[BUG] microROS Host(Linux) emulator running failed: `xxx_rosidl_typesupport_microxrcedds_c.so` lost.

[ZhenshengLee]

Issue template

• Hardware description: host pc
• RTOS: Linux
• Installation type: micro_ros_setup like, the src code is in https://github.com/ZhenshengLee/ros2_mcu/tree/master/host_ws
• Version or commit hash: galactic

Steps to reproduce the issue

https://github.com/ZhenshengLee/ros2_mcu/tree/master/host_ws

compile

source /opt/ros/galactic/setup.bash
./build.sh

colcon.meta is https://github.com/ZhenshengLee/ros2_mcu/blob/master/host_ws/colcon.meta

running agent

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

running app

cd ./host_ws
source /opt/ros/galactic/setup.bash
source ./install/local_setup.bash
export RMW_IMPLEMENTATION=rmw_microxrcedds
ros2 run micro_ros_demos_rclc int32_publisher

Expected behavior

connecting with agent and publish msg.

Actual behavior

run failer.

zs@zs-3630:~/zs_ws/ros2_mcu/host_ws$ ros2 run micro_ros_demos_rclc int32_publisher
[ERROR] [1647244684.547171495] [rclc]: [rclc_publisher_init_best_effort] Error in rcl_publisher_init: Could not load library libstd_msgs__rosidl_typesupport_microxrcedds_c.so: dlopen error: libstd_msgs__rosidl_typesupport_microxrcedds_c.so: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-galactic-rcutils-4.0.2/src/shared_library.c:99, at /tmp/binarydeb/ros-galactic-rosidl-typesupport-c-1.2.1/src/type_support_dispatch.hpp:78, at /tmp/binarydeb/ros-galactic-rcl-3.1.2/src/rcl/publisher.c:114

Failed status on line 40: 1. Aborting.

Additional information

in host_ws/install/std_msgs/lib, there are only static libs with rosidl_typesupport_microxrcedds_cpp and rosidl_typesupport_microxrcedds_c

zs@zs-3630:~/zs_ws/ros2_mcu/host_ws/install/std_msgs/lib$ ls
libstd_msgs__python.so                  libstd_msgs__rosidl_typesupport_fastrtps_cpp.so       libstd_msgs__rosidl_typesupport_microxrcedds_c.a
libstd_msgs__rosidl_generator_c.so      libstd_msgs__rosidl_typesupport_fastrtps_c.so         libstd_msgs__rosidl_typesupport_microxrcedds_cpp.a
libstd_msgs__rosidl_typesupport_cpp.so  libstd_msgs__rosidl_typesupport_introspection_cpp.so  python3.8
libstd_msgs__rosidl_typesupport_c.so    libstd_msgs__rosidl_typesupport_introspection_c.so

[pablogs9]

Normally the build script is called from here: https://github.com/micro-ROS/micro_ros_setup/blob/galactic/scripts/build_firmware.sh

And this parent script prepares the environment variables and path in order to handle correctly the type support.

Please make sure that your custom build process follows the same logic.

[ZhenshengLee]

Please make sure that your custom build process follows the same logic.

@pablogs9

I am sure that the build script and colcon.meta is following https://github.com/micro-ROS/micro_ros_setup/blob/galactic/scripts/build_firmware.sh and https://github.com/micro-ROS/micro_ros_setup/tree/galactic/config/host/generic

But due to network issues, I cannot test building scripts from this micro_ros_setup repo, could you give this a test?

I made a PR #473 to generate dynamic libs and made things work, which needs your review.

[pablogs9]

#473 merged, closing