I am in the development branch of Chrono, using ROS humble on Ubuntu
22.04.2. I have created a custom ROS package that builds a demo program
from Chrono. I know this might not necessarily be a supported issue, so
feel free to tell me that too!
I am using a CMakeLists.txt file (linked below) similar to the provided one
in template_project, but altered minimally for use with colcon build.
I can confirm that I built and installed Chrono with all the modules
necessary and have updated my dynamic links with `sudo ldconfig`. When I
remove Ros as a build component, everything builds fine, but once I add Ros
as a build component to Chrono, I get the error below.
Any ideas on what I should be adding to my CMakeLists to help resolve this
issue?
`Starting >>> chrono_sim
--- stderr: chrono_sim
CMake Error at /usr/local/lib/cmake/Chrono/chrono-config.cmake:474
(find_package):
By not providing "FindROS2.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "ROS2", but
CMake did not find one.
Could not find a package configuration file provided by "ROS2" with any of
the following names:
ROS2Config.cmake
ros2-config.cmake
Add the installation prefix of "ROS2" to CMAKE_PREFIX_PATH or set
"ROS2_DIR" to a directory containing one of the above files. If "ROS2"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:6 (find_package)
gmake: *** [Makefile:267: cmake_check_build_system] Error 1
---
Failed <<< chrono_sim [0.06s, exited with code 2]
Summary: 0 packages finished [0.21s]
1 package failed: chrono_sim
1 package had stderr output: chrono_sim
`
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cmake_minimum_required(VERSION 3.18)
cmake_policy(SET CMP0091 NEW)
project(chrono_sim)
LIST(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}/../Chrono/lib")
find_package(Chrono
COMPONENTS Irrlicht Vehicle Parsers Ros
REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
set(CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD ${CHRONO_CXX_STANDARD})
include_directories(${CHRONO_INCLUDE_DIRS})
add_executable(my_demo src/my_example.cpp)
ament_target_dependencies(my_demo)
install(TARGETS
my_demo
DESTINATION ~/ros2_ws/src/chrono_sim/bin)
target_compile_definitions(my_demo PUBLIC
"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\"")
target_compile_options(my_demo PUBLIC ${CHRONO_CXX_FLAGS})
target_link_options(my_demo PUBLIC ${CHRONO_LINKER_FLAGS})
target_link_libraries(my_demo ${CHRONO_LIBRARIES})
ament_package()
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd"; schematypens="http://www.w3.org/2001/XMLSchema";?>
<package format="3">
<name>chrono_sim</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="[email protected]">parallels</maintainer>
<license>Apache-2.0</license>
<depend>rclcpp</depend>
<depend>ROS2</depend>
<depend>tf2_ros</depend>
<depend>std_msgs</depend>
<depend>chrono</depend>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>chrono</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
