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License: Apache License 2.0

CMake 30.99% Python 39.95% EmberScript 29.06%

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rosidl_dds's Issues

What is the difference between this repo and ros2 /rosidl/rosidl_adapter?

Hey was wondering what is the difference between this repo and ros2 /rosidl/rosidl_adapter? They seem to have very similar functionality

Messages with no fields produce code with zero sized static arrays

The typesupport introspection generated code lists the fields in a statically sized array of field names, but when there are no fields it produces an array of size zero.

This fails hard on windows and should give a warning on gcc, but I haven't seen it. The AllPrimitiveConstants.msg message in the simple_msgs package exposes this for me.

Using 'rosidl_generate_dds_interfaces' cmake module does not generate any IDL file

Required Info:

Operating System:
- Ubuntu 18.04
Installation type:
- binaries
DDS implementation:
- Fast-RTPS

Steps to reproduce issue

Hi,

I am trying to use this package to generate DDS IDL files from ROS messages. I know that rmw_fastrtps_cpp is different since it uses introspection rather than generated code specific to each message so for FastRTPS, which results on one not having to generate .idl files. Though, for my particular case, I do require the IDL's to be generated in order to generate code for a micro-RTPS agent daemon.

The following snippet is what I am adding to the CMakeLists.txt file:

rosidl_generate_dds_interfaces("${PROJECT_NAME}_fastrtps_idl"
  IDL_FILES ${MSGS}
  DEPENDENCY_PACKAGE_NAMES ${PROJECT_NAME} builtin_interfaces
  OUTPUT_SUBFOLDERS "dds_fastrtps"
)

Where MSGS are the list of ROS msgs inside package_dir/msg. I use dds_fastrtps since it's the same naming for the output folder of the OpenSplice IDL files.

Expected behavior

The expected behaviour, of course, is that the IDL files get generated, so they can be used.

Actual behavior

It's verified that rosidl_generator_dds_idl__dds_fastrtps__arguments.json is created under the build folder, though no build/<project_name>/rosidl_generator_dds_idl/<project_name>/msg/dds_fastrpts directory is created, which results on having an error on the install process:

CMake Error at ament_cmake_symlink_install/ament_cmake_symlink_install.cmake:158 (message):
  ament_cmake_symlink_install_files() can't find
  '/home/nuno/PX4/px4_ros_com_ros2/build/px4_ros_com/rosidl_generator_dds_idl/px4_ros_com/msg/dds_fastrtps/ActuatorArmed_.idl'
Call Stack (most recent call first):
  ament_cmake_symlink_install/ament_cmake_symlink_install.cmake:314 (ament_cmake_symlink_install_files)
  cmake_install.cmake:41 (include)


Makefile:61: recipe for target 'install' failed
make: *** [install] Error 1
--- stderr: px4_ros_com

Thanks in advance for your support!

Generate upper_bounded sequences with upper_bounded string id_types in idls

In the context of the rosidl_dds package, currently we can generate a bounded sequence or a bounded string using the '<=' identifier in a ROS2 .msg/.srv. But we cannot compound this behavior so that we can write something like:
"string<=128[<=100]" to generate "sequence<string<128>, 100>" in the resulting idl.

(Note: Using RTI Connext DDS as a middleware)

rosidl_generate_dds_interfaces() doesn't support passing msg files as of Dashing

Bug report

Required Info:

Operating System:
- Ubuntu 18.04
Installation type:
- binaries
DDS implementation:
- Fast-RTPS
ROS 2 release:
- Dashing
rosidl-generator-dds-idl version:
- 0.7.1-1bionic.20191015.013612

Steps to reproduce issue

git clone https://github.com/PX4/px4_msgs.git -b use_rosidl_generator_dds_idl to a colcon/ament ws;
colcon build --event-handlers console_direct+.

Expected behavior

rosidl_generate_dds_interfaces() should correctly generate the IDL files for each message in px4_msgs, as it was doing for the Crystal release.

