ROS2 Galactic Compatibility

[dadaroce]

This PR performs some changes to launch the wrapper using galactic ROS2 distribution.

I guess it's better to locate this PR and not merge to the dashing branch that you have currently made.

[josephlu-robot]

Thanks for this PR!
However, I confront a problem after doing colcon build:

/home/ros2_ws/install/hesai_lidar/lib/hesai_lidar/hesai_lidar_node: error while loading shared libraries: libPandarGeneral.so: cannot open shared object file: No such file or directory
[ERROR] [hesai_lidar_node-1]: process has died [pid 87514, exit code 127, cmd '/home/ros2_ws/install/hesai_lidar/lib/hesai_lidar/hesai_lidar_node --ros-args -r __node:=hesai_node -r __ns:=/hesai --params-file /tmp/launch_params_68fka05e --params-file /tmp/launch_params_fj_hx739 --params-file /tmp/launch_params_fnfnzkic --params-file /tmp/launch_params_h9sjd9cp --params-file /tmp/launch_params_s7ka_33y --params-file /tmp/launch_params_wfnh3ero --params-file /tmp/launch_params_gg5t4lp1 --params-file /tmp/launch_params_nxv60w57 --params-file /tmp/launch_params_sk3xwox6 --params-file /tmp/launch_params_t9lojl9u --params-file /tmp/launch_params_c6xqdh2b --params-file /tmp/launch_params_ybuifwhf --params-file /tmp/launch_params_2eka_84z --params-file /tmp/launch_params_u_ol4we2 --params-file /tmp/launch_params_iw6injdu --params-file /tmp/launch_params_4ltr97s4'].

Any ideas?

[dadaroce]

Thanks for this PR! However, I confront a problem after doing colcon build:

/home/ros2_ws/install/hesai_lidar/lib/hesai_lidar/hesai_lidar_node: error while loading shared libraries: libPandarGeneral.so: cannot open shared object file: No such file or directory
[ERROR] [hesai_lidar_node-1]: process has died [pid 87514, exit code 127, cmd '/home/ros2_ws/install/hesai_lidar/lib/hesai_lidar/hesai_lidar_node --ros-args -r __node:=hesai_node -r __ns:=/hesai --params-file /tmp/launch_params_68fka05e --params-file /tmp/launch_params_fj_hx739 --params-file /tmp/launch_params_fnfnzkic --params-file /tmp/launch_params_h9sjd9cp --params-file /tmp/launch_params_s7ka_33y --params-file /tmp/launch_params_wfnh3ero --params-file /tmp/launch_params_gg5t4lp1 --params-file /tmp/launch_params_nxv60w57 --params-file /tmp/launch_params_sk3xwox6 --params-file /tmp/launch_params_t9lojl9u --params-file /tmp/launch_params_c6xqdh2b --params-file /tmp/launch_params_ybuifwhf --params-file /tmp/launch_params_2eka_84z --params-file /tmp/launch_params_u_ol4we2 --params-file /tmp/launch_params_iw6injdu --params-file /tmp/launch_params_4ltr97s4'].

Any ideas?

Try to build using:
colcon build --symlink-install --packages-up-to hesai_lidar

Is there any error/warning logs?

[josephlu-robot]

I got the same error after try using colcon build --symlink-install --packages-up-to hesai_lidar

but with a warning:

[0.441s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/ros2_ws/install/hesai_lidar' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.443s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/ros2_ws/install/hesai_lidar' in the environment variable CMAKE_PREFIX_PATH doesn't exist

[dadaroce]

What's the output of sudo find / -name *libPandarGeneral.so*?

[josephlu-robot]

/home/ros2_ws/build/hesai_lidar/libPandarGeneral.so

[josephlu-robot]

I've tried this but it still doesn't work:

I think some modification in the CMakeLists.txt is needed?

[josephlu-robot]

install(TARGETS PandarGeneral
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

Add this section will fix the problem.

[dadaroce]

Nice! Not sure why it didn't work out of the box. Maybe a member of the Hesai Team someday will review this PR.

[Chris7462]

Thank you for this PR.

I'm trying to make this PR compatible with ROS Humble. However, there is a build error that I'm not sure where to modify the CMakeLists.txt. Could you please help? Thank you.

src/HesaiLidar_General_ROS/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h:37:10: fatal error: tf2_ros/transform_listener.h: No such file or directory
37 | #include <tf2_ros/transform_listener.h>

[dadaroce]

Thank you for this PR.

I'm trying to make this PR compatible with ROS Humble. However, there is a build error that I'm not sure where to modify the CMakeLists.txt. Could you please help? Thank you.

src/HesaiLidar_General_ROS/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h:37:10: fatal error: tf2_ros/transform_listener.h: No such file or directory 37 | #include <tf2_ros/transform_listener.h>

@Chris7462 try replacing:

#include <tf2_ros/transform_listener.h>

to

#include <tf2_ros/transform_listener.hpp>

Ros2 humble remove all the old .h files and replace them with the new .hpp format.

[dadaroce]

Looks like no one will merge this PR haha

[Chris7462]

@dadaroce Thank you. However it still shows the same error

src/HesaiLidar_General_ROS/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h:37:10: fatal error: tf2_ros/transform_listener.h: No such file or
37 | #include <tf2_ros/transform_listener.hpp>

I believe the problem is from the CMakeLists.txt. It didn't include any ROS related header in the PandarGeneralRaw.

[dadaroce]

Do you have tf2_ros installed?

apt install ros-humble-tf2-ros

[Chris7462]

Yes, I did have the tf2_ros installed.

[dadaroce]

Could you please show me your repo? maybe there are some missing dependencies on the CMake
I mean, do you have any Fork?

[Chris7462]

@dadaroce So, what I did is cloned your repo and built it with ROS Humble. The error shows the same as the previous comment.

Do you have ROS Humble installed? If yes, could you please try to build your repo with it? Thank you.

[dadaroce]

Sure! Tomorrow I'll give you a hand with it.

[Chris7462]

Sure! Tomorrow I'll give you a hand with it.

Hi @dadaroce any luck with it? Please let me know if there's anything that I can help with.

[dadaroce]

Hi @Chris7462, you could solve it adding these lines:

ament_target_dependencies(PandarGeneral 
  "tf2_ros"
)

However, looks like you should perform some work around it to fully build that package using Humble.

[dadaroce]

@Chris7462 please check this branch: https://github.com/kiwicampus/HesaiLidar_General_ROS/tree/ros2-humble I've made some updates to fully build on Humble. However, I don't have any Hesai LIDAR so, I'm not able to test it.

Also, you could notice that this PR and the Humble branch were made some time ago and there were several changes on the main branch.

[Chris7462]

@dadaroce Thank you. I will test your Humble branch.

[Chris7462]

@dadaroce Need to add this section in your ros2-humble branch. I have tested it on the PandarQT. Your branch works.

install(TARGETS PandarGeneral
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})