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Coder ROS2 Build Error (colcon) with Custom ROS2 Message

21 vues (au cours des 30 derniers jours)
Michael le 20 Oct 2022
I have a custom ROS2 message that am integrating into a Matlab function that is getting deployed on a remote Linux maching using Coder. During the 'colcon build' step of the Coder execution, I am getting the error:
error: cannot convert 'struct_T*' to 'const uavrt_interfaces_PulseStruct_T*'
82 | MATLABROS2Publisher_publish(pulsePub.PublisherHelper, &pulseMsg);
| ^~~~~~~~~
| |
| struct_T*
The rest of the terminal output after this is at the bottom of this message. My minimally functional Matlab function is below. The error is associated the C++ line of code that corresponds to the send(pulsePub,pulseMsg) line in my Matlab function. It seems to be upset about the type of pulseMsg, but that variable is defined as a ros2message earlier in my code. Below, I have also include the custom ROS2 message definition for Pulse.msg. I have also included the commands I use for using Coder. What is frustrating is that was working a few weeks ago and I can't seem to figure out what changed to cause colcon to error out.
MATLAB Function:
function [] = uavrt_detection_debug()
% ROS2 Setup
ros2Enable = true; %Hard coded switch so that can be ROS2 can be turned off for testing/debugging
if ros2Enable
fprintf("Preparing ROS2 Node and Messages...")
node = ros2node("detector",0);
pulsePub = ros2publisher(node,"/pulse","uavrt_interfaces/Pulse");
pulseMsg = ros2message(pulsePub);
pulseCount = 1;
ID = num2str(564321);
for i = 1:5
%Set pulseMsg parameters for sending
pulseMsg.detector_id = char(ID);
pulseMsg.frequency = 1;
pulseMsg.start_time.sec = int32(1);
pulseMsg.start_time.nanosec = uint32(1);
pulseMsg.end_time.sec = int32(1);
pulseMsg.end_time.nanosec = uint32(1);
pulseMsg.predict_next_start.sec = int32(1);
pulseMsg.predict_next_start.nanosec = uint32(1);
pulseMsg.predict_next_end.sec = int32(1);
pulseMsg.predict_next_end.nanosec = uint32(1);
pulseMsg.snr = 100;
pulseMsg.dft_real = 2;
pulseMsg.dft_imag = 3;
pulseMsg.group_ind = uint16(3);
pulseMsg.group_SNR = 123;
pulseMsg.detection_status = true;
pulseMsg.confirmed_status = false;
pulseCount = pulseCount+1;
fprintf('Transmitted a pulse...\n')
The ROS2 Pulse.msg Definition:
# This is our custom message for pulses
string detector_id
float64 frequency
builtin_interfaces/Time start_time
builtin_interfaces/Time end_time
builtin_interfaces/Time predict_next_start
builtin_interfaces/Time predict_next_end
float64 snr
float64 snr_per_sample
float64 psd_sn
float64 psd_n
float64 dft_real
float64 dft_imag
uint16 group_ind
float64 group_snr
bool detection_status
bool confirmed_status
Code Generation Commands:
cfg = coder.config('exe');
cfg.Hardware = coder.hardware('Robot Operating System 2 (ROS 2)');
cfg.Hardware.BuildAction = 'Build and load';
cfg.Hardware.RemoteDeviceAddress = 'XXX.XXX.XXX.XXX'; % IP Address of target machine
cfg.Hardware.RemoteDeviceUsername = 'XXXXXXX'; % Login credentials of target machine
cfg.Hardware.RemoteDevicePassword = 'XXXXXXX';
cfg.Hardware.DeployTo = 'Remote Device';
cfg.Hardware.ROS2Folder = '/opt/ros/galactic';
cfg.Hardware.ROS2Workspace = '~/uavrt_ws';
cfg.HardwareImplementation.ProdHWDeviceType = 'Intel->x86-64 (Linux 64)';
cfg.RuntimeChecks = true;%Disable for final deployments.
codegen uavrt_detection_debug -args {} -config cfg
The error is that shows up in the Matlab Terminal:
/home/dasl/uavrt_ws/src/uavrt_detection_debug/src/uavrt_detection_debug.cpp:82:59: error: cannot convert 'struct_T*' to 'const uavrt_interfaces_PulseStruct_T*'
82 | MATLABROS2Publisher_publish(pulsePub.PublisherHelper, &pulseMsg);
| ^~~~~~~~~
| |
| struct_T*
/home/dasl/uavrt_ws/src/uavrt_detection_debug/include/uavrt_detection_debug/mlros2_pub.h:15:65: note: in definition of macro 'MATLABROS2Publisher_publish'
15 | #define MATLABROS2Publisher_publish(obj,structPtr) obj->publish(structPtr)
| ^~~~~~~~~
/home/dasl/uavrt_ws/src/uavrt_detection_debug/include/uavrt_detection_debug/mlros2_pub.h:50:37: note: initializing argument 1 of 'void MATLABROS2Publisher<MsgType, StructType>::publish(const StructType*) [with MsgType = uavrt_interfaces::msg::Pulse_<std::allocator<void> >; StructType = uavrt_interfaces_PulseStruct_T]'
50 | void publish(const StructType *msgStructPtr) {
| ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
make[2]: *** [CMakeFiles/uavrt_detection_debug.dir/build.make:144: CMakeFiles/uavrt_detection_debug.dir/src/uavrt_detection_debug.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:81: CMakeFiles/uavrt_detection_debug.dir/all] Error 2
make: *** [Makefile:144: all] Error 2
Failed <<< uavrt_detection_debug [8.34s, exited with code 2]
Summary: 1 package finished [10.4s]
1 package failed: uavrt_detection_debug
1 package had stderr output: uavrt_detection_debug
??? The following error occurred during deployment to your hardware board:
Build unsuccessful for model 'uavrt_detection_debug'. Check the build log in the diagnostics viewer for error

Réponse acceptée

Karthik Reddy Vennapureddy
Modifié(e) : Karthik Reddy Vennapureddy le 26 Oct 2022
Hi Michael,
Thank you for providing the custom message definition and necessary scripts to reproduce the issue. I have investigated this and found that there is issue in MATLAB Function: uavrt_detection_debug(). Please change the following line
pulseMsg.group_SNR = 123;
pulseMsg.group_snr = 123;
As ros2message is a MATLAB struct, it just appends any new field (group_SNR) to existing struct containing a field (group_snr) and uses the default values. Here, in the custom message definition, there is field group_snr but no such field group_SNR, which is the root cause leading to the build failure.
Let us know, if you still face issues after doing the suggested change.
Karthik Reddy
  8 commentaires
Michael le 30 Jan 2023
@Karthik Reddy Vennapureddy Any update on why this might still be happening on R2022b when it was supposed to be fixed in R2022a? Thanks.
Karthik Reddy Vennapureddy
Modifié(e) : Karthik Reddy Vennapureddy le 30 Jan 2023
Hi Michael,
This issue is addressed as part of R2022b_update4 and R2022a_update3. Could you please update your MATLAB R2022b to update4. Note that, this fix is available in R2023a as well.
Karthik Reddy

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