Error compiling sample project: rcl/rcl.h: No such file or directory #include <rcl/rcl.h> about micro_ros_espidf_component

[pablogs9]

In this video I'm on v4.3 but as you can see in our CI we support v4.1, v4.2 and v4.3: https://github.com/micro-ROS/micro_ros_espidf_component/actions/runs/703714929

[wegunterjrFIrefly]

this was helpful. Not sure what I was doing wrong, but I am sure it was a combo of things.
If I follow the example on github and in the video you shared it 'just works'

• adding the components folder mkdir components
• and cloning the micro_ros_esp_idf
  -- cd components
  -- clone the micro_ros_esp_idf
• cd to main folder cd ..
• source esp-idf (make sure you have added the pip3 install catkin_pkg lark-parser empy
• idf.py

I find that if you have been changing versions of esp-idf, it is necessary to delete the ~/.espressif folder.

[wegunterjrFIrefly]

ah..hmmm... The solution is that it wasn't completely downloading the micro_ros_src and other libraries which contain things like rcl.h I deleted the entire micro_ros_espidf_component and tried again with the docker container and success.

[pablogs9]

Have you installed the dependencies listed here: https://github.com/micro-ROS/micro_ros_espidf_component#dependencies ?

[pablogs9]

I have replicated this with a simple project and it works:

https://asciinema.org/a/G39IxQZkzipXSxrnbqepXh6iF

[wegunterjrFIrefly]

What version of esp-idf are you downloading? release4.2, release v4.3?
Do you delete the .espressif folder and run install.sh again when you switch versions of esp-idf?

[wegunterjrFIrefly]

hate to reopen an issue, but planning to use microros and having similar issues:

• idf.py version ESP-IDF v4.2.2-383-g125cf671e7
• microros - foxy c0c003d (HEAD -> foxy, origin/foxy)
• pwd components/micro_ros_espidf_component/examples/int32_publisher
  I did ensure all required software and the installation was followed...including the colcon and empy

It is failing at /main/main.c:11:10: fatal error: rcl/rcl.h: No such file or directory

I tried using the docker to build and got the same error:
docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v $(pwd):/micro_ros_espidf_component -v /dev:/dev --privileged --workdir /micro_ros_espidf_component microros/esp-idf-microros:latest /bin/bash -c "cd examples/int32_publisher; idf.py menuconfig build flash monitor"

[MiguelMartinez-HAW]

I have replicated this with a simple project and it works:

https://asciinema.org/a/G39IxQZkzipXSxrnbqepXh6iF

In this video, you already start with a folder named int32_publisher. Could you show the steps you followed before this video started, please? I assumed the previous steps but I must have done something wrong because I am getting errors.

[pablogs9]

The folder is this one: https://github.com/micro-ROS/micro_ros_espidf_component/tree/humble/examples/int32_publisher

[MiguelMartinez-HAW]

The folder is this one: https://github.com/micro-ROS/micro_ros_espidf_component/tree/humble/examples/int32_publisher

Thanks Pablo, for your quick reply. So I downloaded the folder int32_publisher into my esp-idf folder. Then I followed the instructions exactly as in the video but when I run idf.py build it throws command not found. Then I go back to the esp-idf folder and run ./install.sh and . ./export.sh and pip3 install catkin_pkg lark-parser empy colcon-common-extensions . Then I go to the int32_publisher folder again and run idf.py set-target esp32 or idf.py menuconfig or idf.py build and they all throw errors. I must be doing something wrong but I don't know what.

Also, since I am using Foxy, I downloaded the foxy version of int32_publisher and when I clone the repo, I do a git switch foxy.

[MiguelMartinez-HAW]

. ./export.sh
I tried repeating the steps a few times, also with other examples but this is the error I get.

What I don't know if I'm doing right is that I copy the example folder, in this case int32_publisher_custom_transport, from the repository. Then I follow the video, which clones the repository in the components folder which also copies again the examples.

If I copy the whole repository (foxy version) instead of just the example folder and then go to the examples folder and from there I follow Pablo's video, which includes cloning the same repo again in the components folder, then I get the same error as the title of this issue.

../main/main.c:11:10: fatal error: rcl/rcl.h: No such file or directory
 #include <rcl/rcl.h>
          ^~~~~~~~~~~
compilation terminated.

Am I doing something wrong? Can someone help me find the error? I just wanna run a simple example.

[Pankaj-s-dev]

I am able to build these examples on Ubuntu 22.04, i am getting error while building in Ubuntu 20..

Any suggestion ?