Micro XRCE DDS Agent Build for Raspberry Pi

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References

Impact

The Raspberry Pi Instructions didn't work for Ubuntu 18.04. Eventually abandoned.

Build and Install Micro-XRCE-DDS

$ cd

$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
    Cloning into 'Micro-XRCE-DDS-Agent'...
    remote: Enumerating objects: 168, done.
    remote: Counting objects: 100% (168/168), done.
    remote: Compressing objects: 100% (68/68), done.
    remote: Total 7098 (delta 104), reused 128 (delta 76), pack-reused 6930
    Receiving objects: 100% (7098/7098), 1.79 MiB | 8.83 MiB/s, done.
    Resolving deltas: 100% (4071/4071), done.

$ cd Micro-XRCE-DDS-Agent

$ ls
    agent.refs          Dockerfile  microxrce_agent.cpp  thirdparty
    cmake               docs        README.md            utils
    CMakeLists.txt      include     src                  valgrind.supp
    CTestJenkins.cmake  LICENSE     test

$ git checkout a495c65faa964ddc068ac6e1249f17f5c9f92787
    Note: checking out 'a495c65faa964ddc068ac6e1249f17f5c9f92787'.

    You are in 'detached HEAD' state. You can look around, make experimental
    changes and commit them, and you can discard any commits you make in this
    state without impacting any branches by performing another checkout.

    If you want to create a new branch to retain commits you create, you may
    do so (now or later) by using -b with the checkout command again. Example:

      git checkout -b <new-branch-name>

    HEAD is now at a495c65 Merge pull request #54 from eProsima/feature/baudrate

$ mkdir build

$ cd build

$ cmake -DTHIRDPARTY=ON -DCONFIG_UDP_TRANSPORT_MTU=8192 -DCONFIG_SERIAL_TRANSPORT_MTU=8192 ..
    -- Setting build type to 'Release' as none was specified.
    -- The C compiler identification is GNU 7.4.0
    -- The CXX compiler identification is GNU 7.4.0
    -- Check for working C compiler: /usr/bin/cc
    -- Check for working C compiler: /usr/bin/cc -- works
    -- Detecting C compiler ABI info
    -- Detecting C compiler ABI info - done
    -- Detecting C compile features
    -- Detecting C compile features - done
    -- Check for working CXX compiler: /usr/bin/c++
    -- Check for working CXX compiler: /usr/bin/c++ -- works
    -- Detecting CXX compiler ABI info
    -- Detecting CXX compiler ABI info - done
    -- Detecting CXX compile features
    -- Detecting CXX compile features - done
    -- fastcdr library found...
    -- Could NOT find tinyxml2 (missing: TINYXML2_SOURCE_DIR) 
    -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "1.1.1") 
    -- fastrtps library found...
    Submodule 'thirdparty/asio' (https://github.com/chriskohlhoff/asio.git) registered for path 'thirdparty/asio'
    Cloning into '/home/eepp/Micro-XRCE-DDS-Agent/thirdparty/asio'...
    Submodule path 'thirdparty/asio': checked out '230c0d2ae035c5ce1292233fcab03cea0d341264'
    -- Found Asio: /home/eepp/Micro-XRCE-DDS-Agent/thirdparty/asio/asio/include  
    -- Configuring done
    -- Generating done
    -- Build files have been written to: /home/eepp/Micro-XRCE-DDS-Agent/build

NOTE: "Could NOT find tinyxml2 (missing: TINYXML2_SOURCE_DIR)"

CMakeLists.txt

Hood TB3 Micro XRCE DDS Agent CMakeLists.txt

Failed Mitigations

Install libtinyxml2-dev

References

Install

$ sudo apt install libtinyxml2-dev
    [sudo] password for eepp: 
    Reading package lists... Done
    Building dependency tree       
    Reading state information... Done
    libtinyxml2-dev is already the newest version (6.0.0+dfsg-1).
    libtinyxml2-dev set to manually installed.
    0 upgraded, 0 newly installed, 0 to remove and 237 not upgraded.

