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You also mentioned that the package was successfully installed using
./edgesoftware install, is there a reason why you need to re-build the package
from source?


Would you be able to provide all the log files under the following directory?


For


    transmission_interface: Cannot locate rosdep definition for [pluginlib]
    joint_limits: Cannot locate rosdep definition for [rclcpp_lifecycle]
    moveit_runtime: Cannot locate rosdep definition for [ament_lint_common]
    moveit_ros: Cannot locate rosdep definition for [ament_lint_common]
    moveit_resources_fanuc_description: Cannot locate rosdep definition for [ament_cmake]
    moveit_kinematics: Cannot locate rosdep definition for [moveit_msgs]
    moveit_setup_app_plugins: Cannot locate rosdep definition for [rclcpp]
    moveit_resources: Cannot locate rosdep definition for [ament_cmake]
    pilz_industrial_motion_planner_testutils: Cannot locate rosdep definition for [moveit_msgs]
    moveit_resources_prbt_pg70_support: Cannot locate rosdep definition for [ament_cmake]
    moveit_resources_prbt_ikfast_manipulator_plugin: Cannot locate rosdep definition for [tf2_geometry_msgs]
    moveit_ros_planning: Cannot locate rosdep definition for [tf2_ros]
    moveit_core: Cannot locate rosdep definition for [ruckig]
    moveit_task_constructor_core: Cannot locate rosdep definition for [visualization_msgs]
    chomp_motion_planner: Cannot locate rosdep definition for [trajectory_msgs]
    rosparam_shortcuts: Cannot locate rosdep definition for [tf2_eigen]
    ros2_control_test_assets: Cannot locate rosdep definition for [ament_cmake]
    ros2controlcli: Cannot locate rosdep definition for [ros2param]
    moveit_simple_controller_manager: Cannot locate rosdep definition for [rclcpp_action]
    moveit_task_constructor_capabilities: Cannot locate rosdep definition for [std_msgs]
    moveit_task_constructor_demo: Cannot locate rosdep definition for [ament_cmake]
    moveit_setup_framework: Cannot locate rosdep definition for [urdf]
    moveit_resources_panda_description: Cannot locate rosdep definition for [ament_cmake]
    moveit_ros_robot_interaction: Cannot locate rosdep definition for [interactive_markers]
    moveit_servo: Cannot locate rosdep definition for [trajectory_msgs]
    controller_manager_msgs: Cannot locate rosdep definition for [ament_lint_common]
    moveit_ros_move_group: Cannot locate rosdep definition for [std_srvs]
    moveit_ros_benchmarks: Cannot locate rosdep definition for [pluginlib]
    moveit_planners: Cannot locate rosdep definition for [ament_lint_common]
    controller_interface: Cannot locate rosdep definition for [ament_cmake_gmock]
    moveit_ros_control_interface: Cannot locate rosdep definition for [trajectory_msgs]
    rviz_visual_tools: Cannot locate rosdep definition for [trajectory_msgs]
    moveit_setup_controllers: Cannot locate rosdep definition for [rclcpp]
    moveit_task_constructor_msgs: Cannot locate rosdep definition for [visualization_msgs]
    moveit_ros_occupancy_map_monitor: Cannot locate rosdep definition for [geometric_shapes]
    moveit_setup_core_plugins: Cannot locate rosdep definition for [urdf]
    moveit_chomp_optimizer_adapter: Cannot locate rosdep definition for [pluginlib]
    moveit_plugins: Cannot locate rosdep definition for [ament_lint_common]
    moveit2_tutorials: Cannot locate rosdep definition for [tf2_ros]
    moveit_hybrid_planning: Cannot locate rosdep definition for [trajectory_msgs]


We read every piece of feedback, and take your input very seriously.


Query


#  License


#0 14.01 nav2_map_server: Cannot locate rosdep definition for [launch_testing]
#0 14.01 nav2_regulated_pure_pursuit_controller: Cannot locate rosdep
definition for [ament_lint_auto]
#0 14.01 dwb_plugins: Cannot locate rosdep definition for [ament_cmake_gtest]
#0 14.01 dwb_critics: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 nav2_gazebo_spawner: Cannot locate rosdep definition for
[ament_copyright]
#0 14.01 nav_2d_utils: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 navigation2: Cannot locate rosdep definition for [ament_cmake]
#0 14.01 nav2_rviz_plugins: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav2_common: Cannot locate rosdep definition for [rclpy]
#0 14.01 nav2_system_tests: Cannot locate rosdep definition for
[launch_testing]
#0 14.01 dwb_msgs: Cannot locate rosdep definition for
[rosidl_default_runtime]
#0 14.01 nav2_lifecycle_manager: Cannot locate rosdep definition for
[ament_lint_common]
#0 14.01 nav2_core: Cannot locate rosdep definition for [launch_testing]
#0 14.01 nav2_bt_navigator: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav2_dwb_controller: Cannot locate rosdep definition for
[ament_cmake]
#0 14.01 nav2_behavior_tree: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav_2d_msgs: Cannot locate rosdep definition for
[rosidl_default_generators]
#0 14.01 nav2_msgs: Cannot locate rosdep definition for [nav_msgs]
#0 14.01 nav2_voxel_grid: Cannot locate rosdep definition for
[ament_cmake_gtest]
#0 14.01 nav2_costmap_2d: Cannot locate rosdep definition for [launch_testing]
#0 14.01 nav2_util: Cannot locate rosdep definition for [action_msgs]
#0 14.01 nav2_controller: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 dwb_core: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 nav2_waypoint_follower: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav2_bringup: Cannot locate rosdep definition for [launch_testing]
#0 14.01 smac_planner: Cannot locate rosdep definition for [ament_lint_auto]
#0 14.01 nav2_planner: Cannot locate rosdep definition for [ament_lint_auto]


No milestone


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


Hi aa53,


Sorry, something went wrong.


  * **slic3r_coverage_planner** : A coverage planner based on the Slic3r software for 3d printers. This is used to plan the mowing path.
  * **teb_local_planner** : The local planner which allows the robot to avoid obstacles and follow the global path using kinematic constraints.
  * **xesc_ros** : The ROS interface for the xESC motor controllers.


Moderator


You can’t perform that action at this time.


Before building, you need to fetch this project's dependencies. The best way
to do this is by using rosdep:


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Are you sourcing Humble with ` source /opt/ros/humble/setup.bash ` before
compiling? That might solve the latter issue.


|

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4 Replies


I need help either understanding what’s going on or at least a recommendation
on somewhere else where I can be helped installing _Moveit2_ in my laptop
(Ubuntu 22.04).


[ Solved  Jump to solution ](/t5/Intel-Edge-Software-Hub/Error-running-docker-
compose-tutorial-for-Edge-Insights-for/m-p/1506721#M1875)


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Feel free to use the design in your private/educational projects, but don't
try to sell the design or products based on it without getting my consent
first. The idea here is to share knowledge, not to enable others to simply
sell my work. Thank you for understanding.


07-20-2023  01:35 PM


Failed <<< ros2_control_demo_hardware [5.03s, exited with code 2]
Aborted <<< transmission_interface [26.3s]
Aborted <<< controller_interface [31.5s]


homebrew.yaml)
#0 12.70 Hit [
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
](https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
#0 12.70 Hit [
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
](https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
#0 12.70 Hit [
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
](https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
#0 12.70 Hit [
https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
](https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml)
#0 12.70 Query rosdistro index [
https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
](https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)
#0 12.70 Skip end-of-life distro "ardent"
#0 12.70 Skip end-of-life distro "bouncy"
#0 12.70 Skip end-of-life distro "crystal"
#0 12.70 Skip end-of-life distro "dashing"
#0 12.70 Skip end-of-life distro "eloquent"
#0 12.70 Skip end-of-life distro "foxy"
#0 12.70 Skip end-of-life distro "galactic"
#0 12.70 Skip end-of-life distro "groovy"
#0 12.70 Add distro "humble"
#0 12.70 Skip end-of-life distro "hydro"
#0 12.70 Skip end-of-life distro "indigo"
#0 12.70 Add distro "iron"
#0 12.70 Skip end-of-life distro "jade"
#0 12.70 Skip end-of-life distro "kinetic"
#0 12.70 Skip end-of-life distro "lunar"
#0 12.70 Skip end-of-life distro "melodic"
#0 12.70 Add distro "noetic"
#0 12.70 Add distro "rolling"
#0 12.70 updated cache in /root/.ros/rosdep/sources.cache
#0 12.73 + rosdep install -i --from-path src/navigation2 --rosdistro foxy -y
#0 14.01 WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
#0 14.01 ERROR: the following packages/stacks could not have their rosdep keys
resolved
#0 14.01 to system dependencies:


[ src ](/ClemensElflein/open_mower_ros/tree/main/src "src")


[ utils ](/ClemensElflein/open_mower_ros/tree/main/utils "utils")


[ **38** watching ](/ClemensElflein/open_mower_ros/watchers)


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Search or jump to...


    cp src/open_mower/config/mower_config.sh.example mower_config.sh
    source mower_config.sh # it's expected to adjust the file


07-16-2023  06:56 PM


**[ 3ngineerit ](/3ngineerit) ** commented  Oct 3, 2021  •


1 Solution


[ assets ](/ClemensElflein/open_mower_ros/tree/main/assets "assets")


Email Address


[ Activity  ](/ClemensElflein/open_mower_ros/activity)


Perhaps this community might have a good resolution for this.


