Possible to remove commercial dependency on rti-connext-dds-5.3.1

[xingjl6280]

Hi team,

I'm using the dashing branch.
Everything works fine but below step requires commercial license acceptance

rosdep install --from-paths src -y -i --skip-keys "ament_tools"

Is there a way to use eProsima’s Fast RTPS to remove the dependency?

thank you

[jacobperron]

I believe Fast-RTPS is used by default. Connext is certainly not a requirement. It looks like it is being transitively brought in as a dependency during the rosdep install command. Try adding these additional packages to "skip keys":

    rosdep install --from-paths src -y -i --skip-keys "ament_tools rti-connext-dds-5.3.1 rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp"

If that works, we can update the instructions in the README.

[xingjl6280]

Hi Jacob,

thanks for your quick response.

I've tried your new command to skip these packages.
It works to skip rti-context related dependencies.

But I got below error.
Actually same error happens no matter skip rti-context or not.
Previously, i followed update-readme branch successfully built ros2-java.
But now, after the branch merged into dashing branch, something wrong happened.
Shall I raise a new ticket for the error? Is there a workaround now I can fix the error?

Starting >>> rosidl_generator_java
--- stderr: rosidl_generator_java
In file included from /ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/dds_opensplice/empty__type_support.cpp:19:0:
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:37:31: error: ‘rosidl_generator_java::msg::dds_’ has not been declared
rosidl_generator_java::msg::dds_::Empty_ & dds_message);
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:37:44: error: expected ‘,’ or ‘...’ before ‘&’ token
rosidl_generator_java::msg::dds_::Empty_ & dds_message);
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:37: error: ‘dds_’ in namespace ‘rosidl_generator_java::msg’ does not name a type
const rosidl_generator_java::msg::dds_::Empty_ & dds_message,
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:50: error: expected unqualified-id before ‘&’ token
const rosidl_generator_java::msg::dds_::Empty_ & dds_message,
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:50: error: expected ‘)’ before ‘&’ token
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:52: error: expected initializer before ‘dds_message’
const rosidl_generator_java::msg::dds_::Empty_ & dds_message,
^~~~~~~~~~~
In file included from /ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/dds_opensplice/defaults__type_support.cpp:19:0:
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:37:31: error: ‘rosidl_generator_java::msg::dds_’ has not been declared
rosidl_generator_java::msg::dds_::Defaults_ & dds_message);
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:37:47: error: expected ‘,’ or ‘...’ before ‘&’ token
rosidl_generator_java::msg::dds_::Defaults_ & dds_message);
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:37: error: ‘dds_’ in namespace ‘rosidl_generator_java::msg’ does not name a type
const rosidl_generator_java::msg::dds_::Defaults_ & dds_message,
^~~~
In file included from /ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/dds_opensplice/nested__type_support.cpp:19:0:
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:37:31: error: ‘rosidl_generator_java::msg::dds_’ has not been declared
rosidl_generator_java::msg::dds_::Nested_ & dds_message);
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:37:45: error: expected ‘,’ or ‘...’ before ‘&’ token
rosidl_generator_java::msg::dds_::Nested_ & dds_message);
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:37: error: ‘dds_’ in namespace ‘rosidl_generator_java::msg’ does not name a type
const rosidl_generator_java::msg::dds_::Nested_ & dds_message,
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:51: error: expected unqualified-id before ‘&’ token
const rosidl_generator_java::msg::dds_::Nested_ & dds_message,
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:51: error: expected ‘)’ before ‘&’ token
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:53: error: expected initializer before ‘dds_message’
const rosidl_generator_java::msg::dds_::Nested_ & dds_message,
^~~~~~~~~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:53: error: expected unqualified-id before ‘&’ token
const rosidl_generator_java::msg::dds_::Defaults_ & dds_message,
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:53: error: expected ‘)’ before ‘&’ token
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:55: error: expected initializer before ‘dds_message’
const rosidl_generator_java::msg::dds_::Defaults_ & dds_message,

[xingjl6280]

Is it due to the recent ros version update?

