example_interfaces undeclared dep of rclrs?

[nzlz]

building some package depending on rclrs = "0.6.0" results on unmet dependencies on example_interfaces.

  = note: some arguments are omitted. use `--verbose` to show all linker arguments
  = note: rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c

A way around this is to declare them in my package:

[dependencies]
rclrs = "0.6.0"
example_interfaces = "*" # undeclared dep of rclrs
test_msgs = "*" # undeclared dep of rclrs

Since these changes were made at 75cd88e#diff-2f8219e965041e968786c959ba3d4469dcdc468c5f17502dffd2054e81a886a6L42-L45 , maybe @esteve you have some idea? Thanks

[esteve]

@nzlz unfortunately rclrs can't depend on example_interfaces as it's not a real crate, and crates.io requires all dependencies to be available on crates.io as well.

Is this a package you've created? Would you be able to share it so I can have a look at it? Thanks.

[drewlwhitney]

I noticed this as well on rolling. I got this:

error: linking with `cc` failed: exit status: 1
  |
  = note:  "cc" "-m64" "/tmp/rustcEO1way/symbols.o" "<36 object files omitted>" "-Wl,--as-needed" "-Wl,-Bstatic" "/home/ws/build/motor_control/debug/deps/{librclrs-7fc2cc4cba6c3216,libuuid-d490193e451e7014,libgetrandom-2efbe69c8d202d57,libasync_stream-2a2d6480d61e2903,libasync_std-a5706132ba9d65eb,libasync_global_executor-d1eeb5d14a451482,libblocking-780450946bd068b9,libpiper-7870b02f16f7f635,libatomic_waker-f69625a0f7ccab6a,libasync_channel-86c3c96ca9a3e4c4,libasync_executor-f7e79a5463c77152,libasync_task-6f7ecf96ff8f5c7d,libonce_cell-b5726b916b3362ce,libasync_io-545ef376f8f565aa,libpolling-44d92017dbd0053c,librustix-4425115acd15ecbe,libbitflags-99ac776a85dac37d,liblinux_raw_sys-a583373407189364,libasync_channel-315017922d2c04e6,libevent_listener-43b208943b2997e4,libconcurrent_queue-76c5990b7b104cf3,libcrossbeam_utils-8775055eb4b1a9f1,libasync_lock-10d9163f12159c24,libevent_listener_strategy-ddad51d7500f37b1,libevent_listener-d6a741f50e65c516,libkv_log_macro-0cbcc0ca661d29a4,liblog-7e5fd4c952b53338,libvalue_bag-105b29c0d99d00ed,libfutures_lite-dd94e106d9a8bc91,libparking-2fca9d68a8e22198,libfastrand-7cecb79bb576528c,libfutures-8637154edc03bb12,libfutures_executor-8f30fc077bbfd5ee,libfutures_util-2253262ef9d36963,libmemchr-e97ff5d644abd4b5,libfutures_io-a8a6393212334d2d,libslab-4d8cc6521daa22bd,libfutures_channel-a127ddb94f8b4bb7,libfutures_sink-0bb24d96c4ad09f0,libfutures_task-ed65d84addaaa1fb,libpin_utils-073730525382c2a0,libtokio_stream-0c196a1d89a93a50,libfutures_core-51107a6a42de01b4,libtokio-c4ed032b8e7109ee,libpin_project_lite-2e126e1d3701b224,libmotor_control_interfaces-b0c20e48b05223b8,librosidl_runtime_rs-ce8b81cc0578192e,libmotor_control-703ce56b9654392f,libserial2-a01d7fac97bddf2b,liblibc-8a79b14d48e59c53,libcfg_if-2d20780be38939e6}.rlib" "<sysroot>/lib/rustlib/x86_64-unknown-linux-gnu/lib/{libstd-*,libpanic_unwind-*,libobject-*,libmemchr-*,libaddr2line-*,libgimli-*,libcfg_if-*,librustc_demangle-*,libstd_detect-*,libhashbrown-*,librustc_std_workspace_alloc-*,libminiz_oxide-*,libadler2-*,libunwind-*,liblibc-*,librustc_std_workspace_core-*,liballoc-*,libcore-*,libcompiler_builtins-*}.rlib" "-Wl,-Bdynamic" "-laction_msgs__rosidl_typesupport_c" "-laction_msgs__rosidl_generator_c" "-laction_msgs__rosidl_typesupport_c" "-laction_msgs__rosidl_generator_c" "-laction_msgs__rosidl_typesupport_c" "-laction_msgs__rosidl_generator_c" "-laction_msgs__rosidl_typesupport_c" "-laction_msgs__rosidl_generator_c" "-laction_msgs__rosidl_typesupport_c" "-laction_msgs__rosidl_generator_c" "-laction_msgs__rosidl_typesupport_c" "-lbuiltin_interfaces__rosidl_typesupport_c" "-lbuiltin_interfaces__rosidl_generator_c" "-lbuiltin_interfaces__rosidl_typesupport_c" "-lbuiltin_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lexample_interfaces__rosidl_generator_c" "-lexample_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrcl_interfaces__rosidl_generator_c" "-lrcl_interfaces__rosidl_typesupport_c" "-lrosgraph_msgs__rosidl_typesupport_c" "-lrosgraph_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-ltest_msgs__rosidl_generator_c" "-ltest_msgs__rosidl_typesupport_c" "-lunique_identifier_msgs__rosidl_typesupport_c" "-lunique_identifier_msgs__rosidl_generator_c" "-lrcl" "-lrcl_action" "-lrcl_yaml_param_parser" "-lrcutils" "-lrmw" "-lrmw_implementation" "-lmotor_control_interfaces__rosidl_typesupport_c" "-lmotor_control_interfaces__rosidl_generator_c" "-lmotor_control_interfaces__rosidl_typesupport_c" "-lmotor_control_interfaces__rosidl_generator_c" "-lrosidl_runtime_c" "-lgcc_s" "-lutil" "-lrt" "-lpthread" "-lm" "-ldl" "-lc" "-L" "/tmp/rustcEO1way/raw-dylibs" "-B<sysroot>/lib/rustlib/x86_64-unknown-linux-gnu/bin/gcc-ld" "-fuse-ld=lld" "-Wl,--eh-frame-hdr" "-Wl,-z,noexecstack" "-L" "/home/ws/install/motor_control_interfaces/lib" "-L" "/home/ws/install/motor_control_interfaces/lib" "-L" "/opt/ros/rolling/lib" "-L" "<sysroot>/lib/rustlib/x86_64-unknown-linux-gnu/lib" "-o" "/home/ws/build/motor_control/debug/deps/motor_control-ff6307c262f7a93d" "-Wl,--gc-sections" "-pie" "-Wl,-z,relro,-z,now" "-nodefaultlibs"
  = note: some arguments are omitted. use `--verbose` to show all linker arguments
  = note: rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_typesupport_c
          rust-lld: error: unable to find library -lexample_interfaces__rosidl_generator_c
          rust-lld: error: too many errors emitted, stopping now (use --error-limit=0 to see all errors)
          collect2: error: ld returned 1 exit status