You can’t perform that action at this time.


[ 3ngineerit ](/3ngineerit) opened this issue  Oct 3, 2021  · 8 comments


##  Footer


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[ bayodesegun  ](https://get-help.theconstruct.ai/u/bayodesegun) Closed
October 4, 2022, 9:37am  3


**[ livanov93 ](/livanov93) ** commented  Oct 4, 2021


Summary: 12 packages finished [3min 18s]
1 package failed: ros2_control_demo_hardware
2 packages aborted: controller_interface transmission_interface
2 packages had stderr output: ros2_control_demo_hardware
transmission_interface
19 packages not processeduser@ubuntu:~/workspace/ros_ur_driver$

---

All reactions


Contributor


0  Kudos


Then, open the ` src ` directory. CLion will prompt with the following screen:


Jesus


CMakeFiles/ros2_control_demo_hardware.dir/src/diffbot_system.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from
/home/erik/workspace/ros_ur_driver/src/ros2_control_demos/ros2_control_demo_hardware/src/rrbot_system_position_only.cpp:15:
/home/erik/workspace/ros_ur_driver/src/ros2_control_demos/ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_position_only.hpp:22:10:
fatal error: hardware_interface/base_interface.hpp: No such file or directory
22 | #include "hardware_interface/base_interface.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/ros2_control_demo_hardware.dir/build.make:76:
CMakeFiles/ros2_control_demo_hardware.dir/src/rrbot_system_position_only.cpp.o]
Error 1
In file included from
/home/erik/workspace/ros_ur_driver/src/ros2_control_demos/ros2_control_demo_hardware/src/rrbot_system_multi_interface.cpp:15:
/home/erik/workspace/ros_ur_driver/src/ros2_control_demos/ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_multi_interface.hpp:25:10:
fatal error: hardware_interface/base_interface.hpp: No such file or directory
25 | #include "hardware_interface/base_interface.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/ros2_control_demo_hardware.dir/build.make:89:
CMakeFiles/ros2_control_demo_hardware.dir/src/rrbot_system_multi_interface.cpp.o]
Error 1
make[1]: *** [CMakeFiles/Makefile2:78:
CMakeFiles/ros2_control_demo_hardware.dir/all] Error 2
make: *** [Makefile:141: all] Error 2


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edited


[ .gitmodules ](/ClemensElflein/open_mower_ros/blob/main/.gitmodules
".gitmodules")


###  Running on your machine


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
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](http://archive.ubuntu.com/ubuntu) focal/universe amd64 Packages [11.3 MB]
#0 3.718 Get:11 [ http://security.ubuntu.com/ubuntu
](http://security.ubuntu.com/ubuntu) focal-security/multiverse amd64 Packages
[29.3 kB]
#0 3.718 Get:12 [ http://security.ubuntu.com/ubuntu
](http://security.ubuntu.com/ubuntu) focal-security/main amd64 Packages [2866
kB]
#0 4.714 Get:13 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal/multiverse amd64 Packages [177 kB]
#0 4.729 Get:14 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal/restricted amd64 Packages [33.4 kB]
#0 4.729 Get:15 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-updates/restricted amd64 Packages
[2677 kB]
#0 4.909 Get:16 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-updates/universe amd64 Packages
[1372 kB]
#0 4.993 Get:17 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-updates/multiverse amd64 Packages
[32.0 kB]
#0 4.995 Get:18 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-updates/main amd64 Packages [3347
kB]
#0 5.756 Get:19 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-backports/universe amd64 Packages
[28.6 kB]
#0 6.245 Get:20 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-backports/main amd64 Packages [55.2
kB]
#0 6.526 Fetched 28.6 MB in 6s (4777 kB/s)
#0 6.526 Reading package lists...
#0 7.399 + rosdep update
#0 12.70 Warning: running 'rosdep update' as root is not recommended.
#0 12.70 You should run 'sudo rosdep fix-permissions' and invoke 'rosdep
update' again without sudo.
#0 12.70 reading in sources list data from /etc/ros/rosdep/sources.list.d
#0 12.70 Hit [
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-
homebrew.yaml
](https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-


Error still persist if trying to built it.


[
![Build](https://github.com/ClemensElflein/open_mower_ros/actions/workflows/build-
image.yaml/badge.svg)
](https://github.com/ClemensElflein/open_mower_ros/actions/workflows/build-
image.yaml)


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#  Provide feedback


[ utils ](/ClemensElflein/open_mower_ros/tree/main/utils "utils")


        ament_cmake-config.cmake

      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< controller_manager_msgs [0.26s, exited with code 1]
    Starting >>> rviz_marker_tools
    [0.848s] ERROR:colcon.colcon_cmake.task.cmake.build:Failed to find the following files:
    - /home/gas_patxo/ws_moveit2/install/hardware_interface/share/hardware_interface/package.sh
    Check that the following packages have been built:
    - hardware_interface
    --- stderr: ros2_control_test_assets
    CMake Error at CMakeLists.txt:4 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake
        ament_cmake-config.cmake

      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< ros2_control_test_assets [0.26s, exited with code 1]
    Starting >>> controller_interface
    Failed   <<< controller_interface [0.00s, exited with code 1]
    Starting >>> moveit_resources_pr2_description
    --- stderr: moveit_task_constructor_msgs
    CMake Error at CMakeLists.txt:4 (find_package):


Copy link


Because in the end it said ` #All required rosdeps installed successfully ` I
decided to try and proceed with the next step, which is building the package,
but many packages failed due to a ` CMake Error ` . All packages that failed
have the same message.


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Code


      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< joint_limits [0.28s, exited with code 1]
    --- stderr: rosparam_shortcuts
    CMake Error at CMakeLists.txt:7 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake
        ament_cmake-config.cmake

      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< rosparam_shortcuts [0.26s, exited with code 1]

    Summary: 1 package finished [1.32s]
      14 packages failed: controller_interface controller_manager_msgs joint_limits moveit_common moveit_resources_fanuc_description moveit_resources_panda_description moveit_resources_pr2_description moveit_resources_prbt_support moveit_task_constructor_msgs ros2_control_test_assets rosparam_shortcuts rviz_marker_tools rviz_visual_tools transmission_interface
      12 packages had stderr output: controller_manager_msgs joint_limits moveit_common moveit_resources_fanuc_description moveit_resources_panda_description moveit_resources_pr2_description moveit_resources_prbt_support moveit_task_constructor_msgs ros2_control_test_assets rosparam_shortcuts rviz_marker_tools rviz_visual_tools
      48 packages not processed


[+] Running 1/1
! ros-base Warning 3.1s
[+] Building 19.7s (23/96)
=> [internal] load build definition from dockerfile.amr 0.0s
=> => transferring dockerfile: 37B 0.0s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> resolve image config for docker.io/edrevo/dockerfile-plus:0.1.0 1.5s
=> CACHED docker-image://docker.io/edrevo/dockerfile-
plus:0.1.0@sha256:d234bd015db8acef1e628e 0.0s
=> local://dockerfile 0.1s
=> => transferring dockerfile: 472.27kB 0.1s
=> local://context 0.1s
=> => transferring context: 472.27kB 0.1s
=> [internal] load metadata for docker.io/intel/oneapi-basekit:2022.2-devel-
ubuntu20.04 1.0s
=> [internal] load metadata for
docker.io/library/ros:foxy@sha256:e3c69b153f898d03cf307787523 0.0s
=> [internal] load build context 0.0s
=> => transferring context: 63.89kB 0.0s
=> [ros-base-pre 1/9] FROM
docker.io/library/ros:foxy@sha256:e3c69b153f898d03cf30778752337e13 0.0s
=> CANCELED [oneapi_base 1/1] FROM docker.io/intel/oneapi-
basekit:2022.2-devel-ubuntu20.04@s 15.5s
=> => resolve docker.io/intel/oneapi-basekit:2022.2-devel-
ubuntu20.04@sha256:9b0301695e073f8e 0.0s
=> => sha256:9b0301695e073f8eb22d3ca5401455f37ea98c744e35ac8901c98b87a3f567ae
2.41kB / 2.41kB 0.0s
=> => sha256:d5fd17ec1767521cf97f61568096bfc9a7cd9c2d149576a7b43930c5a97062
28.57MB / 28.57MB 1.4s
=> => sha256:a312cb27ead7749a101ab75ba45d3486f11cca1d95bd7b473abee16b18f9d9
45.30MB / 45.30MB 2.4s
=> => sha256:8cbd75c3dbf7d15f693cd35148f0046cc755d08eb4640eaff05908992b01b1
27.97kB / 27.97kB 0.0s
=> => sha256:aa3d94bd2fc1ccd08db4b52e9528aff8ff6e7eefc49774ccdc9f9a8692d8a1
44.80kB / 44.80kB 0.6s
=> => sha256:c73cf61a50e8d1dabdcee1a5540dcdf6a006c1f856d7ffc93870de01ff6c74d2
2.70kB / 2.70kB 0.9s
=> => sha256:5e777f591ecbe814e57940954f74f22945493c683fe2fb098f76cff38860aa77
236B / 236B 1.2s


**[ 3ngineerit ](/3ngineerit) ** commented  Oct 4, 2021


###  Running in a container


####  Fetch Dependencies


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This folder is the ROS workspace, which should be used to build the OpenMower
ROS software. This repository contains the ROS package for controlling the
OpenMower.


