Porting RA6T2 micro_ros library to RX26T #155
Description
Issue template
- Hardware description:
- RTOS:
- Installation type:
- Version or commit hash:
Steps to reproduce the issue
I did following changes in library_generation.sh
1、change arm-none-eabi-gcc to rx-elf-gcc
in libmicroros.mk
1、change
X_CC := arm-none-eabi-gcc
X_CXX := arm-none-eabi-g++
into
X_CC := rx-elf-gcc
X_CXX := rx-elf-g++
Expected behavior
generate a microros library for RX26T
Actual behavior
build error
Extracting support files...
16:58:07 **** Incremental Build of configuration HardwareDebug for project MicroROS_RX26T2 ****
make -r --output-sync -j4 all
make --no-print-directory pre-build
cd ../micro_ros_renesas2estudio_component/library_generation && ./library_generation.sh "-Og -ffunction-sections -fdata-sections -fno-strict-aliasing -fdiagnostics-parseable-fixits -Wstack-usage=100 -g2 -misa=v3 -mlittle-endian-data"
Found CFLAGS:
-Og -ffunction-sections -fdata-sections -fno-strict-aliasing -fdiagnostics-parseable-fixits -Wstack-usage=100 -g2 -misa=v3 -mlittle-endian-data
Using:
/home/feng/.local/share/renesas/e2_studio/toolchains/gcc-14.2.0.202505-GNURX-ELF/gcc_14.2.0.202505_rx_elf/bin//rx-elf-gcc
Version: 14.2.0.202505-GNURX
~/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/extra_packages ~/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation
~/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation
rm -f /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/toolchain.cmake;
mkdir -p /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros;
cat /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/toolchain.cmake.in |
sed "s/@CMAKE_C_COMPILER@/rx-elf-gcc/g" |
sed "s/@CMAKE_CXX_COMPILER@/rx-elf-g++/g" |
sed "s/@CFLAGS@/-Og -ffunction-sections -fdata-sections -fno-strict-aliasing -fdiagnostics-parseable-fixits -Wstack-usage=100 -g2 -misa=v3 -mlittle-endian-data -w -DCLOCK_MONOTONIC=0 -D'attribute(x)='/g" |
sed "s/@CXXFLAGS@/-Og -ffunction-sections -fdata-sections -fno-strict-aliasing -fdiagnostics-parseable-fixits -Wstack-usage=100 -g2 -misa=v3 -mlittle-endian-data -w -DCLOCK_MONOTONIC=0 -D'attribute(x)='/g"
> /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/toolchain.cmake
rm -rf /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_dev;
mkdir /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_dev; cd /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_dev;
git clone -b kilted https://github.com/ament/ament_cmake src/ament_cmake;
git clone -b kilted https://github.com/ament/ament_lint src/ament_lint;
git clone -b kilted https://github.com/ament/ament_package src/ament_package;
git clone -b kilted https://github.com/ament/googletest src/googletest;
git clone -b kilted https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros;
git clone -b kilted https://github.com/ament/ament_index src/ament_index;
touch src/ament_cmake_ros/rmw_test_fixture_implementation/COLCON_IGNORE;
colcon build --cmake-args -DBUILD_TESTING=OFF;
Starting >>> ament_package
Starting >>> ament_lint
Starting >>> gtest_vendor
Finished <<< gtest_vendor [0.50s]
Starting >>> gmock_vendor
Finished <<< gmock_vendor [0.13s]
Finished <<< ament_package [0.79s]
Starting >>> ament_cmake_core
Finished <<< ament_lint [0.79s]
Starting >>> ament_flake8
Finished <<< ament_cmake_core [0.36s]
Starting >>> ament_cmake_python
Starting >>> ament_cmake_libraries
Starting >>> ament_cmake_export_libraries
Finished <<< ament_flake8 [0.68s]
Starting >>> ament_pep257
Finished <<< ament_cmake_python [0.57s]
Starting >>> ament_cmake_test
Finished <<< ament_cmake_export_libraries [0.62s]
Starting >>> ament_cmake_include_directories
Finished <<< ament_cmake_libraries [0.65s]
Starting >>> ament_cmake_export_dependencies
Finished <<< ament_pep257 [0.76s]
Starting >>> ament_copyright
Finished <<< ament_cmake_export_dependencies [0.66s]
Starting >>> ament_cmake_export_definitions
Finished <<< ament_cmake_include_directories [0.74s]
Starting >>> ament_cmake_export_include_directories
Finished <<< ament_cmake_test [1.29s]
Starting >>> ament_cmake_gtest
Finished <<< ament_cmake_export_definitions [0.69s]
Starting >>> ament_cmake_export_link_flags
Finished <<< ament_copyright [0.93s]
Starting >>> ament_xmllint
Finished <<< ament_cmake_export_include_directories [1.04s]
