Issues with building MAVROS with ROS2 humble in Docker Container

[maximecapelle]

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to report bugs or request features.

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Issue details

Hi,
I'm sorry if this has been mentioned before but I am consistently running into the same problem when trying to colcon build the MAVROS package. I am running ROS2 humble in a Docker container and everytime I try to colcon build the packages in my src folder the MAVROS package fails with the following error:

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Starting >>> mavros
--- stderr: mavros
CMake Warning at /usr/src/gtest/CMakeLists.txt:54 (project):
VERSION keyword not followed by a value or was followed by a value that
expanded to nothing.

CMake Deprecation Warning at /usr/src/gtest/CMakeLists.txt:56 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

CMake Warning at /opt/ros/humble/share/ament_cmake_gmock/cmake/ament_cmake_gmock-extras.cmake:118 (message):
'gmock' not found, C++ tests using 'Google Mock' can not be built. Please
install the 'Google Mock' headers globally in your system to enable these
tests (e.g. on Ubuntu/Debian install the package 'google-mock') or get the
ament package 'gmock_vendor'
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_gmock/cmake/ament_add_gmock.cmake:50 (_ament_cmake_gmock_find_gmock)
CMakeLists.txt:254 (ament_add_gmock)

CMake Error at CMakeLists.txt:255 (target_link_libraries):
Cannot specify link libraries for target "mavros-router-test" which is not
built by this project.

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Failed <<< mavros [1.23s, exited with code 1]

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Maybe I am clearly just missing something simple but I would really appreciate some help. The link library "mavros-router-test" keeps causing problems for me. Note, I have managed to install this in the past with ROS1 noetic without issues, but the install for ROS2 humble is more of a struggle. Are there install instructions that are updated for ROS2 humble, the current ones seem to only use catkin.

My current install process is:
sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
rosdep install --from-paths src --ignore-src -y
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
colcon build --packages-select mavros mavlink

Then the error occurs...

Thank you in advance!

MAVROS version and platform

Mavros: latest ros2 branch
ROS: Humble
Ubuntu: 20.04

Autopilot type and version

[ X] ArduPilot
[ ] PX4

[vooon]

Have you done that:

rosdep update && rosdep install -y -i --from-paths src

[maximecapelle]

Hey,
thank you for the fast reply. I have tried the line you suggested and the same error seems to appear. This is what I am currently running:

Build ROS dependency

echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
source /opt/ros/${ROS_DISTRO}/setup.bash

sudo apt-get update
rosdep update

MAVROS

rosdep update && rosdep install -y -i --from-paths src
rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}
sudo apt install -y python3-vcstool python3-rosinstall-generator python3-osrf-pycommon
rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos
rosinstall_generator --format repos --upstream mavros | tee -a /tmp/mavros.repos
vcs import src < /tmp/mavlink.repos
vcs import src < /tmp/mavros.repos
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
colcon build --packages-select mavros mavlink

I have tried many things now so sorry if the commands are a bit cluttered :)

I also noticed that running this line: rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}

rosdep install --from-paths ${ROS_WORKSPACE} --ignore-src --rosdistro=${ROSDISTRO}
WARNING: given --rosdistro but ROS_DISTRO is "humble". Ignoring environment.
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
Usage: rosdep [options]
rosdep: error: no packages or stacks specified

I'm definitely doing something wrong here but I can't figure out what.

[vooon]

Try to complete this instructins in a new workspace: https://github.com/mavlink/mavros/tree/ros2/mavros#source-installation

Do not forget to source /opt/ros/humble/setup.bash before your first call to colcon.

[maximecapelle]

Unfortunately, this did not change the outcome, I ran the exact same commands as this tutorial and the issue still persists.

In my docker file
RUN sudo apt install -y python3-vcstool python3-rosinstall-generator
RUN mkdir -p /workspaces/mavros_testing/src
WORKDIR /workspaces/mavros_testing/
RUN rosinstall_generator --format repos mavlink | tee /tmp/mavlink.repos
RUN rosinstall_generator --format repos --upstream-development mavros | tee -a /tmp/mavros.repos
RUN vcs import src < /tmp/mavlink.repos
RUN vcs import src < /tmp/mavros.repos
RUN apt-get update
RUN sudo python -m pip install pexpect future
RUN rosdep install --from-paths src --ignore-src -y
RUN ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
RUN source /opt/ros/humble/setup.bash && colcon build

[maximecapelle]

I should also add, I had to build ROS2 Humble on Ubuntu 20.04 for the Isaac ros pkgs. This might have some effect.

[vooon]

Just do all the steps manually first. Simply docker exec -ti ros:humble and run the commands.

That's my "ros-in-docker.txt", which works pretty fine:

docker run -it --name ros2-iron -v $HOME/ros2:/ws -v $HOME/.gitconfig:/root/.gitconfig -v /root/.ssh:/root/.ssh -v $HOME/.gnupg:/root/.gnupg -v $HOME/.config:/root/.config -p 14540:14540/udp -p 14545:14545/udp -p 5761:5761 ros:iron

# apt update && apt install ranger tig vim openssh-client python3-bloom python3-future
# rosdep update && rosdep install -y -i --from-paths src