      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< moveit_resources_panda_description [0.24s, exited with code 1]
    Starting >>> ros2_control_test_assets
    --- stderr: moveit_resources_fanuc_description
    CMake Error at CMakeLists.txt:3 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake
        ament_cmake-config.cmake

      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< moveit_resources_fanuc_description [0.44s, exited with code 1]
    Starting >>> moveit_task_constructor_msgs
    --- stderr: controller_manager_msgs
    CMake Error at CMakeLists.txt:8 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake


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**[ livanov93 ](/livanov93) ** commented  Oct 4, 2021


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##  Error running docker compose tutorial for
Edge_Insights_for_Autonomous_Mobile_Robots_2022.3.1


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As for the rosdeps, it’s either a matter of wating for moveit to catch up to
Humble, or maybe doing something like ` rosdep update ` ?


Last commit date

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##  Latest commit


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user@ubuntu:~/workspace/ros_ur_driver$ colcon build --cmake-args
-DCMAKE_BUILD_TYPE=Release
Starting >>> control_msgs
Starting >>> ros2_control_test_assets
Starting >>> controller_manager_msgs
Starting >>> diffbot_description
\--- stderr: control_msgs
CMake Error at CMakeLists.txt:13 (find_package):
By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"ament_cmake", but CMake did not find one.


What can i do to resolve it?


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Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
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07-20-2023  01:35 PM


=> => sha256:ddc080685bc657d1d00a558b4e020c86cff12335c105c4d4c7cd08b2e15b34f3
350B / 350B 1.5s
=> => sha256:7dac4f73818af4f7cbb59abb8e83a69e821379f32c350f21c8e490a1524ddf94
3.91kB / 3.91kB 1.6s
=> => extracting
sha256:d5fd17ec1767521cf97f61568096bfc9a7cd9c2d149576a7b43930c5a97062b0 1.2s
=> => sha256:03140a46280453c9f2ad1ae39ff4032df91b9cd1cd3cb664f5df12e38b745d83
249B / 249B 1.8s
=> => sha256:8289312284ffe5094f51daf38a6771f0200778c88bc1e7d5a9a9feabc5f14
553.65MB / 5.94GB 15.4s
=> => sha256:74c223fd977a8a7dceaa3dbdd1c25ef79d7946aba84d399ef58c885e9d21d9
46.82MB / 46.82MB 4.1s
=> => extracting
sha256:aa3d94bd2fc1ccd08db4b52e9528aff8ff6e7eefc49774ccdc9f9a8692d8a102 0.0s
=> => extracting
sha256:a312cb27ead7749a101ab75ba45d3486f11cca1d95bd7b473abee16b18f9d97d 2.1s
=> => extracting
sha256:c73cf61a50e8d1dabdcee1a5540dcdf6a006c1f856d7ffc93870de01ff6c74d2 0.0s
=> => extracting
sha256:5e777f591ecbe814e57940954f74f22945493c683fe2fb098f76cff38860aa77 0.0s
=> => extracting
sha256:ddc080685bc657d1d00a558b4e020c86cff12335c105c4d4c7cd08b2e15b34f3 0.0s
=> => extracting
sha256:7dac4f73818af4f7cbb59abb8e83a69e821379f32c350f21c8e490a1524ddf94 0.0s
=> => extracting
sha256:03140a46280453c9f2ad1ae39ff4032df91b9cd1cd3cb664f5df12e38b745d83 0.0s
=> CACHED [ros-base-pre 2/9] RUN useradd --create-home --shell /bin/bash --gid
root --uid 987 0.0s
=> CACHED [ros-base-pre 3/9] COPY artifacts/01_amr/multimedia/*
/home/eiforamr/data_samples/m 0.0s
=> CACHED [ros-base-pre 4/9] RUN chmod 777 -R
/home/eiforamr/data_samples/media_samples & 0.0s
=> CACHED [ros-base-pre 5/9] RUN apt-get update && apt-get upgrade --no-
install-recommends -q 0.0s
=> CACHED [ros-base-pre 6/9] WORKDIR /home/eiforamr/workspace 0.0s
=> CACHED [ros-base-pre 7/9] COPY artifacts/01_amr/docker_entrypoint.sh ../
0.0s
=> CACHED [ros-base-pre 8/9] COPY
artifacts/01_amr/source_prebuilt_components.sh /home/eifora 0.0s
=> CACHED [ros-base-pre 9/9] RUN rm -rf /root/.cache 0.0s


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Update: Ran the rosdep install command with the "--rosdistro=foxy" extension
as recommended by the error code. It states that all rosdeps are installed.
However, when I run the following colcon build command, I get conflicts with
missing cmake packages (hence my concern about how to install the foxy version
of this driver).


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Summary: 0 packages finished [0.56s]
1 package failed: control_msgs
3 packages aborted: controller_manager_msgs diffbot_description
ros2_control_test_assets
4 packages had stderr output: control_msgs controller_manager_msgs
diffbot_description ros2_control_test_assets
30 packages not processed


###  How to Build Using CLion IDE


* [ The ReadME Project  GitHub community articles  ](/readme)


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ERROR [nav2-pre 5/9] RUN chmod +x -R
/home/eiforamr/ros2_ws/install/its_planner 15.4s
\------
updated cache in /root/.ros/rosdep/sources.cache
rosdep install -i --from-path src/navigation2 --rosdistro foxy -y
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies


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Is there also a command workaround to perform the colcon build for the foxy
build?

---

All reactions


    sudo apt install python3-rosdep
    sudo rosdep init


Assignees


[ JesusE_Intel  ](https://community.intel.com/t5/user/viewprofilepage/user-
id/174)


**[ 3ngineerit ](/3ngineerit) ** commented  Oct 5, 2021


Hi aa53,


3 participants


#0 0.502 Turn off this advice by setting config variable advice.detachedHead
to false
#0 0.502
#0 0.502 HEAD is now at 60043d40 Fix for costmap nodes lifecycle status
(#3005)
#0 0.502 + git apply 0001-Catch-send_goal-failed-exception.patch
#0 0.504 + git apply 0001-Fix-action-node-in-endless-loop.patch
#0 0.505 0001-Fix-action-node-in-endless-loop.patch:31: trailing whitespace.
#0 0.505 node_->get_logger(),
#0 0.505 warning: 1 line adds whitespace errors.
#0 0.506 + git apply 0001-Wait-for-valid-costmap-before-computing-
trajectory.patch
#0 0.507 0001-Wait-for-valid-costmap-before-computing-trajectory.patch:43:
trailing whitespace.
#0 0.507
#0 0.507 warning: 1 line adds whitespace errors.
#0 0.508 + git apply 0001-Backport-fix-for-straight-path-issue.patch
#0 0.511 + cd /home/eiforamr/ros2_ws
#0 0.511 + apt-get update
#0 0.927 Get:1 [ http://packages.ros.org/ros2/ubuntu
](http://packages.ros.org/ros2/ubuntu) focal InRelease [4685 B]
#0 1.140 Get:2 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal InRelease [265 kB]
#0 1.140 Get:3 [ http://security.ubuntu.com/ubuntu
](http://security.ubuntu.com/ubuntu) focal-security InRelease [114 kB]
#0 1.233 Get:4 [ http://packages.ros.org/ros2/ubuntu
](http://packages.ros.org/ros2/ubuntu) focal/main amd64 Packages [1189 kB]
#0 2.176 Get:5 [ http://security.ubuntu.com/ubuntu
](http://security.ubuntu.com/ubuntu) focal-security/universe amd64 Packages
[1072 kB]
#0 2.358 Get:6 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-updates InRelease [114 kB]
#0 2.646 Get:7 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal-backports InRelease [108 kB]
#0 2.946 Get:8 [ http://archive.ubuntu.com/ubuntu
](http://archive.ubuntu.com/ubuntu) focal/main amd64 Packages [1275 kB]
#0 3.270 Get:9 [ http://security.ubuntu.com/ubuntu
](http://security.ubuntu.com/ubuntu) focal-security/restricted amd64 Packages
[2536 kB]
#0 3.644 Get:10 [ http://archive.ubuntu.com/ubuntu


Development


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docker-compose-tutorial-for-Edge-Insights-for/m-p/1506721#M1875)


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**2\. Full error log as follow:**


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](/dennyvt)


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07-15-2023  12:14 AM


Oh whoops, that would have done it for sure.