Actual behavior

The generator fails with the following error:

[ 13%] Built target px4_msgs__rosidl_generator_c
[ 13%] Generating C introspection for ROS interfaces
No terminal defined for 'u' at line 1 col 1      

uint64 timestamp	# time since system sta
^

Expecting: {'CONST', 'MODULE', 'ENUM', 'STRUCT', 'TYPEDEF', '__ANON_9', 'AT'}
 /home/nuno/PX4/px4_ros_com_ros2/src/px4_msgs/msg/ActuatorArmed.msg
Error processing idl file: /home/nuno/PX4/px4_ros_com_ros2/src/px4_msgs/msg/ActuatorArmed.msg
Traceback (most recent call last):               
  File "/opt/ros/dashing/lib/rosidl_generator_dds_idl/rosidl_generator_dds_idl", line 41, in <module>
    sys.exit(main())
  File "/opt/ros/dashing/lib/rosidl_generator_dds_idl/rosidl_generator_dds_idl", line 36, in main
    args.additional_service_templates,
  File "/opt/ros/dashing/lib/python3.6/site-packages/rosidl_generator_dds_idl/__init__.py", line 51, in generate_dds_idl
    generate_files(generator_arguments_file, mapping, additional_context, keep_case=True)
  File "/home/nuno/PX4/rosidl_ws/install/rosidl_cmake/lib/python3.6/site-packages/rosidl_cmake/__init__.py", line 94, in generate_files
    raise(e)
  File "/home/nuno/PX4/rosidl_ws/install/rosidl_cmake/lib/python3.6/site-packages/rosidl_cmake/__init__.py", line 73, in generate_files
    idl_file = parse_idl_file(locator)
  File "/home/nuno/PX4/rosidl_ws/install/rosidl_parser/lib/python3.6/site-packages/rosidl_parser/parser.py", line 64, in parse_idl_file
    content = parse_idl_string(string, png_file=png_file)
  File "/home/nuno/PX4/rosidl_ws/install/rosidl_parser/lib/python3.6/site-packages/rosidl_parser/parser.py", line 72, in parse_idl_string
    tree = get_ast_from_idl_string(idl_string)
  File "/home/nuno/PX4/rosidl_ws/install/rosidl_parser/lib/python3.6/site-packages/rosidl_parser/parser.py", line 89, in get_ast_from_idl_string
    return _parser.parse(idl_string)
  File "/usr/lib/python3/dist-packages/lark/lark.py", line 306, in parse
    return self.parser.parse(text, start=start)
  File "/usr/lib/python3/dist-packages/lark/parser_frontends.py", line 182, in parse
    return self._parse(text, start)
  File "/usr/lib/python3/dist-packages/lark/parser_frontends.py", line 54, in _parse
    return self.parser.parse(input, start, *args)
  File "/usr/lib/python3/dist-packages/lark/parsers/earley.py", line 293, in parse
    self._parse(stream, columns, to_scan, start_symbol)
  File "/usr/lib/python3/dist-packages/lark/parsers/xearley.py", line 137, in _parse
    to_scan = scan(i, to_scan)
  File "/usr/lib/python3/dist-packages/lark/parsers/xearley.py", line 114, in scan
    raise UnexpectedCharacters(stream, i, text_line, text_column, {item.expect.name for item in to_scan}, set(to_scan))
lark.exceptions.UnexpectedCharacters: No terminal defined for 'u' at line 1 col 1

uint64 timestamp	# time since system sta
^

Expecting: {'CONST', 'MODULE', 'ENUM', 'STRUCT', 'TYPEDEF', '__ANON_9', 'AT'}

Additional information

This follows up the problem reported in ros2/rmw_fastrtps#251 (comment) and in eProsima/Fast-DDS#829. Letting rosidl_generate_interfaces() generate the IDL files and respective typesupport results in having typenames which are not compatible with the ones generated by fastrtpsgen. Previously in Crystal, using rosidl_generate_dds_interfaces(), one was able to generate IDL's and typesupport compatible with the ones from fastrtpsgen (more context in eProsima/Fast-DDS#829).

I am not sure at this point if using rosidl_generate_dds_interfaces() in Dashing is going to result on the same problem or not.

