                                                                              Failed   <<< micro_ros_agent [2.17s, exited with code 2]
Summary: 1 package finished [6.02s]
1 package failed: micro_ros_agent
1 package had stderr output: micro_ros_agent
Traceback (most recent call last):
File "/opt/ros/humble/install/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.7', 'console_scripts', 'ros2')())
File "/opt/ros/humble/install/lib/python3.6/site-packages/ros2cli/cli.py", line 89, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/humble/install/lib/python3.6/site-packages/ros2run/command/run.py", line 70, in main
return run_executable(path=path, argv=args.argv, prefix=prefix)
File "/opt/ros/humble/install/lib/python3.6/site-packages/ros2run/api/__init__.py", line 73, in run_executable
if -process.returncode in signal.valid_signals() and os.name == 'posix':
AttributeError: module 'signal' has no attribute 'valid_signals'
root@a3b2e6157c59:/uros_ws#

but the problem continue after adding the flag to colcon build.

Any advice?

Thank

5

Ok, I’ve managed to make it work.
I left the files here for future references:

Dockerfile:

FROM dustynv/ros:humble-ros-base-l4t-r32.7.1

RUN mkdir -p /home/microros_ws
WORKDIR /home/microros_ws

RUN mkdir src \
    && git -C src clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ROS-Agent.git \
    && git -C src clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_msgs.git  \
    && . /opt/ros/$ROS_DISTRO/install/setup.sh \
    &&  apt update \
    &&  apt install -y python3-pip \
    libspdlog-dev \
    libfmt-dev \
    &&  apt autoremove -y \
    &&  sudo rosdep fix-permissions \
    &&  rosdep update \
    &&  rosdep install --from-paths src --ignore-src -y \
    &&  colcon build --cmake-args -DUAGENT_BUILD_EXECUTABLE=OFF -DUAGENT_P2P_PROFILE=OFF -DUAGENT_USE_SYSTEM_LOGGER=ON --no-warn-unused-cli \
    &&  rm -rf log/ build/ src/* \
    &&  rm -rf /var/lib/apt/lists/*

ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

COPY ros_entrypoint.sh /

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]

docker-compose.yaml

version: '3.4'
services:
  robot:
    network_mode: "host"
    privileged: true
    build:
      context: .
      dockerfile: Dockerfile
    volumes:
      - /etc/timezone:/etc/timezone:ro
      - /etc/localtime:/etc/localtime:ro
    command: ros2 run micro_ros_agent micro_ros_agent serial -v --dev /dev/ttyACM0

ros_entrypoint.sh

#!/bin/bash
set -e
source /opt/ros/humble/install/setup.bash
source /home/microros_ws/install/setup.bash
exec "$@"

Then run this command on jetson nano:

docker-compose up --build

and after building the image it will start micro-ros-agent.
The use of docker-compose will allow us to run other packages.

Thank and best regards

6

Good to know it works now.
Thanks for the feedback.

8

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