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#  [ Problems building Moveit2 (Humble) in Ubuntu 22.04 ](/t/problems-
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    #!/bin/zsh

    source <your_absolute_path_to_repository>/devel/setup.zsh

    # You can find this path in the Jetbrains Toolbox
    nohup <your_absolute_path_to_clion>/clion.sh >/dev/null 2>&1 &


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    Continuing to install resolvable dependencies...
    #All required rosdeps installed successfully


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###  Watchers


07-18-2023  07:58 AM


    Finished <<< moveit_configs_utils [0.74s]
    Starting >>> rviz_visual_tools
    --- stderr: moveit_resources_pr2_description
    CMake Error at CMakeLists.txt:3 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake
        ament_cmake-config.cmake

      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< moveit_resources_pr2_description [0.26s, exited with code 1]
    [1.125s] ERROR:colcon.colcon_cmake.task.cmake.build:Failed to find the following files:
    - /home/gas_patxo/ws_moveit2/install/hardware_interface/share/hardware_interface/package.sh
    Check that the following packages have been built:
    - hardware_interface
    Starting >>> transmission_interface
    Failed   <<< transmission_interface [0.00s, exited with code 1]
    Starting >>> rosparam_shortcuts
    --- stderr: moveit_resources_prbt_support
    CMake Error at CMakeLists.txt:4 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake
        ament_cmake-config.cmake


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#0 14.01 nav2_navfn_planner: Cannot locate rosdep definition for
[ament_lint_auto]
#0 14.01 nav2_recoveries: Cannot locate rosdep definition for
[ament_cmake_gtest]
#0 14.01 costmap_queue: Cannot locate rosdep definition for
[ament_cmake_gtest]
#0 14.01 nav2_amcl: Cannot locate rosdep definition for [ament_lint_auto]
\------
failed to solve: executor failed running [/bin/bash -xo pipefail -c chmod +x
-R ${ROS2_WS}/install/its_planner && cd src/navigation2 && git checkout
${NAVIGATION2_COMMIT_ID} && git apply 0001-Catch-send_goal-failed-
exception.patch && git apply 0001-Fix-action-node-in-endless-loop.patch && git
apply 0001-Wait-for-valid-costmap-before-computing-trajectory.patch && git
apply 0001-Backport-fix-for-straight-path-issue.patch && cd ${ROS2_WS} && apt-
get update && rosdep update && rosdep install -i --from-path src/navigation2
--rosdistro $ROS_DISTRO -y && source ${ROS_INSTALL_DIR}/setup.bash && colcon
build && rm -rf ${ROS2_WS}/build/* ${ROS2_WS}/src/* ${ROS2_WS}/log/*]: exit
code: 1


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OpenMower ROS package is distributed with [ roslaunch
](http://wiki.ros.org/roslaunch) launch files. There are few in: `
src/open_mower/open_mower/launch ` , however the ` open_mower.launch ` runs
everything needed to mow.


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user@ubuntu:~/workspace/ros_ur_driver$ rosdep install --ignore-src --from-
paths src -y -r


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Closed


Have not modified the docker-compose .yml file and the .env file.


Explore


Before you launch ` open_mower ` package, env vars with configuration have to
be set.


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Everything performed nominally on that installation with validation.


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Thanks a ton!


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Would you be able to provide all the log files under the following directory?


user@ubuntu:~/workspace/ros_ur_driver$ source
~/workspace/ros_ur_driver/install/setup.bash


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Regards,


I could not find any particular method in resolving these errors. I tried a
bunch of different methods proposed elsewhere, with no avail.


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[submodule "src/lib/xesc_ros"]
	path = src/lib/xesc_ros
	url = https://github.com/ClemensElflein/xesc_ros.git
[submodule "src/lib/ftc_local_planner"]
	path = src/lib/ftc_local_planner
	url = https://github.com/ClemensElflein/ftc_local_planner.git
[submodule "src/lib/slic3r_coverage_planner"]
	path = src/lib/slic3r_coverage_planner
	url = https://github.com/ClemensElflein/slic3r_coverage_planner.git
[submodule "src/lib/ntrip_client"]
	path = src/lib/ntrip_client
	url = https://github.com/LORD-MicroStrain/ntrip_client.git
[submodule "src/lib/xbot_msgs"]
	path = src/lib/xbot_msgs
	url = https://github.com/ClemensElflein/xbot_msgs.git
[submodule "src/lib/xbot_driver_gps"]
	path = src/lib/xbot_driver_gps
	url = https://github.com/ClemensElflein/xbot_driver_gps.git
[submodule "src/lib/xbot_positioning"]
	path = src/lib/xbot_positioning
	url = https://github.com/ClemensElflein/xbot_positioning.git
[submodule "src/lib/xbot_monitoring"]
	path = src/lib/xbot_monitoring
	url = https://github.com/ClemensElflein/xbot_monitoring
[submodule "src/lib/xbot_remote"]
	path = src/lib/xbot_remote
	url = https://github.com/ClemensElflein/xbot_remote


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I am also not a ROS pro, but most of the time this error (Could not find a
package configuration file provided by "ament_cmake" with
any of the following names:


1,450 Views


0  Kudos


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[ @3ngineerit ](https://github.com/3ngineerit) Which branch are you using? You
should be on [ foxy
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy) .

---

All reactions


Just build as any other ROS workspace: ` catkin_make ` Once it's done, another
step is to source workspace env vars:


Labels


First, launch CLion in a sourced environment. For this I use the following
bash file:


#  Unable to locate definitions for rosdep install using latest Foxy release
#193


[ https://github.com/ros2/ros2/releases/tag/release-foxy-20210902
](https://github.com/ros2/ros2/releases/tag/release-foxy-20210902)


No description, website, or topics provided.


[ VERSION ](/ClemensElflein/open_mower_ros/blob/main/VERSION "VERSION")


One final question regarding the build (again sorry for my novice questions).


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[ \+ 2 contributors ](/ClemensElflein/open_mower_ros/graphs/contributors)


[ GasPatxo  ](https://get-help.theconstruct.ai/u/GasPatxo) September 29, 2022,
2:47pm  1


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###  License


It looks like what happened was there were conflicting installs of Foxy on my
system. I went through and completely removed those installs and cleared the
directories. After running through the build again, no issues were discovered.


##  [ Packages  1  ](/users/ClemensElflein/packages?repo_name=open_mower_ros)


/var/log/esb-cli/Edge_Insights_for_Autonomous_Mobile_Robots_<version>


    rosdep update
    rosdep install --from-paths src --ignore-src --default-yes


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I am following the [ official installation tutorial
](https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html)
, and after succesfully performing all the previous steps, when executing
` ~/ws_moveit2/src$ sudo apt update && rosdep install -r --from-paths .
--ignore-src --rosdistro $ROS_DISTRO -y `
I get a a bunch of errors under the message:
` ERROR: the following packages/stacks could not have their rosdep keys
resolved `


Sorry, something went wrong.


[ ](/t5/help/faqpage)


Thanks everyone for the help on this!

---

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[ **410** stars ](/ClemensElflein/open_mower_ros/stargazers)


**[ dennyvt ](/dennyvt) ** commented  Oct 4, 2021


Author


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---

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Trying to source the build after running all of the installation steps, I get
the following error:


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##  Folders and files


WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies (ROS distro is not set. Make sure ` ROS_DISTRO `
environment variable is set, or use ` --rosdistro ` option to specify the
distro, e.g. ` --rosdistro indigo ` ):
ros2controlcli: Cannot locate rosdep definition for [ament_xmllint]
ros2_control_demos: Cannot locate rosdep definition for [ament_cmake]
controller_interface: Cannot locate rosdep definition for [ament_lint_common]
force_torque_sensor_broadcaster: Cannot locate rosdep definition for
[ament_cmake_gmock]
imu_sensor_broadcaster: Cannot locate rosdep definition for
[ament_lint_common]
controller_manager: Cannot locate rosdep definition for [ament_lint_common]
forward_command_controller: Cannot locate rosdep definition for
[ament_cmake_gmock]
diffbot_description: Cannot locate rosdep definition for [rviz2]
controller_manager_msgs: Cannot locate rosdep definition for
[ament_lint_common]
ros2_control: Cannot locate rosdep definition for [ament_cmake]
ros2_control_demo_hardware: Cannot locate rosdep definition for
[ament_cmake_gtest]
hardware_interface: Cannot locate rosdep definition for [ament_lint_common]
diff_drive_controller: Cannot locate rosdep definition for [ament_cmake_gmock]
effort_controllers: Cannot locate rosdep definition for [ament_cmake_gmock]
ur_controllers: Cannot locate rosdep definition for [std_srvs]
ros2_control_demo_bringup: Cannot locate rosdep definition for [xacro]
ur_description: Cannot locate rosdep definition for [xacro]
ros2_control_test_nodes: Cannot locate rosdep definition for [trajectory_msgs]
joint_state_broadcaster: Cannot locate rosdep definition for [rclcpp]
control_msgs: Cannot locate rosdep definition for [ament_lint_common]
velocity_controllers: Cannot locate rosdep definition for [ament_cmake_gmock]
ros2_control_test_assets: Cannot locate rosdep definition for
[ament_lint_auto]
transmission_interface: Cannot locate rosdep definition for
[ament_lint_common]
ur_robot_driver: Cannot locate rosdep definition for
[launch_testing_ament_cmake]
ur_moveit_config: Cannot locate rosdep definition for [ament_cmake]
ur_dashboard_msgs: Cannot locate rosdep definition for [action_msgs]
position_controllers: Cannot locate rosdep definition for [ament_cmake_gmock]


Beginner


      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< moveit_resources_prbt_support [0.27s, exited with code 1]
    --- stderr: rviz_visual_tools
    CMake Error at CMakeLists.txt:16 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake
        ament_cmake-config.cmake

      Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
      "ament_cmake_DIR" to a directory containing one of the above files.  If
      "ament_cmake" provides a separate development package or SDK, be sure it
      has been installed.