IDL template uses an unsupported preprocessor directive for connext

This line

rosidl_dds/rosidl_generator_dds_idl/resource/msg.idl.template

Line 90 in 0b7c2e7

#pragma keylist @(spec.base_type.type)_

Produces creates warnings for every connext message generated to the effect of:

INFO com.rti.ndds.nddsgen.Main Running rtiddsgen version 2.2.0.0, please wait ...
WARN com.rti.ndds.nddsgen.antlr.auto.IdlLexer ParamDescription_.idl line 33  preprocessor directive not supported. It will be ignored
WARN com.rti.ndds.nddsgen.antlr.auto.IdlLexer Param_.idl line 29  preprocessor directive not supported. It will be ignored
INFO com.rti.ndds.nddsgen.Main Done
Generating: /home/tfoote/work/ros2/parameters/build/rcl_interfaces/rosidl_typesupport_connext_cpp/rcl_interfaces/dds_connext/ParamDescription_.h/cpp

IDL constant is incorrectly substituted during code generation

Bug report

Required Info:

Operating System:
- N/A
Installation type:
- source
Version or commit hash:
- e88b1d0
DDS implementation:
- N/A
Client library (if applicable):
- N/A

Steps to reproduce issue

Try to build the following message defined with IDL:

module foo {
  module msg {
    module MyMessage_Constants {
      const unsigned long UNSIGNED_LONG_CONSTANT = 42; 
    };  

    struct MyMessage {
      // (1)
      @default ( value=UNSIGNED_LONG_CONSTANT )
      unsigned long unsigned_long_value;

      // (2)
      wstring<UNSIGNED_LONG_CONSTANT> constant_bounded_wstring_value;
          
      // (3)
      string<UNSIGNED_LONG_CONSTANT> bounded_string_value;
    };  
  };  
};

Assumes the package name is foo and the message is a subdirectory named msg.

Expected behavior

Code is successfully generated and compiled for the message type.

Actual behavior

The constant UNSIGNED_LONG_CONSTANT is not resolved correctly. In cases (1) and (2), we get the following compilation error:

In file included from /tmp/bug_report/build/foo/rosidl_generator_c/foo/msg/detail/my_message__functions.h:19,
                 from /tmp/bug_report/build/foo/rosidl_generator_c/foo/msg/detail/my_message__functions.c:4:
/tmp/bug_report/build/foo/rosidl_generator_c/foo/msg/detail/my_message__struct.h:34:74: error: ‘UNSIGNED_LONG_CONSTANT’ undeclared here (not in a function)
   34 |   foo__msg__MyMessage__constant_bounded_wstring_value__MAX_STRING_SIZE = UNSIGNED_LONG_CONSTANT
      |                                                                          ^~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/foo__rosidl_generator_c.dir/build.make:92: CMakeFiles/foo__rosidl_generator_c.dir/rosidl_generator_c/foo/msg/detail/my_message__functions.c.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:301: CMakeFiles/foo__rosidl_generator_c.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
TypeError in template '/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/share/rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em': %u format: a number is required, not str
TypeError when expanding 'idl__type_support.cpp.em' into '/tmp/bug_report/build/foo/rosidl_typesupport_introspection_cpp/foo/msg/detail/my_message__type_support.cpp': %u format: a number is required, not str
Error processing idl file: /tmp/bug_report/src/foo/msg/MyMessage.idl
Traceback (most recent call last):
  File "/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/lib/rosidl_typesupport_introspection_cpp/rosidl_typesupport_introspection_cpp", line 23, in <module>
    sys.exit(main())
  File "/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/lib/rosidl_typesupport_introspection_cpp/rosidl_typesupport_introspection_cpp", line 19, in main
    return generate_cpp(args.generator_arguments_file)
  File "/home/jacob/ws/ros/latest/install/rosidl_typesupport_introspection_cpp/lib/python3.8/site-packages/rosidl_typesupport_introspection_cpp/__init__.py", line 24, in generate_cpp
    generate_files(generator_arguments_file, mapping)
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 96, in generate_files
    raise(e)
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 87, in generate_files
    expand_template(
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 149, in expand_template
    interpreter.string(template_content, template_path, locals=data)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2391, in string
    self.safe(scanner, True, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2401, in safe
    self.parse(scanner, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2421, in parse
    token.run(self, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1547, in run
    self.subrun(info[0][1], interpreter, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1631, in subrun
    token.run(interpreter, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1425, in run
    interpreter.execute(self.code, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2596, in execute
    _exec(statements, self.globals, locals)
  File "<string>", line 2, in <module>
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 198, in _expand_template
    interpreter.string(content, str(template_path), kwargs)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2391, in string
    self.safe(scanner, True, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2401, in safe
    self.parse(scanner, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2421, in parse
    token.run(self, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 1425, in run
    interpreter.execute(self.code, locals)
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2596, in execute
    _exec(statements, self.globals, locals)
  File "<string>", line 27, in <module>
TypeError: %u format: a number is required, not str
Exception ignored in: <function Interpreter.__del__ at 0x7f8a84dcee50>
Traceback (most recent call last):
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2094, in __del__
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2157, in shutdown
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2647, in finalize
  File "/home/jacob/.local/lib/python3.8/site-packages/em.py", line 2200, in push
AttributeError: '_io.TextIOWrapper' object has no attribute 'push'
make[2]: *** [CMakeFiles/foo__rosidl_typesupport_introspection_cpp.dir/build.make:70: rosidl_typesupport_introspection_cpp/foo/msg/detail/my_message__rosidl_typesupport_introspection_cpp.hpp] Error 1
make[2]: *** Deleting file 'rosidl_typesupport_introspection_cpp/foo/msg/detail/my_message__rosidl_typesupport_introspection_cpp.hpp'
make[1]: *** [CMakeFiles/Makefile2:468: CMakeFiles/foo__rosidl_typesupport_introspection_cpp.dir/all] Error 2