Starting >>> ament_cmake_version
Finished <<< ament_cmake_gtest [0.85s]
Starting >>> ament_cmake_export_interfaces
Finished <<< ament_cmake_export_link_flags [0.77s]
Starting >>> ament_cmake_export_targets
Finished <<< ament_cmake_version [0.60s]
Starting >>> ament_cmake_target_dependencies
Finished <<< ament_xmllint [1.10s]
Starting >>> ament_lint_cmake
Finished <<< ament_cmake_export_interfaces [0.87s]
Starting >>> ament_pycodestyle
Finished <<< ament_cmake_export_targets [0.87s]
Starting >>> ament_cpplint
Finished <<< ament_cmake_target_dependencies [1.14s]
Starting >>> ament_cmake_gen_version_h
Finished <<< ament_lint_cmake [1.32s]
Starting >>> ament_cmake_lint_cmake
Finished <<< ament_pycodestyle [1.36s]
Starting >>> ament_cppcheck
Finished <<< ament_cpplint [1.77s]
Starting >>> ament_uncrustify
Finished <<< ament_cmake_lint_cmake [1.30s]
Starting >>> ament_cmake_copyright
Finished <<< ament_cmake_gen_version_h [1.62s]
Starting >>> ament_lint_auto
Finished <<< ament_cmake_copyright [0.70s]
Starting >>> ament_cmake_cpplint
Finished <<< ament_uncrustify [1.06s]
Starting >>> ament_cmake_flake8
Finished <<< ament_cppcheck [1.55s]
Starting >>> ament_cmake_cppcheck
Finished <<< ament_lint_auto [0.81s]
Starting >>> ament_cmake_pep257
Finished <<< ament_cmake_flake8 [0.69s]
Starting >>> ament_cmake_uncrustify
Finished <<< ament_cmake_pep257 [0.72s]
Starting >>> ament_cmake_xmllint
Finished <<< ament_cmake_cpplint [0.90s]
Starting >>> ament_cmake
Finished <<< ament_cmake_cppcheck [0.96s]
Starting >>> ament_cmake_gmock
Finished <<< ament_cmake_uncrustify [0.88s]
Starting >>> ament_mypy
Finished <<< ament_cmake [0.78s]
Starting >>> ament_cmake_pytest
Finished <<< ament_cmake_xmllint [1.16s]
Starting >>> ament_lint_common
Finished <<< ament_cmake_gmock [1.08s]
Starting >>> ament_clang_format
Finished <<< ament_cmake_pytest [1.00s]
Starting >>> ament_clang_tidy
Finished <<< ament_mypy [1.42s]
Starting >>> ament_pclint
Finished <<< ament_lint_common [1.04s]
Starting >>> ament_cmake_ros_core
Finished <<< ament_clang_format [1.27s]
Starting >>> ament_pyflakes
Finished <<< ament_clang_tidy [1.46s]
Starting >>> ament_cmake_google_benchmark
Finished <<< ament_cmake_ros_core [1.17s]
Starting >>> ament_cmake_vendor_package
Finished <<< ament_pclint [1.30s]
Starting >>> domain_coordinator
Finished <<< ament_pyflakes [1.49s]
Starting >>> ament_index_python
Finished <<< ament_cmake_vendor_package [1.13s]
Starting >>> ament_cmake_auto
Finished <<< ament_cmake_google_benchmark [1.39s]
Starting >>> ament_cmake_clang_format
Finished <<< domain_coordinator [1.56s]
Starting >>> ament_cmake_clang_tidy
Finished <<< ament_index_python [1.26s]
Starting >>> ament_cmake_mypy
Finished <<< ament_cmake_auto [1.10s]
Starting >>> ament_cmake_pclint
Finished <<< ament_cmake_clang_format [1.10s]
Starting >>> ament_cmake_pycodestyle
Finished <<< ament_cmake_mypy [0.82s]
Starting >>> ament_cmake_pyflakes
Finished <<< ament_cmake_clang_tidy [1.11s]
Starting >>> ament_index_cpp
Finished <<< ament_cmake_pclint [0.87s]
Starting >>> ament_cmake_ros
Finished <<< ament_cmake_pycodestyle [0.79s]
Starting >>> rmw_test_fixture
Finished <<< ament_cmake_pyflakes [1.09s]
Finished <<< ament_cmake_ros [0.89s]
Finished <<< rmw_test_fixture [0.95s]
Finished <<< ament_index_cpp [3.36s]
Summary: 62 packages finished [18.2s]
2 packages had stderr output: gmock_vendor gtest_vendor
rm -rf /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_src;
mkdir /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_src; cd /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_src;
git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR;
git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client;
git clone -b kilted https://github.com/micro-ROS/rcl src/rcl;
git clone -b kilted https://github.com/ros2/rclc src/rclc;
git clone -b kilted https://github.com/micro-ROS/rcutils src/rcutils;
git clone -b kilted https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs;
git clone -b kilted https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds;
git clone -b kilted https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport;
git clone -b kilted https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds;
git clone -b kilted https://github.com/ros2/rosidl src/rosidl;
Cloning into 'geometry2'...