    ---
    Failed   <<< rviz_visual_tools [0.27s, exited with code 1]
    --- stderr: joint_limits
    CMake Error at CMakeLists.txt:13 (find_package):
      By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
      has asked CMake to find a package configuration file provided by
      "ament_cmake", but CMake did not find one.

      Could not find a package configuration file provided by "ament_cmake" with
      any of the following names:

        ament_cmakeConfig.cmake
        ament_cmake-config.cmake


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[
![@3ngineerit](https://avatars.githubusercontent.com/u/31911036?s=40&u=10372def4a8ff8372105263f311248ea7d14a245&v=4)
](/3ngineerit) [ 3ngineerit ](/3ngineerit) closed this as [ completed
](/UniversalRobots/Universal_Robots_ROS2_Driver/issues?q=is%3Aissue+is%3Aclosed+archived%3Afalse+reason%3Acompleted)
Oct 5, 2021


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  * For local navigation, I have tried to use the teb_local_planner. Unfortunately, it seems that (at least for me) the noetic version is VERY broken. Therefore I added the current melodic dev version as git submodule to this repo. It seems to work fine with ROS noetic and this setup here.
  * If the map has no docking point set, planning crashes as soon as we try to approach the docking point. TODO: check, before even starting to mow.


[ Reply ]()


##  Use saved searches to filter your results more quickly


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


I think there is something wrong with your [ DDS
](https://docs.ros.org/en/foxy/Installation/DDS-Implementations.html) . Has
your ROS2-foxy installation passed without any problems? Usually the pseudo-
steps are:


Sahira


/var/log/esb-cli/Edge_Insights_for_Autonomous_Mobile_Robots_<version>


[
![@3ngineerit](https://avatars.githubusercontent.com/u/31911036?s=80&u=10372def4a8ff8372105263f311248ea7d14a245&v=4)
](/3ngineerit)


Failed <<< control_msgs [0.16s, exited with code 1]
Aborted <<< diffbot_description [0.12s]
Aborted <<< controller_manager_msgs [0.13s]
Aborted <<< ros2_control_test_assets [0.14s]


[
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](/livanov93)


[ src ](/ClemensElflein/open_mower_ros/tree/main/src "src")


* Open Source


1,324 Views


None yet


source devel/setup.bash


Error occur at step 6 of the tutorial in this link, [
https://www.intel.com/content/www/us/en/docs/ei-for-amr/get-started-guide-
robot-kit/2022-3/step-6-run-a-ros-2-sample-application-in-the.html
](https://www.intel.com/content/www/us/en/docs/ei-for-amr/get-started-guide-
robot-kit/2022-3/step-6-run-a-ros-2-sample-application-in-the.html) .


edited


Hello,


[ ![@livanov93](https://avatars.githubusercontent.com/u/26708124?s=52&v=4)
](/livanov93) [
![@3ngineerit](https://avatars.githubusercontent.com/u/31911036?s=52&v=4)
](/3ngineerit) [
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](/dennyvt)


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This work is licensed under a [ Creative Commons Attribution-NonCommercial-
ShareAlike 4.0 International License ](http://creativecommons.org/licenses/by-
nc-sa/4.0/) .


There are references to other repositories (libraries) needed to build the
software. This way, we can track the exact version of the packages used in
each release to ensure package compatibility. Currently, the following
repositories are included:


Readme


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theme/candy/avatar-collection/Intel_Customer/avatar-display-
size/message/version/2?xdesc=1.0)


[ JesusE_Intel  ](https://community.intel.com/t5/user/viewprofilepage/user-
id/174)


#  ROS Workspace


[ LICENSE ](/ClemensElflein/open_mower_ros/blob/main/LICENSE "LICENSE")


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If you need any additional information, please submit a new question as this
thread will no longer be monitored.


##  [ Releases ](/ClemensElflein/open_mower_ros/releases)


Hi,


I noticed the following wasn't installed when running the colcon build:


Search


#  ros-tooling/rosbag2_storage_mcap


###  Forks


###  [ rosbag2_storage_mcap ](/p/rosbag2_storage_mcap) package from [ rosbag2
](/r/rosbag2/github-ros2-rosbag2) repo


For


[ Get all key/value pairs from custom ROS2 message ](/question/370820/get-all-
keyvalue-pairs-from-custom-ros2-message/)


  * ardent
  * bouncy
  * crystal
  * eloquent
  * dashing
  * galactic
  * foxy
  * lunar
  * jade
  * indigo
  * hydro
  * kinetic
  * melodic


For testing, we will need a sample, generic bagfile that contains at least a
little data. We would need to test the ability of the converter to read this
bagfile into the neutral intermediary format. Additionally, we would need to
run a test where we take a valid neutral intermediary format, and write it to
a bagfile. Ideally, we will have multiple neutral intermediary format tests:
Some will contain insufficient data for the new format (thus checking to make
sure the writer can produce acceptable defaults), and some providing too much
data for the new format (that the writer should ignore, but report to the user
that not all data will be converted).

---

The text was updated successfully, but these errors were encountered:


You can’t perform that action at this time.


* Revert \"rosbag2_storage_mcap: add storage preset profiles\" This reverts commit 38830add3935b978968fe2703d3180b413ccc8c2.


##  0.1.6 (2022-07-22)


  1. "upgrade an old bag format to the current bag format" - this prompts a larger discussion about how we handle bag format versioning (metadata format or storage format)
  2. "rewrite a bag within the same version, with different configuration" - which is what we're discussing on  [ [WIP] Adding Rewriter  #709  ](https://github.com/ros2/rosbag2/pull/709) . I think there exists a trivial implementation for this.


This package provides a [ storage plugin
](https://github.com/ros2/rosbag2#storage-format-plugin-architecture) for
rosbag2 which extends it with support for the [ MCAP ](https://mcap.dev) file
format.


Let me propose a slightly different definition structure according to the
implementation:


[ Apache-2.0 license ](/ros-tooling/rosbag2_storage_mcap/blob/main/LICENSE)


###  Source Tutorials


Deps  |  |  Name  |  [ ](/p/ament_cmake#humble-deps) |  [ 1
](/packages/ament_cmake) |  [ ament_cmake ](/p/ament_cmake#humble)
---|---|---
[ ](/p/ament_cmake_clang_format#humble-deps) |  [ 1
](/packages/ament_cmake_clang_format) |  [ ament_cmake_clang_format
](/p/ament_cmake_clang_format#humble)
[ ](/p/ament_cmake_gmock#humble-deps) |  [ 1 ](/packages/ament_cmake_gmock) |
[ ament_cmake_gmock ](/p/ament_cmake_gmock#humble)
[ ](/p/ament_lint_auto#humble-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#humble)
[ ](/p/ament_lint_common#humble-deps) |  [ 1 ](/packages/ament_lint_common) |
[ ament_lint_common ](/p/ament_lint_common#humble)
[ ](/p/rcpputils#humble-deps) |  [ 1 ](/packages/rcpputils) |  [ rcpputils
](/p/rcpputils#humble)
[ ](/p/rosbag2_test_common#humble-deps) |  [ 1
](/packages/rosbag2_test_common) |  [ rosbag2_test_common
](/p/rosbag2_test_common#humble)
[ ](/p/std_msgs#humble-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#humble)
[ ](/p/rosbag2_storage_mcap_testdata#humble-deps) |  [ 2
](/packages/rosbag2_storage_mcap_testdata) |  [ rosbag2_storage_mcap_testdata
](/p/rosbag2_storage_mcap_testdata#humble)
[ ](/p/ament_index_cpp#humble-deps) |  [ 1 ](/packages/ament_index_cpp) |  [
ament_index_cpp ](/p/ament_index_cpp#humble)
[ ](/p/mcap_vendor#humble-deps) |  [ 2 ](/packages/mcap_vendor) |  [
mcap_vendor ](/p/mcap_vendor#humble)
[ ](/p/pluginlib#humble-deps) |  [ 1 ](/packages/pluginlib) |  [ pluginlib
](/p/pluginlib#humble)
[ ](/p/rcutils#humble-deps) |  [ 1 ](/packages/rcutils) |  [ rcutils
](/p/rcutils#humble)
[ ](/p/rosbag2_storage#humble-deps) |  [ 1 ](/packages/rosbag2_storage) |  [
rosbag2_storage ](/p/rosbag2_storage#humble)

###  System Dependencies


Copy link


##  0.4.0 (2022-10-06)


[ **asked 2021-01-14 10:47:48 -0500  ** ](/questions/369573/revisions/)


###  Package Dependencies


##  1  Answer


_No launch files found_


[ Sign up
](/signup?ref_cta=Sign+up&ref_loc=header+logged+out&ref_page=%2F%3Cuser-
name%3E%2F%3Crepo-name%3E&source=header-repo&source_repo=ros-
tooling%2Frosbag2_storage_mcap)


Explore


_No message files found._


> The "old bag" question was related to the ` Storage Implementation Version `
> \- or, is the storage implementation allowed to update its schema over time,
> and if so how does it read those older schemas?


