How to run ogma for ROS applications?

[Rezenders]

Hello,

I had some difficulties following the README instructions on how to run ogma for ROS 2 applications.

The Dockerfile can be used to compile the application inside the base image for the Space ROS distribution.

It would be useful to make it explicit that you are referring to this Dockerfile. Took me a while to figure it out.

To build the image, first place the core implementation of the monitors in C inside the directory ros_demo/copilot/src/ (see 'Current limitations' for details).

Where is the ros_demo directory? I couldn't find it. I assumed you meant this directory ogma-core/templates/ros/copilot/src

Also, is there a working example to help me understand how it works?

I found this example ogma-cli/examples/ros-copilot/ but I couldn't get it work.

I generated the monitor code with:

ghci 
GHCi, version 8.8.4: https://www.haskell.org/ghc/  :? for help
Loaded package environment from /home/gus/.ghc/x86_64-linux-8.8.4/environments/default
Prelude> :set -package copilot-c99
package flags have changed, resetting and loading new packages...
Prelude> :set -package copilot-language
package flags have changed, resetting and loading new packages...
Prelude> :l ROS.hs 
[1 of 1] Compiling Main             ( ROS.hs, interpreted )
Ok, one module loaded.
*Main> :main

I moved the monitor.c, monitor.h and monitor_types.h files to ogma-core/templates/ros/copilot/src. Then, I tried building the Dockerfile but I get the following error:

=> ERROR [6/6] RUN source /opt/spaceros/install/setup.bash &&     7.0s
------                                                                  
 > [6/6] RUN source /opt/spaceros/install/setup.bash &&     colcon build:                                                                       
1.085 Starting >>> copilot                                              
6.770 --- stderr: copilot                                               
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:24:1: error: expected unqualified-id before ‘{’ token
6.770    24 | {{{variablesS}}}
6.770       | ^
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:32:1: error: expected unqualified-id before ‘{’ token
6.770    32 | {{{msgHandlerInClassS}}}
6.770       | ^
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:40:1: error: expected unqualified-id before ‘{’ token
6.770    40 | {{{msgCallbacks}}}
6.770       | ^
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:41:1: error: expected unqualified-id before ‘{’ token
6.770    41 | {{{msgSubscriptionDeclrs}}}
6.770       | ^
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:42:1: error: expected unqualified-id before ‘{’ token
6.770    42 | {{{msgPublisherDeclrs}}}
6.770       | ^
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp: In constructor ‘CopilotRV::CopilotRV()’:
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:28:4: error: ‘msgSubscriptionS’ was not declared in this scope; did you mean ‘rmw_subscription_s’?
6.770    28 | {{{msgSubscriptionS}}}
6.770       |    ^~~~~~~~~~~~~~~~
6.770       |    rmw_subscription_s
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:29:4: error: ‘msgPublisherS’ was not declared in this scope; did you mean ‘rmw_publisher_s’?
6.770    29 | {{{msgPublisherS}}}
6.770       |    ^~~~~~~~~~~~~
6.770       |    rmw_publisher_s
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp: At global scope:
6.770 /home/spaceros-user/monitors/src/copilot/src/copilot_monitor.cpp:45:1: error: expected unqualified-id before ‘{’ token
6.770    45 | {{{msgHandlerGlobalS}}}
6.770       | ^
6.770 gmake[2]: *** [CMakeFiles/copilot.dir/build.make:76: CMakeFiles/copilot.dir/src/copilot_monitor.cpp.o] Error 1
6.770 gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/copilot.dir/all] Error 2
6.770 gmake: *** [Makefile:146: all] Error 2
6.770 ---
6.770 Failed   <<< copilot [5.69s, exited with code 2]
6.848 
6.848 Summary: 0 packages finished [6.01s]
6.848   1 package failed: copilot
6.848   1 package had stderr output: copilot
------
Dockerfile:15
--------------------
  14 |     WORKDIR ${PACKAGE_PATH}
  15 | >>> RUN source /opt/spaceros/install/setup.bash && \
  16 | >>>     colcon build
  17 |     
--------------------
ERROR: failed to solve: process "/bin/bash -c source /opt/spaceros/install/setup.bash &&     colcon build" did not complete successfully: exit code: 2

[ivanperez-keera]

Hi @Rezenders . Sorry that it took me a bit of time to jump on this. We were working on the latest release.

Let me update the README, and then we can see how else to improve it to include a full end-to-end demo.

[ivanperez-keera]

Hi,

Just letting you know: if the instructions in the README are not enough, check out the example at: https://github.com/nasa/ogma/tree/develop/ogma-cli/examples/ros2-001-hello-ogma

It should give you enough to get started. Let me know if you still run into issues or if there's anything else we can do to improve it.

Thanks!