micro_ros_agent installation issue on ROS 2 Humble Ubuntu 22.04

[TannerGilbert]

Issue template

• Hardware description: PC, Ubuntu 22.04
• RTOS: Ardupilot SITL
• Installation type: micro_ros_setup
• Version or commit hash: humble

Steps to reproduce the issue

Follow First micro-ROS Application on Linux. When creating and building the micro-ROS agent

ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh

I run into the following error:

stderr: micro_ros_agent
CMake Error at /opt/ros/humble/share/fastrtps/cmake/fastrtps-dynamic-targets.cmake:37 (message):
Some (but not all) targets in this export set were already defined.

Targets Defined: eProsima_atomic

Targets not yet defined: fastrtps

Call Stack (most recent call first):
/opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:60 (include)
CMakeLists.txt:37 (find_package)

Expected behavior

micro-ROS agent installation works as expected and I can use it for working with Ardupilot.

Actual behavior

stderr: micro_ros_agent
CMake Error at /opt/ros/humble/share/fastrtps/cmake/fastrtps-dynamic-targets.cmake:37 (message):
Some (but not all) targets in this export set were already defined.

Targets Defined: eProsima_atomic

Targets not yet defined: fastrtps

Call Stack (most recent call first):
/opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:60 (include)
CMakeLists.txt:37 (find_package)

Additional information

Installing Fast-DDS from source didn't fix the issue for me either

[seifseghiri]

Hi Tanner,
Any solution yet for fixing this?
Thanks in advance.

[starrtriaxle82]

Did you figure out this issue? I'm experiencing the same error.

Targets Defined: eProsima_atomic

Targets not yet defined: fastrtps

[TannerGilbert]

No I haven't found a solution to this yet.

[Ericc99]

I got the same problem as well ... hope someone can figure it out soon ...
Before that, may i suggest you use a docker image instead with the following command

sudo docker run -it --rm --net=host microros/micro-ros-agent:humble udp4 --port 8888 -v6

this works for me at the moment.

but watch out for your ufw status, or else all connection requests will be blocked lol.

[Ryanf55]

Using net=host and port 8888 is redundant, net=host opens everything.
ufw is not installed by default on ubuntu.
The errors explained are during configuration, not runtime, so I don't think the networking tips you have are related at all to the problems this ticket was created for.

[p8410077]

@TannerGilbert did you resolve the problem ? I ran into the same issue.

[TannerGilbert]

No unfortunately I didn't solve this yet. The error only occurs on one of my devices though so currently I just run on a different one. The solution proposed by @Ericc99 should probably also solve the issue but I haven't tested it myself yet.

[CursedRock17]

Specifications: Ubuntu 22.04, Humble, AMD_64
Just ran into this error about 15 minutes ago, I resolved it on my system by removing my workspace, restarting my PC, then altering the install script a bit.
Instead of:

mkdir microros_ws
cd microros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

I called:

mkdir -p microros_ws/src && cd microros_ws/src
git clone https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup -b humble

Also, instead of just running the two shell scripts back to back:

ros2 run micro_ros_setup create_agent_ws.sh
# Then
source install/local_setup.bash
# Then
ros2 run micro_ros_setup build_agent.sh
# Then
source install/local_setup.bash

I no clue if it was a string of luck because it doesn't seem to relate, but it might prove useful to someone in the future. That being said, if it resolves the issue for a couple people it will likely be worth closing.

[seifseghiri]

It was a long time ago, but I think I found the issue. Which was that I accidentally installed a wrong version of eProsima and I believe it was installed in /opt/ or snap. Make sure no eProsima version is installed, outside of the one coming from installing ROS.

[pazel68]

I found the problem of mine is eProsima Micro XRCE-DDS Agent has files in /usr/local/lib

I fixed this by:

sudo rm -f /usr/local/bin/MicroXRCEAgent
sudo rm -rf /usr/local/lib/libuxr*
sudo rm -rf /usr/local/include/uxr
sudo ldconfig

#Then create micro-ros agent again.