make[2]: warning: -j1 forced in submake: resetting jobserver mode.
Cloning into 'src/ament_cmake'...
git clone -b kilted https://github.com/ros2/rosidl_dynamic_typesupport src/rosidl_dynamic_typesupport;
git clone -b kilted https://github.com/ros2/rmw src/rmw;
Cloning into 'src/ament_lint'...
Cloning into 'src/ament_package'...
Cloning into 'src/googletest'...
Cloning into 'src/ament_cmake_ros'...
Cloning into 'src/ament_index'...
--- stderr: gtest_vendor
CMake Warning:
Manually-specified variables were not used by the project:
BUILD_TESTING
--- stderr: gmock_vendor
git clone -b kilted https://github.com/ros2/rcl_interfaces src/rcl_interfaces;
git clone -b kilted https://github.com/ros2/rosidl_defaults src/rosidl_defaults;
CMake Warning:
Manually-specified variables were not used by the project:
BUILD_TESTING
Cloning into 'src/micro-CDR'...
Cloning into 'src/Micro-XRCE-DDS-Client'...
Cloning into 'src/rcl'...
Cloning into 'src/rclc'...
Cloning into 'src/rcutils'...
Cloning into 'src/micro_ros_msgs'...
Cloning into 'src/rmw-microxrcedds'...
Cloning into 'src/rosidl_typesupport'...
Cloning into 'src/rosidl_typesupport_microxrcedds'...
Cloning into 'src/rosidl'...
Cloning into 'src/rosidl_dynamic_typesupport'...
Cloning into 'src/rmw'...
Cloning into 'src/rcl_interfaces'...
Cloning into 'src/rosidl_defaults'...
Cloning into 'src/unique_identifier_msgs'...
Cloning into 'src/common_interfaces'...
Cloning into 'src/test_interface_files'...
Cloning into 'src/rmw_implementation'...
git clone -b kilted https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs;
git clone -b kilted https://github.com/ros2/common_interfaces src/common_interfaces;
Cloning into 'src/rcl_logging'...
Cloning into 'src/ros2_tracing'...
Cloning into 'src/micro_ros_utilities'...
Cloning into 'src/example_interfaces'...
Cloning into 'src/rosidl_core'...
--- stderr: rcutils
git clone -b kilted https://github.com/ros2/test_interface_files src/test_interface_files;
git clone -b kilted https://github.com/ros2/rmw_implementation src/rmw_implementation;
git clone -b kilted https://github.com/ros2/rcl_logging src/rcl_logging;
git clone -b kilted https://github.com/ros2/ros2_tracing src/ros2_tracing;
git clone -b kilted https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities;
git clone -b kilted https://github.com/ros2/example_interfaces src/example_interfaces;
git clone -b kilted https://github.com/ros2/rosidl_core src/rosidl_core;
touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE;
touch src/ros2_tracing/test_tracetools/COLCON_IGNORE;
touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE;
touch src/rclc/rclc_examples/COLCON_IGNORE;
touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE;
touch src/ros2_tracing/lttngpy/COLCON_IGNORE;
cp -rf /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/extra_packages src/extra_packages || :;
cd /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_src;
unset AMENT_PREFIX_PATH;
unset RMW_IMPLEMENTATION;
PATH=/home/feng/.local/share/renesas/e2_studio/toolchains/gcc-14.2.0.202505-GNURX-ELF/gcc_14.2.0.202505_rx_elf/bin/:/home/feng/.local/share/renesas/e2_studio/toolchains/gcc-14.2.0.202505-GNURX-ELF/gcc_14.2.0.202505_rx_elf/libexec/gcc/gcc_14.2.0.202505_rx_elf/:/home/feng/.local/share/renesas/e2_studio/eclipse/plugins/com.renesas.ide.exttools.gnumake.linux.x86_64_1.0.1.v20240909-0854/mk/:/home/feng/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin;
. ../micro_ros_dev/install/local_setup.sh;
colcon build
--merge-install
--packages-ignore-regex=.*_cpp