I compared package with the environment I installed previously before Nov, found below packages got updated

ros-dashing-ament-pep8 0.7.12-1bionic.20201125.034318 amd64
ros-dashing-ament-pyflakes 0.7.12-1bionic.20201125.034705 amd64
ros-dashing-opensplice-cmake-module 0.7.3-1bionic.20201125.042344 amd64
ros-dashing-rosidl-generator-dds-idl 0.7.1-1bionic.20201125.042556 amd64
ros-dashing-rosidl-typesupport-opensplice-c 0.7.3-1bionic.20201125.045517 amd64
ros-dashing-rosidl-typesupport-opensplice-cpp 0.7.3-1bionic.20201125.044859 amd64
ros-dashing-test-interface-files 0.7.1-1bionic.20201125.034013 amd64

[xingjl6280]

Hi Jacob,

thanks for your quick response.

I've tried your new command to skip these packages.
It works to skip rti-context related dependencies.

But I got below error.
Actually same error happens no matter skip rti-context or not.
Previously, i followed update-readme branch successfully built ros2-java.
But now, after the branch merged into dashing branch, something wrong happened.
Shall I raise a new ticket for the error? Is there a workaround now I can fix the error?

Starting >>> rosidl_generator_java
--- stderr: rosidl_generator_java
In file included from /ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/dds_opensplice/empty__type_support.cpp:19:0:
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:37:31: error: ‘rosidl_generator_java::msg::dds_’ has not been declared
rosidl_generator_java::msg::dds_::Empty_ & dds_message);
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:37:44: error: expected ‘,’ or ‘...’ before ‘&’ token
rosidl_generator_java::msg::dds_::Empty_ & dds_message);
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:37: error: ‘dds_’ in namespace ‘rosidl_generator_java::msg’ does not name a type
const rosidl_generator_java::msg::dds_::Empty_ & dds_message,
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:50: error: expected unqualified-id before ‘&’ token
const rosidl_generator_java::msg::dds_::Empty_ & dds_message,
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:50: error: expected ‘)’ before ‘&’ token
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/empty__rosidl_typesupport_opensplice_cpp.hpp:46:52: error: expected initializer before ‘dds_message’
const rosidl_generator_java::msg::dds_::Empty_ & dds_message,
^~~~~~~~~~~
In file included from /ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/dds_opensplice/defaults__type_support.cpp:19:0:
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:37:31: error: ‘rosidl_generator_java::msg::dds_’ has not been declared
rosidl_generator_java::msg::dds_::Defaults_ & dds_message);
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:37:47: error: expected ‘,’ or ‘...’ before ‘&’ token
rosidl_generator_java::msg::dds_::Defaults_ & dds_message);
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:37: error: ‘dds_’ in namespace ‘rosidl_generator_java::msg’ does not name a type
const rosidl_generator_java::msg::dds_::Defaults_ & dds_message,
^~~~
In file included from /ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/dds_opensplice/nested__type_support.cpp:19:0:
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:37:31: error: ‘rosidl_generator_java::msg::dds_’ has not been declared
rosidl_generator_java::msg::dds_::Nested_ & dds_message);
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:37:45: error: expected ‘,’ or ‘...’ before ‘&’ token
rosidl_generator_java::msg::dds_::Nested_ & dds_message);
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:37: error: ‘dds_’ in namespace ‘rosidl_generator_java::msg’ does not name a type
const rosidl_generator_java::msg::dds_::Nested_ & dds_message,
^~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:51: error: expected unqualified-id before ‘&’ token
const rosidl_generator_java::msg::dds_::Nested_ & dds_message,
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:51: error: expected ‘)’ before ‘&’ token
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/nested__rosidl_typesupport_opensplice_cpp.hpp:46:53: error: expected initializer before ‘dds_message’
const rosidl_generator_java::msg::dds_::Nested_ & dds_message,
^~~~~~~~~~~
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:53: error: expected unqualified-id before ‘&’ token
const rosidl_generator_java::msg::dds_::Defaults_ & dds_message,
^
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:53: error: expected ‘)’ before ‘&’ token
/ros2_java_ws/build/rosidl_generator_java/rosidl_typesupport_opensplice_cpp/rosidl_generator_java/msg/defaults__rosidl_typesupport_opensplice_cpp.hpp:46:55: error: expected initializer before ‘dds_message’
const rosidl_generator_java::msg::dds_::Defaults_ & dds_message,

[xingjl6280]

The command provided could remove the commercial dependency, so close the ticket.
For the build error, will raise a new issue.