Plugin for ROS Eloquent about simros2

[METEORITENMAX]

Hello Tahir,
i also wanted to use the simExtROS2Interface with eloquent and had some issues.
It would be helpful to know which system you are using and which error you get with:

VERBOSE=1 MAKEFLAGS=-j1 colcon build --symlink-install --event-handlers console_direct+ --parallel-workers 1

Here is my solution:

I am using Ubuntu 18.04.

1. The first problem is the CMake version installed by apt on 18.04 is 3.10.2 but you need 3.16 or higher.
   Kitware offers a ppa for apt: https://blog.kitware.com/ubuntu-cmake-repository-now-available/ .

2. Next error:

   CMake Error at CMakeLists.txt:144 (ament_export_targets):
   Unknown CMake command "ament_export_targets".

Navigate to the CMakeLists.txt line 144 and change ament_export_targets to ament_export_interfaces.

3. Then

coppelia_ros2_ws/src/sim_ros2_interface/include/sim_ros2_interface/sim_ros2_interface.h:15:10: fatal error: image_transport/image_transport.hpp: No such file or directory
 #include <image_transport/image_transport.hpp>

Open sim_ros2_interface.cpp and sim_ros2_interface.h and change all occurrences of #include <image_transport/image_transport.hpp> to #include <image_transport/image_transport.h>

If you try this you should get a similar output otherwise the package image_transport is missing.

$ locate image_transport.h 
/opt/ros/eloquent/include/image_transport/image_transport.h

4. One more,

In file included from ~/coppelia_ros2_ws/src/sim_ros2_interface/src/sim_ros2_interface.cpp:479:0:
~/coppelia_ros2_ws/build/sim_ros2_interface/generated/actcli_cancelLastGoal.cpp: In member function ‘void Plugin::cancelLastGoal(cancelLastGoal_in*, cancelLastGoal_out*)’:
/home/max/coppelia_ros2_ws/build/sim_ros2_interface/generated/actcli_cancelLastGoal.cpp:6:86: error: ‘rclcpp::FutureReturnCode’ has not been declared
         if(rclcpp::spin_until_future_complete(node, cancel_result_future) != rclcpp::FutureReturnCode::SUCCESS)

Navigate to the templates folder and open actcli_cancelLastGoal.cpp.
In line 10 change rclcpp::FutureReturnCode::SUCCESS to rclcpp::executor::FutureReturnCode::SUCCESS

Then the colcon build finished, the ROS2Interface load succeeded when starting CoppeliaSim and the ros2InterfaceTopicPublisherAndSubscriber example works for me.

I hope this helps you.

[fferri]

Closing as ROS2 Eloquent is EOL