[XRCE-DDS] 开发问题记录 #8
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问题描述：本地安装agent在最后的make install报错：oXRCEAgent: error while loading shared libraries: libmicroxrcedds_agent.so.2.4: cannot open shared object file: No such file or directory解决步骤根据链接说明，在运行Agent之前需要先添加 sudo ldconfig /usr/local/lib/
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几个必备的准备工作
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Micro XRCE-DDS Gen tool 如何使用/home/kurisaw/microros_ws/XRCE-DDS/Micro-XRCE-DDS-Gen/scripts/microxrceddsgen ShapeType.idl它将生成以下头文件及其相应的源代码： /*!
* @file ShapeType.h
* This header file contains the declaration of the described types in the IDL file.
*
* This file was generated by the tool gen.
*/
#ifndef _ShapeType_H_
#define _ShapeType_H_
#include <stdint.h>
#include <stdbool.h>
/*!
* @brief This struct represents the structure ShapeType defined by the user in the IDL file.
* @ingroup SHAPETYPE
*/
typedef struct ShapeType
{
char color[255];
int32_t x;
int32_t y;
int32_t shapesize;
} ShapeType;
struct ucdrBuffer;
bool ShapeType_serialize_topic(struct ucdrBuffer* writer, const ShapeType* topic);
bool ShapeType_deserialize_topic(struct ucdrBuffer* reader, ShapeType* topic);
uint32_t ShapeType_size_of_topic(const ShapeType* topic, uint32_t size);
#endif // _ShapeType_H_eProsima Micro XRCE-DDS Gen还能够通过添加标志来生成与 IDL 文件中指定的主题相关的发布者和订阅者-example源代码示例： microxrceddsgen -example <file.idl>客户端库必须使用发布者WRITE_ACCESS_PROFILE选项进行编译，才能使用这些示例和订阅者选项。 READ_ACCESS_PROFILE |
Open
基于Agent运行一个简单的发布订阅示例1.运行Agent sudo ldconfig /usr/local/lib/
cd /usr/local/bin && MicroXRCEAgent udp4 -p 20192.发布者应用程序 cd /home/kurisaw/microros_ws/XRCE-DDS/Micro-XRCE-DDS-Client
cd build
cmake .. -DUCLIENT_BUILD_EXAMPLES=ON # 启用-DUCLIENT_BUILD_EXAMPLES表示激活示例的编译
make
/home/kurisaw/microros_ws/XRCE-DDS/Micro-XRCE-DDS-Client/build/examples/PublishHelloWorld/PublishHelloWorldClient 127.0.0.1 20193.订阅者应用程序 /home/kurisaw/microros_ws/XRCE-DDS/Micro-XRCE-DDS-Client/build/examples/SubscribeHelloWorld/SubscribeHelloWorldClient 127.0.0.1 2019
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xrce-dds-client链接问题
链接信息：
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cmake目录深度过大导致编译存在失败的可能解决办法：将原本cmake编译所需的包含文件提取出来，放在cmake build文件同级下 D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/util/time.c: In function 'uxr_nanos':
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/util/time.c:62:19: warning: conversion to 'int64_t' {aka 'long long int'} from 'uint64_t' {aka 'long long unsigned int'} may change the sign of the result [-Wsign-conversion]
62 | return now_ms * 1000000;
| ~~~~~~~^~~~~~~~~
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_rtthread.c: In function 'uxr_init_udp_platform':
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_rtthread.c:41:38: warning: conversion to 'long unsigned int' from 'int' may change the sign of the result [-Wsign-conversion]
41 | platform->server_addr.sin_port = htons(atoi(port));
| ^~~~~
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_rtthread.c:41:38: warning: conversion to 'long unsigned int' from 'int' may change the sign of the result [-Wsign-conversion]
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_rtthread.c:42:40: warning: cast increases required alignment of target type [-Wcast-align]
42 | platform->server_addr.sin_addr = *((struct in_addr *)host->h_addr);
| ^
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_rtthread.c: In function 'uxr_read_udp_data_platform':
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_rtthread.c:106:5: warning: conversion to 'unsigned int' from 'int' may change the sign of the result [-Wsign-conversion]
106 | FD_SET(platform->sock, &readset);
| ^~~~~~
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/udp/udp_transport_rtthread.c:106:5: warning: conversion to 'unsigned int' from 'int' may change the sign of the result [-Wsign-conversion]
In file included from D:/Desktop/rt-thread/components/net/netdev/include/arpa/inet.h:14,
from D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/ip_rtthread.c:4:
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/ip_rtthread.c: In function 'uxr_locator_to_ip':
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/ip_rtthread.c:45:89: warning: conversion to 'int32_t' {aka 'long int'} from 'long unsigned int' may change the sign of the result [-Wsign-conversion]
45 | result = (NULL != inet_ntop(AF_INET, locator->_.medium_locator.address, ip, (socklen_t)size));
| ^~~~~~~~~~~~~~~
D:/Desktop/rt-thread/bsp/stm32/stm32f407-rt-spark/packages/micro_ros_rtthread_component/builder/micro/mcu/src/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/ip_rtthread.c:50:89: warning: conversion to 'int32_t' {aka 'long int'} from 'long unsigned int' may change the sign of the result [-Wsign-conversion]
50 | result = (NULL != inet_ntop(AF_INET6, locator->_.large_locator.address, ip, (socklen_t)size));
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lang@desktop:~/Desktop/microros_ws$ ros2 run micro_ros_setup build_firmware.sh
Compiling for host environment: not cleaning path
Building firmware for host platform generic
Package 'rosidl_typesupport_microxrcedds_c' specified with --packages-up-to was not found
lang@desktop:~/Desktop/microros_ws$ sudo apt install ros-foxy-rosidl-typesupport-microxrcedds-c
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
E: 无法定位软件包 ros-foxy-rosidl-typesupport-microxrcedds-c如果遇到上述问题可参考该方式：https://blog.csdn.net/qq_43006346/article/details/135479183 然后回到工作区，执行如下命令： sudo rm -r firmware/
colcon build
source install/local_setup.bash
ros2 run micro_ros_setup create_firmware_ws.sh host |
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