--metas /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/colcon.meta /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../../app_colcon.meta
--cmake-force-configure
--cmake-clean-cache
--cmake-args
"--no-warn-unused-cli"
--log-level=ERROR
-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF
-DTHIRDPARTY=ON
-DBUILD_SHARED_LIBS=OFF
-DBUILD_TESTING=OFF
-DCMAKE_BUILD_TYPE=Release
-DCMAKE_TOOLCHAIN_FILE=/home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/toolchain.cmake
-DCMAKE_VERBOSE_MAKEFILE=OFF;
Starting >>> rcutils
Starting >>> rosidl_cli
Starting >>> rosidl_typesupport_interface
Starting >>> microcdr
Finished <<< rosidl_cli [0.86s]
Starting >>> rosidl_adapter
Finished <<< rosidl_typesupport_interface [1.25s]
Starting >>> test_interface_files
Finished <<< test_interface_files [0.85s]
Starting >>> rmw_implementation_cmake
Finished <<< rosidl_adapter [1.80s]
Starting >>> rosidl_parser
Finished <<< rmw_implementation_cmake [0.79s]
Starting >>> tracetools
Finished <<< microcdr [4.03s]
Starting >>> microxrcedds_client
Finished <<< rosidl_parser [1.44s]
Starting >>> rosidl_pycommon
Aborted <<< tracetools [1.51s]
Aborted <<< rosidl_pycommon [0.30s]
Aborted <<< microxrcedds_client [0.39s]
Summary: 7 packages finished [4.81s]
1 package failed: rcutils
3 packages aborted: microxrcedds_client rosidl_pycommon tracetools
1 package had stderr output: rcutils
65 packages not processed
make --no-print-directory main-build
/home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/libmicroros/micro_ros_src/src/rcutils/src/time_unix.c: In function ‘rcutils_system_time_now’:
/home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/libmicroros/micro_ros_src/src/rcutils/src/time_unix.c:65:7: error: implicit declaration of function ‘clock_gettime’ [-Wimplicit-function-declaration]
65 | if (clock_gettime(CLOCK_REALTIME, ×pec_now) < 0) {
| ^~~~~~~~~~~~~
gmake[5]: *** [CMakeFiles/rcutils.dir/build.make:446: CMakeFiles/rcutils.dir/src/time_unix.c.obj] Error 1
gmake[4]: *** [CMakeFiles/Makefile2:192: CMakeFiles/rcutils.dir/all] Error 2
gmake[3]: *** [Makefile:146: all] Error 2
Failed <<< rcutils [4.42s, exited with code 2]
make[2]: *** [libmicroros.mk:80: /home/feng/RoboticHandProject/MicroROS_RX26T2/micro_ros_renesas2estudio_component/library_generation/../libmicroros/micro_ros_src/install] Error 2
make[1]: [makefile:118: pre-build] Error 2 (ignored)
In file included from ../src/canfd_transport.c:1:
/home/feng/RoboticHandProject/MicroROS_RX26T2/src/microros_transports.h:4:10: fatal error: uxr/client/transport.h: No such file or directory
4 | #include <uxr/client/transport.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~
Building file: ../src/canfd_transport.c
compilation terminated.
make[1]: *** [src/subdir.mk:41: src/canfd_transport.o] Error 1
make[1]: *** Waiting for unfinished jobs....
Building file: ../src/microros_time.c
../src/microros_time.c:2:10: fatal error: r_agt.h: No such file or directory
2 | #include "r_agt.h"
| ^~~~~~~~~
Building file: ../src/microros_allocators.c
compilation terminated.
make[1]: *** [src/subdir.mk:41: src/microros_time.o] Error 1
In file included from ../src/microros_allocators.c:2:
/home/feng/RoboticHandProject/MicroROS_RX26T2/src/microros_allocators.h:6:10: fatal error: r_bsp_common.h: No such file or directory
6 | #include "r_bsp_common.h"
| ^~~~~~~~~~~~~~~~
compilation terminated.
make[1]: *** [src/subdir.mk:41: src/microros_allocators.o] Error 1
make: *** [makefile:94: all] Error 2
"make -r --output-sync -j4 all" terminated with exit code 2. Build might be incomplete.
16:59:39 Build Failed. 13 errors, 0 warnings. (took 1m:32s.311ms)