[lijin166]

I'm facing the same problem again today. While it seems to be fixed now, I'm unclear about the exact solution. I performed just two specific actions: reinstalling the ros-jazzy-rmw-fastrtps-* package and rebuilding the 'micro-xrce-dds' software.
sudo apt reinstall ros-jazzy-rmw-fastrtps-*
git clone https://github.com/eProsima/Micro-XRCE-DDS-Client.git and install it.
I hope this could be helpful.

[Dworf2882]

Ubuntu 22.04
ros2 humble

4 a.m. the whole problem was that I got a few more versions of fastdds from somewhere, with which I knocked down Micro-XRCE-DDS.After cleaning, everything worked, thank God

alex@alex:~/ardu_ws$ ls /usr/local/lib | grep fast
ls /usr/local/lib | grep fastrtps
ls /usr/local/include | grep fast
libfastcdr.so
libfastcdr.so.2.2.7
libfastdds.so
libfastdds.so.3.5.0.0
fastcdr
fastdds
alex@alex:~/ardu_ws$ sudo rm -f /usr/local/lib/libfastcdr.so*
sudo rm -f /usr/local/lib/libfastdds.so*
sudo rm -rf /usr/local/include/fastcdr
sudo rm -rf /usr/local/include/fastdds
sudo ldconfig
[sudo] password for alex:
alex@alex:~/ardu_ws$ ls /usr/local/include | grep fast
alex@alex:~/ardu_ws$ rm -rf build install log
alex@alex:~/ardu_ws$ echo $RMW_IMPLEMENTATION
rmw_cyclonedds_cpp
alex@alex:~/ardu_ws$ colcon build --packages-up-to ardupilot_dds_tests
Starting >>> ardupilot_msgs
Starting >>> micro_ros_agent
Finished <<< ardupilot_msgs [6.60s]
--- stderr: micro_ros_agent
Cloning into 'xrceagent'...
HEAD is now at 57d0862 Release v2.4.2
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (tinyxml2)
  does not match the name of the calling package (TinyXML2).  This can lead
  to problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args)
  /opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package)
  CMakeLists.txt:153 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Error at /usr/local/lib/cmake/fastcdr/fastcdr-shared-targets.cmake:75 (message):
  The imported target "fastcdr" references the file

     "/usr/local/lib/libfastcdr.so.2.2.7"

  but this file does not exist.  Possible reasons include:

  * The file was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and contained

     "/usr/local/lib/cmake/fastcdr/fastcdr-shared-targets.cmake"

  but not all the files it references.

Call Stack (most recent call first):
  /usr/local/lib/cmake/fastcdr/fastcdr-config.cmake:80 (include)
  /usr/local/lib/cmake/fastcdr/fastcdr-config.cmake:101 (fastcdr_load_targets)
  /usr/local/share/microxrcedds_agent/cmake/microxrcedds_agentConfig.cmake:53 (find_package)
  CMakeLists.txt:34 (find_package)


gmake[2]: *** [CMakeFiles/micro_ros_agent.dir/build.make:94: micro_ros_agent-prefix/src/micro_ros_agent-stamp/micro_ros_agent-configure] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/micro_ros_agent.dir/all] Error 2
gmake: *** [Makefile:91: all] Error 2
---
Failed   <<< micro_ros_agent [26.7s, exited with code 2]

Summary: 1 package finished [27.1s]
  1 package failed: micro_ros_agent
  1 package had stderr output: micro_ros_agent
  2 packages not processed
alex@alex:~/ardu_ws$ source^C
alex@alex:~/ardu_ws$ sudo rm -rf /usr/local/lib/cmake/fastcdr
sudo rm -rf /usr/local/lib/libfastcdr*
sudo rm -rf /usr/local/include/fastcdr
sudo ldconfig
alex@alex:~/ardu_ws$ ls /usr/local/lib | grep fast
ls /usr/local/lib/cmake | grep fast
alex@alex:~/ardu_ws$ cd ~/ardu_ws
rm -rf build install log
alex@alex:~/ardu_ws$ source /opt/ros/humble/setup.bash
colcon build
Starting >>> ardupilot_msgs
Starting >>> micro_ros_agent
Finished <<< ardupilot_msgs [6.78s]
--- stderr: micro_ros_agent
Cloning into 'xrceagent'...
HEAD is now at 57d0862 Release v2.4.2
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (tinyxml2)
  does not match the name of the calling package (TinyXML2).  This can lead
  to problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args)
  /opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package)
  CMakeLists.txt:153 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Error at /usr/local/share/microxrcedds_agent/cmake/microxrcedds_agentConfig.cmake:53 (find_package):
  Could not find a configuration file for package "fastcdr" that is
  compatible with requested version "2.2.4".