Impact

none

Other Tiny XML packages

Search tinyxml

$ apt search tinyxml
    Sorting... Done
    Full Text Search... Done
    libtinyxml-dev/bionic,now 2.6.2-4 amd64 [installed,automatic]
      TinyXml library - header and static library

    libtinyxml-doc/bionic,bionic 2.6.2-4 all
      TinyXml library - documentation files

    libtinyxml2-6/bionic,now 6.0.0+dfsg-1 amd64 [installed,automatic]
      C++ XML parsing library

    libtinyxml2-dev/bionic,now 6.0.0+dfsg-1 amd64 [installed]
      TinyXML2 library - header and static library

    libtinyxml2.6.2v5/bionic,now 2.6.2-4 amd64 [installed,automatic]
      C++ XML parsing library

    libtinyxml2.6.2v5-dbg/bionic 2.6.2-4 amd64
      TinyXml library - debug files

    ros-bouncy-tinyxml-vendor/bionic 0.5.0-0bionic.20180719.222940 amd64
      CMake shim over the tinxml library.

    ros-bouncy-tinyxml2-vendor/bionic 0.4.0-0bionic.20180719.222937 amd64
      Wrapper around tinyxml2, providing nothing but a dependency on tinyxml2, on some systems.

    ros-cmake-modules/bionic,bionic 0.4.1-1 all
      Robot OS CMake Modules

    ros-crystal-tinyxml-vendor/bionic,now 0.5.0-0bionic.20190310.045116 amd64 [installed,automatic]
      CMake shim over the tinxml library.
 
    ros-crystal-tinyxml2-vendor/bionic,now 0.6.1-0bionic.20190310.045115 amd64 [installed,automatic]
      Wrapper around tinyxml2, providing nothing but a dependency on tinyxml2, on some systems.

    ros-dashing-tinyxml-vendor/bionic,now 0.7.0-1bionic.20190530.060307 amd64 [installed,automatic]
      CMake shim over the tinxml library.

    ros-dashing-tinyxml2-vendor/bionic,now 0.6.1-1bionic.20190530.060238 amd64 [installed,automatic]
      Wrapper around tinyxml2, providing nothing but a dependency on tinyxml2, on some systems.

Try Additional install

NOTE: These were not install. See if installing them helps. 

$ sudo apt install ros-cmake-modules

$ sudo apt install ros-bouncy-tinyxml-vendor

$ sudo apt install ros-bouncy-tinyxml2-vendor

Rebuild

$ cd

$ mv Micro-XRCE-DDS-Agent Micro-XRCE-DDS-Agent-20190725

$ sudo apt update
    Hit:1 http://packages.ros.org/ros2/ubuntu bionic InRelease
    Hit:2 http://packages.osrfoundation.org/gazebo/ubuntu bionic InRelease         
    Hit:3 http://us.archive.ubuntu.com/ubuntu bionic InRelease                     
    Get:4 http://security.ubuntu.com/ubuntu bionic-security InRelease [88.7 kB]
    Get:5 http://us.archive.ubuntu.com/ubuntu bionic-updates InRelease [88.7 kB]   
    Get:6 http://us.archive.ubuntu.com/ubuntu bionic-backports InRelease [74.6 kB] 
    Fetched 252 kB in 1s (298 kB/s)                                                
    Reading package lists... Done
    Building dependency tree       
    Reading state information... Done
    237 packages can be upgraded. Run 'apt list --upgradable' to see them.

Repeat the above Micro-XRCE-DDS build

Impact

none

Try Crystal MicroXRCEAgent

Desperate - should not work

Install

$ sudo apt install ros-crystal-micro-xrce-dds-agent
    Reading package lists... Done
    Building dependency tree       
    Reading state information... Done
    The following NEW packages will be installed:
    ros-crystal-micro-xrce-dds-agent
    0 upgraded, 1 newly installed, 0 to remove and 237 not upgraded.
    Need to get 223 kB of archives.
    After this operation, 1,287 kB of additional disk space will be used.
    Get:1 http://packages.ros.org/ros2/ubuntu bionic/main amd64 ros-crystal-micro-xrce-dds-agent amd64 1.0.3-1bionic.20190424.130422 [223 kB]
    Fetched 223 kB in 0s (448 kB/s)                          
    Selecting previously unselected package ros-crystal-micro-xrce-dds-agent.
    (Reading database ... 258463 files and directories currently installed.)
    Preparing to unpack .../ros-crystal-micro-xrce-dds-agent_1.0.3-1bionic.20190424.130422_amd64.deb ...
    Unpacking ros-crystal-micro-xrce-dds-agent (1.0.3-1bionic.20190424.130422) ...
    Setting up ros-crystal-micro-xrce-dds-agent (1.0.3-1bionic.20190424.130422) ...
    Processing triggers for libc-bin (2.27-3ubuntu1) ...