I was able to fix it by running apt install ros-rolling-example-interfaces ros-rolling-test-msgs, but it seems weird that you have to have these installed to compile a ros2-rust project

[esteve]

@drewlwhitney this seems to be a different issue. This issue is about a package that depends on rclrs and uses the example_interfaces and tests_msgs packages.

Can you share what your workspace looks like? Does it contain a ROS project you've created?

[drewlwhitney]

@esteve I can start a new issue if this one is not related. However, it seems like the original author was not trying to use the example_interfaces and tests_msgs packages, but rather they had to add these as dependencies so that rclrs would build. Am I misunderstanding?

My workspace is basically this:

src
├── motor_control
│   ├── Cargo.lock
│   ├── Cargo.toml
│   ├── package.xml
│   └── src
│       ├── drive_control
│       │   ├── rotational.rs
│       │   └── translational.rs
│       ├── drive_control.rs
│       ├── lib.rs
│       ├── main.rs
│       ├── motor_control
│       │   ├── roboclaw
│       │   │   └── tests.rs
│       │   └── roboclaw.rs
│       ├── motor_control.rs
│       ├── pid
│       │   └── tests.rs
│       └── pid.rs
└──motor_control_interfaces
    ├── CMakeLists.txt
    ├── msg
    │   ├── Displacement.msg
    │   └── Velocity.msg
    ├── package.xml
    └── README.md

The only dependency I have is rclrs. I do not depend on example_interfaces or tests_msgs anywhere, but the workspace will only compile if ros-rolling-example-interfaces and ros-rolling-test-msgs are installed

[esteve]

@drewlwhitney thank you. Can you paste the contents of both package.xml files? rclrs has an internal copy of the example_interfaces and test_msgs generated crates, as they can't be distributed via crates.io normally because they are generated by rosidl_generator_rs at build time.

However, the only places where they are used in rclrs are in the tests and the doctets. I'll have a look tomorrow if I can reproduce this issue and if so, remove the doctests and the tests temporarily to check if that's what they're causing this issue.

[drewlwhitney]

Sure!

<package format="3">
  <name>motor_control</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="user@todo.todo">user</maintainer>
  <license>TODO: License declaration</license>

  <depend>rclrs</depend>
  <depend>motor_control_interfaces</depend>

  <export>
    <build_type>ament_cargo</build_type>
  </export>
</package>

_{motor_control/package.xml}

<?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>motor_control_interfaces</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="drewlwhitney@gmail.com">Drew Whitney</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <buildtool_depend>rosidl_default_generators</buildtool_depend>

  <exec_depend>rosidl_default_runtime</exec_depend>

  <member_of_group>rosidl_interface_packages</member_of_group>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

_{motor_control_interfaces/package.xml}

[esteve]

@drewlwhitney thanks, I've been able to confirm this issue in an empty container with the minimum packages installed.

[esteve]

I will update the documentation to mention this issue and install the example_interfaces and test_msgs packages as a workaround.

[esteve]

@drewlwhitney I've submitted #589, could you have a look at it and see if this solves the issues you're having? Thanks.

[esteve]

@nzlz can you have a look at #589 as well? Thanks.

[drewlwhitney]

@esteve The new documentation includes the proper workaround, so that looks good to me! Also glad to see that rclrs officially supports timers