  The following configuration files were considered but not accepted:

    /opt/ros/humble/lib/cmake/fastcdr/fastcdr-config.cmake, version: 1.0.29

Call Stack (most recent call first):
  CMakeLists.txt:34 (find_package)


gmake[2]: *** [CMakeFiles/micro_ros_agent.dir/build.make:94: micro_ros_agent-prefix/src/micro_ros_agent-stamp/micro_ros_agent-configure] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/micro_ros_agent.dir/all] Error 2
gmake: *** [Makefile:91: all] Error 2
---
Failed   <<< micro_ros_agent [25.6s, exited with code 2]

Summary: 1 package finished [26.0s]
  1 package failed: micro_ros_agent
  1 package had stderr output: micro_ros_agent
  2 packages not processed
alex@alex:~/ardu_ws$ ^C
alex@alex:~/ardu_ws$ ^C
alex@alex:~/ardu_ws$ ^C
alex@alex:~/ardu_ws$ ^C
alex@alex:~/ardu_ws$ cd ..
alex@alex:~$ cd M
MAVSDK/             Micro-XRCE-DDS-Gen/ Music/
alex@alex:~$ cd M
MAVSDK/             Micro-XRCE-DDS-Gen/ Music/
alex@alex:~$ cd Micro-XRCE-DDS-Gen/^C
alex@alex:~$ rm -rf Micro-XRCE-DDS-Gen/
alex@alex:~$ sudo rm -rf /usr/local/share/microxrcedds_agent
sudo rm -rf /usr/local/lib/cmake/microxrcedds_agent
sudo rm -rf /usr/local/include/microxrcedds_agent
sudo ldconfig
alex@alex:~$ ls /usr/local/share | grep micro
ls /usr/local/lib/cmake | grep micro
microcdr
microxrcedds_client
alex@alex:~$ sudo rm -rf /usr/local/share/microcdr
sudo rm -rf /usr/local/share/microxrcedds_client

sudo rm -rf /usr/local/lib/cmake/microcdr
sudo rm -rf /usr/local/lib/cmake/microxrcedds_client

sudo rm -rf /usr/local/include/microcdr
sudo rm -rf /usr/local/include/microxrcedds_client

sudo rm -f /usr/local/lib/libmicrocdr*
sudo rm -f /usr/local/lib/libmicroxrcedds*

sudo ldconfig
alex@alex:~$ ls /usr/local/share | grep micro
ls /usr/local/lib/cmake | grep micro
ls /usr/local/lib | grep micro
alex@alex:~$ cd ~/ardu_ws
rm -rf build install log
alex@alex:~/ardu_ws$ colcon build
Starting >>> ardupilot_msgs
Starting >>> micro_ros_agent
Finished <<< ardupilot_msgs [6.59s]
--- stderr: micro_ros_agent
Cloning into 'xrceagent'...
HEAD is now at 57d0862 Release v2.4.2
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (tinyxml2)
  does not match the name of the calling package (TinyXML2).  This can lead
  to problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args)
  /opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package)
  CMakeLists.txt:153 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

---
Finished <<< micro_ros_agent [31.9s]
Starting >>> ardupilot_sitl
--- stderr: ardupilot_sitl
Could not find the program ['microxrceddsgen']
(complete log in /home/alex/ardu_ws/src/ardupilot/build/config.log)
gmake[2]: *** [CMakeFiles/ardupilot_configure.dir/build.make:70: CMakeFiles/ardupilot_configure] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:142: CMakeFiles/ardupilot_configure.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ardupilot_sitl [2.09s, exited with code 2]