In case (3), we get a different error:

'>' not supported between instances of 'str' and 'int' /tmp/bug_report/src/foo/msg/MyMessage.idl
Error processing idl file: /tmp/bug_report/src/foo/msg/MyMessage.idl
'>' not supported between instances of 'str' and 'int' /tmp/bug_report/src/foo/msg/MyMessage.idl
Error processing idl file: /tmp/bug_report/src/foo/msg/MyMessage.idl
Traceback (most recent call last):
  File "/home/jacob/ws/ros/latest/install/rosidl_generator_c/share/rosidl_generator_c/cmake/../../../lib/rosidl_generator_c/rosidl_generator_c", line 40, in <module>
    sys.exit(main())
  File "/home/jacob/ws/ros/latest/install/rosidl_generator_c/share/rosidl_generator_c/cmake/../../../lib/rosidl_generator_c/rosidl_generator_c", line 34, in main
    return generate_c(
  File "/home/jacob/ws/ros/latest/install/rosidl_generator_c/lib/python3.8/site-packages/rosidl_generator_c/__init__.py", line 37, in generate_c
    generate_files(
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 96, in generate_files
    raise(e)
  File "/home/jacob/ws/ros/latest/install/rosidl_cmake/lib/python3.8/site-packages/rosidl_cmake/__init__.py", line 74, in generate_files
    idl_file = parse_idl_file(locator)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 64, in parse_idl_file
    content = parse_idl_string(string, png_file=png_file)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 73, in parse_idl_string
    content = extract_content_from_ast(tree)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 144, in extract_content_from_ast
    add_message_members(msg, struct_defs[0])
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 365, in add_message_members
    abstract_type = get_abstract_type_from_type_spec(type_spec)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 406, in get_abstract_type_from_type_spec
    return get_abstract_type(child)
  File "/home/jacob/ws/ros/latest/install/rosidl_parser/lib/python3.8/site-packages/rosidl_parser/parser.py", line 456, in get_abstract_type
    assert maximum_size > 0
TypeError: '>' not supported between instances of 'str' and 'int'
make[2]: *** [CMakeFiles/foo__rosidl_generator_c.dir/build.make:75: rosidl_generator_c/foo/msg/my_message.h] Error 1
make[1]: *** [CMakeFiles/Makefile2:300: CMakeFiles/foo__rosidl_generator_c.dir/all] Error 2

Additional information

I haven't tried, but I assume the issue relates to all types of constants, not just unsigned longs.

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