  * [ Code  ](/ros-tooling/rosbag2_storage_mcap)
  * [ Issues  ](/ros-tooling/rosbag2_storage_mcap/issues)
  * [ Pull requests  ](/ros-tooling/rosbag2_storage_mcap/pulls)
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  * [ Projects  ](/ros-tooling/rosbag2_storage_mcap/projects)
  * [ Security  ](/ros-tooling/rosbag2_storage_mcap/security)
  * [ Insights  ](/ros-tooling/rosbag2_storage_mcap/pulse)


* Contributors: James Smith, Michael Orlov


edited


[
![@emersonknapp](https://avatars.githubusercontent.com/u/537409?s=80&u=df10fea87305edde062008566721a9968483fa56&v=4)
](/emersonknapp)


An issue I foresee with this approach, however, is we will still need a reader
and writer for each and every bag format that we want to write to/from. If we
start creating lots of bag formats/versions, this might become difficult to
maintain. We may be able to offload some of the maintenance responsibilities
by allowing the converter to work with plugins - people could write plugins
for new formats and versions, and as long as the plugins can read/write
to/from the neutral intermediary format, everything should "just work".


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


[ liblz4_vendor ](/p/liblz4_vendor/github-ros2-rosbag2) [ mcap_vendor
](/p/mcap_vendor/github-ros2-rosbag2) [ ros2bag ](/p/ros2bag/github-
ros2-rosbag2) [ rosbag2 ](/p/rosbag2/github-ros2-rosbag2) [
rosbag2_compression ](/p/rosbag2_compression/github-ros2-rosbag2) [
rosbag2_compression_zstd ](/p/rosbag2_compression_zstd/github-ros2-rosbag2) [
rosbag2_cpp ](/p/rosbag2_cpp/github-ros2-rosbag2) [ rosbag2_examples_cpp
](/p/rosbag2_examples_cpp/github-ros2-rosbag2) [ rosbag2_examples_py
](/p/rosbag2_examples_py/github-ros2-rosbag2) [ rosbag2_interfaces
](/p/rosbag2_interfaces/github-ros2-rosbag2) [
rosbag2_performance_benchmarking ](/p/rosbag2_performance_benchmarking/github-
ros2-rosbag2) [ rosbag2_performance_benchmarking_msgs
](/p/rosbag2_performance_benchmarking_msgs/github-ros2-rosbag2) [ rosbag2_py
](/p/rosbag2_py/github-ros2-rosbag2) [ rosbag2_storage
](/p/rosbag2_storage/github-ros2-rosbag2) [ rosbag2_storage_default_plugins
](/p/rosbag2_storage_default_plugins/github-ros2-rosbag2) rosbag2_storage_mcap
[ rosbag2_storage_sqlite3 ](/p/rosbag2_storage_sqlite3/github-ros2-rosbag2) [
rosbag2_test_common ](/p/rosbag2_test_common/github-ros2-rosbag2) [
rosbag2_test_msgdefs ](/p/rosbag2_test_msgdefs/github-ros2-rosbag2) [
rosbag2_tests ](/p/rosbag2_tests/github-ros2-rosbag2) [ rosbag2_transport
](/p/rosbag2_transport/github-ros2-rosbag2) [ shared_queues_vendor
](/p/shared_queues_vendor/github-ros2-rosbag2) [ sqlite3_vendor
](/p/sqlite3_vendor/github-ros2-rosbag2) [ zstd_vendor
](/p/zstd_vendor/github-ros2-rosbag2)
---|---

github-ros2-rosbag2


As for the ` messages ` table - this is a [ `
rosbag2_storage::SerializedBagMessage `
](https://github.com/ros2/rosbag2/blob/master/rosbag2_storage/include/rosbag2_storage/serialized_bag_message.hpp)
. Now, the question is whether we need to version this structure. I think the
answer is yes, because there are at least two features I can think of that
we're considering that would need new fields. (source+received timestamp per
message to match source timing on playback, and Publisher ID per message to
have a multi-publisher playback for mixed QoS) - but again the fact that there
are "database table keys" is an implementation detail of the storage
implementation to be hidden, the important question is whether the storage
implementation can read a given ` SerializedBagMessageVersion ` (new concept)

---

All reactions


[ ![ROS Foxy version](https://img.shields.io/ros/v/foxy/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#foxy) [
![ROS Galactic
version](https://img.shields.io/ros/v/galactic/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#galactic)
[ ![ROS Humble
version](https://img.shields.io/ros/v/humble/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#humble) [
![ROS Rolling
version](https://img.shields.io/ros/v/rolling/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#rolling)


_No additional links._


_Not currently indexed._


[ ](https://github.com/)


    * [ Topics ](/topics)
    * [ Trending ](/trending)
    * [ Collections ](/collections)


    # Using the MCAP CLI https://github.com/foxglove/mcap/tree/main/go/cli/mcap
    $ mcap compress fast.mcap -o compressed.mcap
    # Using `ros2 bag convert`
    $ cat << EOF > convert.yaml
    output_bags:
      - uri: compressed
        storage_id: mcap
        storage_preset_profile: zstd_small
    EOF
    $ ros2 bag convert -i fast.mcap -o convert.yaml


* [ GitHub Sponsors  Fund open source developers  ](/sponsors)


##  0.3.0 (2022-09-09)


rosbag2_storage_mcap is available as part of the [ current ROS 2 distributions
](https://docs.ros.org/en/rolling/Releases.html) . On Ubuntu, after following
the [ ROS 2 installation instructions
](https://docs.ros.org/en/humble/Installation.html) , you can use:


[ CPPLINT.cfg ](/ros-tooling/rosbag2_storage_mcap/blob/main/CPPLINT.cfg
"CPPLINT.cfg")


Configures the MCAP writer to use chunk compression with [ zstd
](http://facebook.github.io/zstd/) . Chunk compression yields file sizes
comparable to bags compressed with file-level compression, but allows tools to
efficiently read messages without decompressing the entire bag. This preset
uses the lowest compression ratio and disables CRC calculation, to achieve
high throughput while conserving disk space.


* [ bag ](/questions/scope:all/sort:activity-desc/tags:bag/page:1/)


None yet


###  Services


Configures the MCAP writer to write 4MB chunks, compressed with zstd using its
highest compression ratio. This produces very small bags, but can be resource-
intensive to write. This preset also calculates chunk CRCs, which allow a
reader to determine if a chunk is corrupted. This preset is useful when using
` ros2 bag convert ` as a post-processing step.


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  * [ Contact ](https://support.github.com?tags=dotcom-footer)
  * Manage cookies
  * Do not share my personal information


##  0.1.7 (2022-08-15)


###  Writer Configuration


But instead of writing that, even - I think I'd prefer to find a more generic
way that we could version schemas and translate between them. This would be
useful for both ` BagMetadata ` and ` SerializedBagMessage ` schemas (which
are the schemas of the 2 tables you're trying to think about here). There are
tools for this, it's a common problem. I don't know if "schemaless key
munging" is the approach I would prefer to take... The data feels more rigidly
structured than that.

---

All reactions


#  Saved searches


Collaborator


Failed to get question list, you can ticket an issue [ here
](https://github.com/ros-infrastructure/rosindex/issues/new)


###  Source Tutorials


[ .github/  workflows  ](/ros-
tooling/rosbag2_storage_mcap/tree/main/.github/workflows "This path skips
through empty directories")


[ ![ gravatar image]() ]() [ ]() (  2024-04-17 19:33:13 -0500  )  edit


[ Custom properties  ](/ros-tooling/rosbag2_storage_mcap/custom-properties)


[
![@emersonknapp](https://avatars.githubusercontent.com/u/537409?s=40&u=df10fea87305edde062008566721a9968483fa56&v=4)
](/emersonknapp) [ emersonknapp ](/emersonknapp) mentioned this issue  Jul 30,
2021


_Not currently indexed._


  * [ Foxglove  ](https://foxglove.dev/)

Copyright © [ Foxglove ](https://foxglove.dev)


###  Plugins


###  Recent questions tagged ` rosbag2_storage_mcap ` at **[ Robotics Stack
Exchange ](https://robotics.stackexchange.com/) **


###  Storage Preset Profiles


[ ![@danthony06](https://avatars.githubusercontent.com/u/4430620?s=80&v=4)
](/danthony06)


[ 86 Commits  ](/ros-tooling/rosbag2_storage_mcap/commits/main/)


I am able to deserialize data from the bag if there is one topic **only** ,
but I'm not sure how to deserialize multiple topics.


#  Changelog for package rosbag2_storage_mcap


1 follower


No one assigned


Thanks for opening this ticket! We've been having this exact conversation on [
#709 ](https://github.com/ros2/rosbag2/pull/709)

---

All reactions


New issue


> If I'm understanding the previous comment, are you saying we should not have
> the expectation to play a bag file recorded in a newer version of ROS when
> using an older version?


Sorry, something went wrong.


Search


##  0.1.4 (2022-04-21)


    # Using the MCAP CLI https://github.com/foxglove/mcap/tree/main/go/cli/mcap
    $ mcap compress fast.mcap -o compressed.mcap
    # Using `ros2 bag convert`
    $ cat << EOF > convert.yaml
    output_bags:
      - uri: compressed
        storage_id: mcap
        storage_preset_profile: zstd_small
    EOF
    $ ros2 bag convert -i fast.mcap -o convert.yaml


This repository has been archived by the owner on Nov 30, 2022. It is now
read-only.