Explore the Install

$ dpkg -L ros-crystal-micro-xrce-dds-agent
    /.
    /opt
    /opt/ros
    /opt/ros/crystal
    /opt/ros/crystal/bin
    /opt/ros/crystal/bin/MicroXRCEAgent
    /opt/ros/crystal/include
    /opt/ros/crystal/include/uxr
    /opt/ros/crystal/include/uxr/agent

    ...
    ...

    opt/ros/crystal/share/microxrcedds_agent/cmake/microxrcedds_agentTargets.cmake
    /usr
    /usr/share
    /usr/share/doc
    /usr/share/doc/ros-crystal-micro-xrce-dds-agent
    /usr/share/doc/ros-crystal-micro-xrce-dds-agent/changelog.Debian.gz
    /opt/ros/crystal/lib/libmicroxrcedds_agent.so
    /opt/ros/crystal/lib/libmicroxrcedds_agent.so.1
  • NOTE: MicroXRCEAgent in crystal bin directory
  • NOTE: libmicroxrcedds_agent.so in crystal lib directory

Add Library to Path and execute =

NOTE: This is a little scary because the is a real possibility of messing things up with paths to Dashing and Crystal libraries. The Dashing libraries are found first which might save us. 

$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/crystal/lib

plug in OpenCR 

$ ll /dev/ttyACM0 
    crw-rw---- 1 root dialout 166, 0 Jul 25 15:21 /dev/ttyACM0

$ sudo chmod 666 /dev/ttyACM0 
    [sudo] password for eepp: 

$ ll /dev/ttyACM0 
    crw-rw-rw- 1 root dialout 166, 0 Jul 25 15:21 /dev/ttyACM0

$ /opt/ros/crystal/bin/MicroXRCEAgent serial /dev/ttyACM0
    Error: Invalid arguments.
    Usage: program <command>
    List of commands:
        --serial <device-name> [--baudrate <baudrate>] [--refs <refs-file>]
        --pseudo-serial        [--baudrate <baudrate>] [--refs <refs-file>]
        --udp <local-port> [--discovery <discovery-port>] [--refs <refs-file>]
        --tcp <local-port> [--discovery <discovery-port>] [--refs <refs-file>]
    Segmentation fault (core dumped)

Impact

See: Segmentation fault (core dumped) is a better impact then expected. I'm not going any deeper. There are probably library mismatches that I don't want to explore.

tmp

1

$ echo $PATH
    /home/eepp/turtlebot3_ws/install/cartographer/bin:/home/eepp/turtlebot3_ws/install/behaviortree_cpp/bin:/opt/ros/dashing/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin

$ apt search libtinyxml2-dev
    Sorting... Done
    Full Text Search... Done
    libtinyxml2-dev/bionic,now 6.0.0+dfsg-1 amd64 [installed]
      TinyXML2 library - header and static library

$ ls ~/turtlebot3_ws/src/navigation2/BehaviorTree.CPP/3rdparty/tinyXML2/
    tinyxml2.cpp  tinyxml2.h
$ ls /usr/include/tin*
    /usr/include/tinyxml2.h  /usr/include/tinyxml.h

abbreviated steps

$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
    Cloning into 'Micro-XRCE-DDS-Agent'...
    remote: Enumerating objects: 171, done.
    remote: Counting objects: 100% (171/171), done.
    remote: Compressing objects: 100% (71/71), done.
    remote: Total 7101 (delta 106), reused 129 (delta 76), pack-reused 6930
    Receiving objects: 100% (7101/7101), 1.79 MiB | 5.15 MiB/s, done.
    Resolving deltas: 100% (4073/4073), done.

$ cd Micro-XRCE-DDS-Agent

$ mkdir build && cd build

$ cmake ..
    -- Could NOT find tinyxml2 (missing: TINYXML2_LIBRARY) 
    -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "1.1.1") 
    -- Configuring done
    -- Generating done
    -- Build files have been written to: /home/eepp/Micro-XRCE-DDS-Agent/build

libs

 eepp@hood:build$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/x86_64-linux-gnu/

 eepp@hood:build$ cmake ..
     -- Could NOT find tinyxml2 (missing: TINYXML2_LIBRARY) 
     -- Configuring done
     -- Generating done
     -- Build files have been written to: /home/eepp/Micro-XRCE-DDS-Agent/build
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