test_acc build error in Linorobot2_hardware

[Mark Barton]

Ubuntu 24.04

Ros2 Jazzy

I was able to build and run micro-ros firmware,  motor test and IMU test successfully. However I was not able to build the test acceleration  code in test_acc directory.  It is an obvious issue with finding the RMW package. II don't recall having to install that package unless it was part of the linorobot install.

I will continue to look at this. Any hints is appreciated.

Thanks,

Mark

Here is the result of the build.:

pio run -e pico -t upload
Processing pico (platform: https://github.com/maxgerhardt/platform-raspberrypi.git; board: rpipico; framework: arduino)
-------------------------------------------------------------------------------------------------------
Library Manager: Installing git+https://github.com/micro-ROS/micro_ros_platformio
git version 2.43.0
Cloning into '/home/mark/.platformio/.cache/tmp/pkg-installing-3fzt1m05'...
remote: Enumerating objects: 77, done.
remote: Counting objects: 100% (77/77), done.
remote: Compressing objects: 100% (62/62), done.
remote: Total 77 (delta 12), reused 38 (delta 4), pack-reused 0 (from 0)
Receiving objects: 100% (77/77), 132.22 KiB | 796.00 KiB/s, done.
Resolving deltas: 100% (12/12), done.
Library Manager: micro_ros_...@0.0.1+sha.cfee17f has been installed!
Library Manager: Installing mcauser/i2cdetect
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: i2cd...@1.0.0 has been installed!
Library Manager: Installing jrowberg/I2Cdevlib-Core
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: I2Cdevl...@1.0.1 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing Wire @ *
Library Manager: Installing jrowberg/I2Cdevlib-ADXL345
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: I2Cdevli...@1.0.0 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing Wire @ *
Library Manager: Installing jrowberg/I2Cdevlib-AK8975
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: I2Cdevli...@1.0.0 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing jrowberg/I2Cdevlib-MPU6050 @ *
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: I2Cdevli...@1.0.0 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing jrowberg/I2Cdevlib-HMC5843
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: I2Cdevli...@1.0.0 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing jrowberg/I2Cdevlib-HMC5883L
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: I2Cdevlib...@1.0.0 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing jrowberg/I2Cdevlib-ITG3200
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: I2Cdevli...@1.0.0 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing git+https://github.com/dthain/QMC5883L
git version 2.43.0
Cloning into '/home/mark/.platformio/.cache/tmp/pkg-installing-1lx2aqbo'...
remote: Enumerating objects: 12, done.
remote: Counting objects: 100% (12/12), done.
remote: Compressing objects: 100% (10/10), done.
remote: Total 12 (delta 0), reused 5 (delta 0), pack-reused 0 (from 0)
Receiving objects: 100% (12/12), 935.55 KiB | 906.00 KiB/s, done.
Library Manager: QMC5...@1.0.9+sha.a014ab6 has been installed!
Library Manager: Installing git+https://github.com/wollewald/INA219_WE
git version 2.43.0
Cloning into '/home/mark/.platformio/.cache/tmp/pkg-installing-dcc2aahm'...
remote: Enumerating objects: 23, done.
remote: Counting objects: 100% (23/23), done.
remote: Compressing objects: 100% (19/19), done.
remote: Total 23 (delta 4), reused 2 (delta 0), pack-reused 0 (from 0)
Receiving objects: 100% (23/23), 233.90 KiB | 606.00 KiB/s, done.
Resolving deltas: 100% (4/4), done.
Library Manager: INA2...@1.4.1+sha.c8a0d06 has been installed!
Library Manager: Installing git+https://github.com/arcao/Syslog
git version 2.43.0
Cloning into '/home/mark/.platformio/.cache/tmp/pkg-installing-5bepwqy7'...
remote: Enumerating objects: 27, done.
remote: Counting objects: 100% (27/27), done.
remote: Compressing objects: 100% (21/21), done.
remote: Total 27 (delta 5), reused 17 (delta 2), pack-reused 0 (from 0)
Receiving objects: 100% (27/27), 11.85 KiB | 11.85 MiB/s, done.
Resolving deltas: 100% (5/5), done.
Library Manager: Sys...@2.0.0+sha.e9c2eea has been installed!
Library Manager: Installing adafruit/Adafruit BusIO
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: Adafruit Bu...@1.17.4 has been installed!
Library Manager: Installing adafruit/Adafruit PWM Servo Driver Library
Downloading  [####################################]  100%
Unpacking  [####################################]  100%
Library Manager: Adafruit PWM Servo Driver Lib...@3.0.3 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing git+https://github.com/gbr1/rp2040-encoder-library.git
git version 2.43.0
Cloning into '/home/mark/.platformio/.cache/tmp/pkg-installing-xst85o_5'...
remote: Enumerating objects: 14, done.
remote: Counting objects: 100% (14/14), done.
remote: Compressing objects: 100% (12/12), done.
remote: Total 14 (delta 3), reused 7 (delta 0), pack-reused 0 (from 0)
Receiving objects: 100% (14/14), 7.69 KiB | 7.69 MiB/s, done.
Resolving deltas: 100% (3/3), done.
Library Manager: rp2040-enco...@0.2.0+sha.69a0b6d has been installed!
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/raspberrypi/rpipico.html
PLATFORM: Raspberry Pi RP2040 (1.17.0+sha.882d55a) > Pico
HARDWARE: RP2040 133MHz, 256KB RAM, 2MB Flash
DEBUG: Current (blackmagic) External (blackmagic, cmsis-dap, jlink, picoprobe, raspberrypi-swd)
PACKAGES:
 - framework-arduinopico @ 1.40601.0+sha.cdf25b4
 - tool-mklittlefs-rp2040-earlephilhower @ 5.100300.230216 (10.3.0)
 - tool-openocd-rp2040-earlephilhower @ 5.140200.250530 (14.2.0)
 - tool-picotool-rp2040-earlephilhower @ 5.140200.250530 (14.2.0)
 - toolchain-rp2040-earlephilhower @ 5.140200.250530 (14.2.0)
Flash size: 2.00MB
Sketch size: 2.00MB
Filesystem size: 0.00MB
PSRAM size: 0.00MB
Maximium Sketch size: 2093056 EEPROM start: 0x101ff000 Filesystem start: 0x101ff000 Filesystem end: 0x101ff000
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing importlib-resources with pip at PlatformIO environment
/home/mark/.platformio/penv/bin/python -m pip install importlib-resources
Requirement already satisfied: importlib-resources in /home/mark/.platformio/penv/lib/python3.12/site-packages (6.5.2)