###  Package Dependencies


  * fix: minor issues ( [ #31 ](https://github.com/wep21/rosbag2_storage_mcap/issues/31) )
    * remove unnecessary block
    * use target_link_libraries instead of ament_target_dependencies
    * remove ros environment
    * add prefix to compile definition
  * Update email address for Foxglove maintainers ( [ #32 ](https://github.com/wep21/rosbag2_storage_mcap/issues/32) )
  * Contributors: Daisuke Nishimatsu, Jacob Bandes-Storch


By clicking “Sign up for GitHub”, you agree to our [ terms of service
](https://docs.github.com/terms) and [ privacy statement
](https://docs.github.com/privacy) . We’ll occasionally send you account
related emails.


####  ` zstd_small `


  * Overview
  * 0  Assets
  * 14  Dependencies
  * 0  Tutorials
  * 0  Q & A


[ ROS1 vs ROS2 serialization ](/question/371866/ros1-vs-ros2-serialization/)


    * [ Learning Pathways  ](https://resources.github.com/learn/pathways/)
    * [ White papers, Ebooks, Webinars  ](https://resources.github.com/)
    * [ Customer Stories ](/customer-stories)
    * [ Partners  ](https://partner.github.com/)


Equivalent to this storage configuration:


##  Testing Notes / Suggestions


_Not currently indexed._


[ README.md ](/ros-tooling/rosbag2_storage_mcap/blob/main/README.md
"README.md")


I've recorded data with ` ros2 bag ` as explained in [ the ROS2 tutorial
](https://index.ros.org/doc/ros2/Tutorials/Ros2bag/Recording-And-Playing-Back-
Data/) from the ` turtlesim ` package.


  * Store IDL message definitions in Schema records when no MSG definition is available ( [ #43 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/43) )
  * Contributors: James Smith


Sign up for GitHub


[ ![Aghiad Haloul gravatar image](/m/default/media/images/nophoto.png?v=28)
](/users/67878/aghiad-haloul/)


**[ jhdcs ](/jhdcs) ** commented  Apr 7, 2021


Deps  |  |  Name  |  [ ](/p/ament_cmake#iron-deps) |  [ 1
](/packages/ament_cmake) |  [ ament_cmake ](/p/ament_cmake#iron)
---|---|---
[ ](/p/ament_cmake_python#iron-deps) |  [ 1 ](/packages/ament_cmake_python) |
[ ament_cmake_python ](/p/ament_cmake_python#iron)
[ ](/p/ament_cmake_clang_format#iron-deps) |  [ 1
](/packages/ament_cmake_clang_format) |  [ ament_cmake_clang_format
](/p/ament_cmake_clang_format#iron)
[ ](/p/ament_cmake_gmock#iron-deps) |  [ 1 ](/packages/ament_cmake_gmock) |  [
ament_cmake_gmock ](/p/ament_cmake_gmock#iron)
[ ](/p/ament_lint_auto#iron-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#iron)
[ ](/p/ament_lint_common#iron-deps) |  [ 1 ](/packages/ament_lint_common) |  [
ament_lint_common ](/p/ament_lint_common#iron)
[ ](/p/rosbag2_test_common#iron-deps) |  [ 1 ](/packages/rosbag2_test_common)
|  [ rosbag2_test_common ](/p/rosbag2_test_common#iron)
[ ](/p/std_msgs#iron-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#iron)
[ ](/p/ament_index_cpp#iron-deps) |  [ 1 ](/packages/ament_index_cpp) |  [
ament_index_cpp ](/p/ament_index_cpp#iron)
[ ](/p/mcap_vendor#iron-deps) |  [ 2 ](/packages/mcap_vendor) |  [ mcap_vendor
](/p/mcap_vendor#iron)
[ ](/p/pluginlib#iron-deps) |  [ 1 ](/packages/pluginlib) |  [ pluginlib
](/p/pluginlib#iron)
[ ](/p/rcutils#iron-deps) |  [ 1 ](/packages/rcutils) |  [ rcutils
](/p/rcutils#iron)
[ ](/p/rosbag2_storage#iron-deps) |  [ 1 ](/packages/rosbag2_storage) |  [
rosbag2_storage ](/p/rosbag2_storage#iron)

###  System Dependencies


[ mcap_vendor ](/ros-tooling/rosbag2_storage_mcap/tree/main/mcap_vendor
"mcap_vendor")


[ enhancement  ](/ros2/rosbag2/labels/enhancement) New feature or request


##  ⚠ Move from ` ros-tooling ` organization


_No service files found_


To configure details of the MCAP writer for ` ros2 bag record ` , use the `
--storage-config-file ` options to provide a YAML file describing `
mcap::McapWriterOptions ` . Field descriptions below copied from [
McapWriterOptions declaration
](https://github.com/foxglove/mcap/blob/main/cpp/mcap/include/mcap/writer.hpp#L18)


[ .gitignore ](/ros-tooling/rosbag2_storage_mcap/blob/main/.gitignore
".gitignore")


Copy link


|  |  void  SqliteStorage::initialize  ()
---|---
|  {
|  std::string create_stmt =  "  CREATE TABLE topics(  "  \
|  "  id INTEGER PRIMARY KEY,  "  \
|  "  name TEXT NOT NULL,  "  \
|  "  type TEXT NOT NULL,  "  \
|  "  serialization_format TEXT NOT NULL,  "  \
|  "  offered_qos_profiles TEXT NOT NULL);  "  ;
|  database_-> prepare_statement  (create_stmt)-> execute_and_reset  ();
|  create_stmt =  "  CREATE TABLE messages(  "  \
|  "  id INTEGER PRIMARY KEY,  "  \
|  "  topic_id INTEGER NOT NULL,  "  \
|  "  timestamp INTEGER NOT NULL,  "  \
|  "  data BLOB NOT NULL);  "  ;
|  database_-> prepare_statement  (create_stmt)-> execute_and_reset  ();
|  create_stmt =  "  CREATE INDEX timestamp_idx ON messages (timestamp ASC);
"  ;
|  database_-> prepare_statement  (create_stmt)-> execute_and_reset  ();
|  }

The keys for the ` topics ` table would be ` id ` , ` name ` , ` type ` , `
serialization_format ` , and ` offered_qos_profiles ` . The keys for the `
messages ` table would be ` id ` , ` topic_id ` , ` timestamp ` , and ` data `
. Though, since this is split into multiple tables, we'd need to figure out
how to make it generic for storage formats that might not use tables, so that
the neutral intermediary format is truly neutral...

All reactions


No version for distro **eloquent** . Known supported distros are highlighted
in the buttons above.


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


Sorry, something went wrong.


Asked: ** 2021-01-14 10:47:48 -0500  **


[
![@jhdcs](https://avatars.githubusercontent.com/u/48914066?s=80&u=e790a8959c895c919401b76e17bb58b6814b9e9a&v=4)
](/jhdcs)


[ ros-tooling ](/ros-tooling) /  **[ rosbag2_storage_mcap ](/ros-
tooling/rosbag2_storage_mcap) ** Public archive


##  [ Contributors  9  ](/ros-
tooling/rosbag2_storage_mcap/graphs/contributors)


ROS Resources: [ Documentation ](http://wiki.ros.org/) | [ Support
](http://wiki.ros.org/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Index ](http://index.ros.org/) | [ Service
Status ](http://status.ros.org/) | [ ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/ros)
---

_Attention:_ Answers.ros.org is deprecated as of August the 11th, 2023. Please
visit [ robotics.stackexchange.com ](http://robotics.stackexchange.com) to ask
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###  Recent questions tagged ` rosbag2_storage_mcap ` at **[ Robotics Stack
Exchange ](https://robotics.stackexchange.com/) **


* [ turtlesim ](/questions/scope:all/sort:activity-desc/tags:turtlesim/page:1/)


    noChunking: true
    noSummaryCRC: true


You can also use one of the preset profiles described below, for example:


    compression: "Zstd"
    compressionLevel: "Fastest"
    noChunkCRC: true


##  About


###  Package Dependencies


###  Dependant Packages


  * Fix build for Foxy ( [ #34 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/34) )
  * Contributors: Jacob Bandes-Storch


Search


[ ![@danthony06](https://avatars.githubusercontent.com/u/4430620?s=80&v=4)
](/danthony06)


Are you talking about the structure of the messages themselves (the ` IDL ` /
` .msg ` definitions)? This isn't something I had considered - it's probably a
separate thing. The structure I've put forth here doesn't really take this
into consideration. I think it would be part of the `
SerializationFormatConverter ` portion of rosbag2 functionality, and could
very well be useful as a generic ros2 core feature.


I think the main problem is that the code does not check which message is
actually read out of the ros2bag. You can do this by reading the ros topic:


Configures the MCAP writer for the highest possible write throughput and
lowest resource utilization. This preset does not calculate CRCs for integrity
checking, and does not write a message index. This preset profile is useful
for resource-constrained robots.


rosbag2 storage implementation for MCAP file format


    compression: "Zstd"
    compressionLevel: "Slowest"
    chunkSize: 4194304 # 4 * 1024 * 1024


    1. Fixed some findings from Clang-Tidy
    2. Some renames according to the ROS2 coding style
    3. Add default initializations for member variables


Sorry, something went wrong.


My apologies! When I'm talking about "keys" I'm talking about keys to the
individual portions of the recorded data in the database. So the schema
labels.