Summary: 2 packages finished [34.4s]
  1 package failed: ardupilot_sitl
  2 packages had stderr output: ardupilot_sitl micro_ros_agent
  1 package not processed
alex@alex:~/ardu_ws$ cd
alex@alex:~$ git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
Cloning into 'Micro-XRCE-DDS-Gen'...
remote: Enumerating objects: 1289, done.
remote: Counting objects: 100% (136/136), done.
remote: Compressing objects: 100% (45/45), done.
remote: Total 1289 (delta 113), reused 91 (delta 91), pack-reused 1153 (from 2)
Receiving objects: 100% (1289/1289), 390.22 KiB | 543.00 KiB/s, done.
Resolving deltas: 100% (462/462), done.
Submodule 'thirdparty/IDL-Parser' (https://github.com/ArduPilot/OMG-IDL-Parser.git) registered for path 'thirdparty/IDL-Parser'
Submodule 'thirdparty/IDL-Test-Types' (https://github.com/eProsima/dds-types-test.git) registered for path 'thirdparty/IDL-Test-Types'
Cloning into '/home/alex/Micro-XRCE-DDS-Gen/thirdparty/IDL-Parser'...
remote: Enumerating objects: 2631, done.
remote: Counting objects: 100% (552/552), done.
remote: Compressing objects: 100% (169/169), done.
remote: Total 2631 (delta 478), reused 383 (delta 383), pack-reused 2079 (from 2)
Receiving objects: 100% (2631/2631), 615.60 KiB | 1.36 MiB/s, done.
Resolving deltas: 100% (1058/1058), done.
Cloning into '/home/alex/Micro-XRCE-DDS-Gen/thirdparty/IDL-Test-Types'...
remote: Enumerating objects: 444, done.
remote: Counting objects: 100% (145/145), done.
remote: Compressing objects: 100% (86/86), done.
remote: Total 444 (delta 83), reused 66 (delta 57), pack-reused 299 (from 1)
Receiving objects: 100% (444/444), 112.88 KiB | 760.00 KiB/s, done.
Resolving deltas: 100% (232/232), done.
Submodule path 'thirdparty/IDL-Parser': checked out '6928bd3d94930728c7553855a4779a1f55ce3f21'
Submodule path 'thirdparty/IDL-Test-Types': checked out 'a84f14249c3677890ec04ba283c6d66a5daa935c'
alex@alex:~$ cd Micro-XRCE-DDS-Gen
./gradlew assemble

BUILD SUCCESSFUL in 8s
6 actionable tasks: 6 executed
alex@alex:~/Micro-XRCE-DDS-Gen$ microxrceddsgen -help
microxrceddsgen usage:
        microxrceddsgen [options] <file> [<file> ...]
        where the options are:
                -help: shows this help
                -version: shows the current version of eProsima Micro XRCE-DDS Gen.
                -example: Generates an example.
                -replace: replaces existing generated files.
                -ppDisable: disables the preprocessor.
                -ppPath: specifies the preprocessor path.
                -I <path>: add directory to preprocessor include paths.
                -d <path>: sets an output directory for generated files.
                -t <temp dir>: sets a specific directory as a temporary directory.
                -cs: IDL grammar apply case sensitive matching.
        and the supported input files are:
        * IDL files.
alex@alex:~/Micro-XRCE-DDS-Gen$ cd
alex@alex:~$ cd ardu_ws/
alex@alex:~/ardu_ws$ colcon build
Starting >>> ardupilot_msgs
Starting >>> micro_ros_agent
Finished <<< micro_ros_agent [0.13s]
Finished <<< ardupilot_msgs [0.44s]
Starting >>> ardupilot_sitl
[Processing: ardupilot_sitl]
[Processing: ardupilot_sitl]
[1min 17.5s] [2/4 complete] [ardupilot_sitl:build 100% - 1min 16.7s]