[notice] A new release of pip is available: 25.2 -> 26.0.1
[notice] To update, run: pip install --upgrade pip
Installing pyyaml with pip at PlatformIO environment
/home/mark/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /home/mark/.platformio/penv/lib/python3.12/site-packages (6.0.2)

[notice] A new release of pip is available: 25.2 -> 26.0.1
[notice] To update, run: pip install --upgrade pip
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/mark/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /home/mark/.platformio/penv/lib/python3.12/site-packages (2.0.1)

[notice] A new release of pip is available: 25.2 -> 26.0.1
[notice] To update, run: pip install --upgrade pip
Installing empy==3.3.4 with pip at PlatformIO environment
/home/mark/.platformio/penv/bin/python -m pip install empy==3.3.4
Requirement already satisfied: empy==3.3.4 in /home/mark/.platformio/penv/lib/python3.12/site-packages (3.3.4)

[notice] A new release of pip is available: 25.2 -> 26.0.1
[notice] To update, run: pip install --upgrade pip
Configuring rpipico with transport serial
Downloading micro-ROS dev dependencies
 - Downloaded ament_cmake
 - Downloaded ament_lint
 - Downloaded ament_package
 - Downloaded googletest
 - Downloaded ament_cmake_ros
 - Downloaded ament_index
Building micro-ROS dev dependencies
Build dev micro-ROS environment failed:
 /home/mark/.platformio/penv/lib/python3.12/site-packages/setuptools/_distutils/dist.py:289: UserWarning: Unknown distribution option: 'tests_require'
  warnings.warn(msg)
/home/mark/.platformio/penv/lib/python3.12/site-packages/setuptools/dist.py:759: SetuptoolsDeprecationWarning: License classifiers are deprecated.
!!

        ********************************************************************************
        Please consider removing the following classifiers in favor of a SPDX license expression:

        License :: OSI Approved :: Apache Software License

        See https://packaging.python.org/en/latest/guides/writing-pyproject-toml/#license for details.
        ********************************************************************************

!!
  self._finalize_license_expression()
--- stderr: gtest_vendor
CMake Warning:
  Manually-specified variables were not used by the project:

    BUILD_TESTING
    Python3_EXECUTABLE

...

<Removed many more of the classifier messages>

...

--- stderr: rmw_test_fixture
CMake Error at CMakeLists.txt:6 (find_package):
  By not providing "Findrmw.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "rmw", but
  CMake did not find one.

  Could not find a package configuration file provided by "rmw" with any of
  the following names:

    rmwConfig.cmake
    rmw-config.cmake

  Add the installation prefix of "rmw" to CMAKE_PREFIX_PATH or set "rmw_DIR"
  to a directory containing one of the above files.  If "rmw" provides a
  separate development package or SDK, be sure it has been installed.


---
Failed   <<< rmw_test_fixture [1.13s, exited with code 1]

==================================== [FAILED] Took 134.88 seconds ====================================

Environment    Status    Duration
-------------  --------  ------------
pico           FAILED    00:02:14.878
================================ 1 failed, 0 succeeded in 00:02:14.878 ================================

[Paul Bouchier]

Hi Mark. Dumb question: have you tried installing ros-jazzy-rmw? (The instructions don't call for it - but just asking.)  I tried building test_acc from the master branch and it built for me.

Paul

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[Mark Barton]

No, not a dumb question. Just me being dumb. In my defense I shall claim it was a senior moment. Thank you for the gentle nudge.

Mark

[Mark Barton]

I upgraded to the latest linorobot2_hardware code and now test_acc builds without errors. rmw was downloaded during the dependency build.