    # mcap_writer_options.yml
    noChunkCRC: false
    noChunking: false
    noMessageIndex: false
    noSummary: false
    chunkSize: 786432
    compression: "Zstd"
    compressionLevel: "Fast"
    forceCompression: false

    $ ros2 bag record -s mcap -o my_bag --all --storage-config-file mcap_writer_options.yml


[
![@jhdcs](https://avatars.githubusercontent.com/u/48914066?s=80&u=e790a8959c895c919401b76e17bb58b6814b9e9a&v=4)
](/jhdcs)


###  Source Tutorials


First time here? Check out the FAQ!


You can find an expample at [ https://github.com/orascheg/ROS2BagFi...
](https://github.com/orascheg/ROS2BagFileParsing.git)


[ edit ](/questions/369573/edit/) [ retag ](/s/questions/369573/retag/) flag
offensive  [ close ](/questions/369573/close/) merge  delete


If I'm understanding the previous comment, are you saying we should not have
the expectation to play a bag file recorded in a newer version of ROS when
using an older version?

---

All reactions


I'm not sure I see it this way. I think you only ever have to "convert up" - I
don't think we need to promise forward-compatibility (play a Galactic-recorded
bag using Foxy's rosbag2), I think we only need to promise that rosbag2 is
backwards-compatible (you can play a Dashing-recorded bag using Galactic's
rosbag2). In this case, you basically only need conversion code like:


* Foxglove


Convert to MCAP


**[ emersonknapp ](/emersonknapp) ** commented  Apr 6, 2021


[ .gitignore ](/ros-tooling/rosbag2_storage_mcap/blob/main/.gitignore
".gitignore")


  * [1.0.0] Use Summary section for get_metadata() and seek(), implement remaining methods ( [ #17 ](https://github.com/wep21/rosbag2_storage_mcap/issues/17) )
  * feat: add play impl ( [ #16 ](https://github.com/wep21/rosbag2_storage_mcap/issues/16) )
  * chore: refine package.xml ( [ #15 ](https://github.com/wep21/rosbag2_storage_mcap/issues/15) )
  * Don\'t throw when READ_WRITE mode is used; add .mcap file extension to recorded files ( [ #14 ](https://github.com/wep21/rosbag2_storage_mcap/issues/14) ) I may be missing something, but from a cursory glance at [this code]( [ https://github.com/ros2/rosbag2/blob/342d8ed3c1c4ae0411a4a92b60e79a728b8974b8/rosbag2_storage/src/rosbag2_storage/impl/storage_factory_impl.hpp#L108-L135 ](https://github.com/ros2/rosbag2/blob/342d8ed3c1c4ae0411a4a92b60e79a728b8974b8/rosbag2_storage/src/rosbag2_storage/impl/storage_factory_impl.hpp#L108-L135) ), it appears that the [APPEND]{.title-ref} mode is never used. This means we need to support [READ_WRITE]{.title-ref}. This also adds a [.mcap]{.title-ref} extension to recorded file names.
  * Add dynamic message definition lookup ( [ #13 ](https://github.com/wep21/rosbag2_storage_mcap/issues/13) ) Currently, an exception will be thrown if lookup fails.
  * Switch C++ formatter to clang-format ( [ #12 ](https://github.com/wep21/rosbag2_storage_mcap/issues/12) ) Remove uncrustify linter in favor of clang-format, which is easier to configure for use in VS Code format-on-save.
  * Merge pull request [ #7 ](https://github.com/wep21/rosbag2_storage_mcap/issues/7) from ros-tooling/jhurliman/reader-writer Reader and writer implementation
  * uninitialized struct
  * lint
  * lint
  * lint
  * Reader and writer implementation
  * Merge pull request [ #6 ](https://github.com/wep21/rosbag2_storage_mcap/issues/6) from wep21/add-metadata-impl feat: add metadata impl
  * feat: add metadata impl
  * Merge pull request [ #5 ](https://github.com/wep21/rosbag2_storage_mcap/issues/5) from wep21/mcap-storage-impl feat: mcap storage impl
  * chore: update cmake minimum version
  * chore: install mcap header
  * chore: include mcap header
  * fix: move fetch content into rosbag2 storage mcap
  * Merge pull request [ #3 ](https://github.com/wep21/rosbag2_storage_mcap/issues/3) from ros-tooling/emersonknapp/mcap_plugin_skeleton Add mcap storage plugin skeleton and CI
  * Add rosbag2_storage_mcap skeleton
  * Contributors: Daisuke Nishimatsu, Emerson Knapp, Jacob Bandes-Storch, John Hurliman, wep21


If you read through the discussion, you'll see that "Stitcher" was an
inappropriate name for the API that will be presented there, and we are
discussing the proper naming for it. I've suggested "Rewriter" - which starts
to look a lot like a "Converter", which is why it is good for us to be very
precise with definitions of terms.


[ rosbag2_storage_mcap/README.md
](https://github.com/ros2/rosbag2/tree/iron/rosbag2_storage_mcap/README.md
"Open in git repository")


rosbag2_storage_mcap is available as part of the [ current ROS 2 distributions
](https://docs.ros.org/en/rolling/Releases.html) . On Ubuntu, after following
the [ ROS 2 installation instructions
](https://docs.ros.org/en/humble/Installation.html) , you can use:


I too would prefer that the bag format remain unchanged, and if that's not
possible, I at least want to easily work with bags in currently supported
versions of ROS.


###  Services


[ ALL ](/questions/scope:all/sort:activity-desc/page:1/) [ UNANSWERED
](/questions/scope:unanswered/sort:answers-asc/page:1/)


####  ` zstd_fast `


###  Messages


5 tasks


Something like:


  * rosbag2_storage_mcap: fix rosbag2_cpp tests ( [ #1205 ](https://github.com/ros2/rosbag2/issues/1205) )
  * [Humble backport] rosbag2_storage_mcap: merge into rosbag2 repo ( [ #1163 ](https://github.com/ros2/rosbag2/issues/1163) ) ( [ #1189 ](https://github.com/ros2/rosbag2/issues/1189) )
  * Contributors: james-rms


[
![@emersonknapp](https://avatars.githubusercontent.com/u/537409?s=80&u=df10fea87305edde062008566721a9968483fa56&v=4)
](/emersonknapp)


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* Product


Labels


ROS Resources: [ Documentation ](http://docs.ros.org/) | [ Support
](http://wiki.ros.org/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Service Status ](http://status.ros.org/) | [
ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/ros)
---

[ ROS Index ](/)


[ enhancement  ](/ros2/rosbag2/labels/enhancement) New feature or request


##  0.4.0 (2022-10-06)


Query


"Take any existing bag, and write it to a new bag with a new `
StorageConfiguration ` "


Deps  |  |  Name  |  [ ](/p/ament_cmake#galactic-deps) |  [ 1
](/packages/ament_cmake) |  [ ament_cmake ](/p/ament_cmake#galactic)
---|---|---
[ ](/p/ament_cmake_clang_format#galactic-deps) |  [ 1
](/packages/ament_cmake_clang_format) |  [ ament_cmake_clang_format
](/p/ament_cmake_clang_format#galactic)
[ ](/p/ament_cmake_gmock#galactic-deps) |  [ 1 ](/packages/ament_cmake_gmock)
|  [ ament_cmake_gmock ](/p/ament_cmake_gmock#galactic)
[ ](/p/ament_lint_auto#galactic-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#galactic)
[ ](/p/ament_lint_common#galactic-deps) |  [ 1 ](/packages/ament_lint_common)
|  [ ament_lint_common ](/p/ament_lint_common#galactic)
[ ](/p/rcpputils#galactic-deps) |  [ 1 ](/packages/rcpputils) |  [ rcpputils
](/p/rcpputils#galactic)
[ ](/p/rosbag2_cpp#galactic-deps) |  [ 1 ](/packages/rosbag2_cpp) |  [
rosbag2_cpp ](/p/rosbag2_cpp#galactic)
[ ](/p/rosbag2_test_common#galactic-deps) |  [ 1
](/packages/rosbag2_test_common) |  [ rosbag2_test_common
](/p/rosbag2_test_common#galactic)
[ ](/p/std_msgs#galactic-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#galactic)
[ ](/p/rosbag2_storage_mcap_testdata#galactic-deps) |  [ 2
](/packages/rosbag2_storage_mcap_testdata) |  [ rosbag2_storage_mcap_testdata
](/p/rosbag2_storage_mcap_testdata#galactic)
[ ](/p/ament_index_cpp#galactic-deps) |  [ 1 ](/packages/ament_index_cpp) |  [
ament_index_cpp ](/p/ament_index_cpp#galactic)
[ ](/p/mcap_vendor#galactic-deps) |  [ 2 ](/packages/mcap_vendor) |  [
mcap_vendor ](/p/mcap_vendor#galactic)
[ ](/p/pluginlib#galactic-deps) |  [ 1 ](/packages/pluginlib) |  [ pluginlib
](/p/pluginlib#galactic)
[ ](/p/rcutils#galactic-deps) |  [ 1 ](/packages/rcutils) |  [ rcutils
](/p/rcutils#galactic)
[ ](/p/rosbag2_storage#galactic-deps) |  [ 1 ](/packages/rosbag2_storage) |  [
rosbag2_storage ](/p/rosbag2_storage#galactic)

###  System Dependencies


[ **30** stars ](/ros-tooling/rosbag2_storage_mcap/stargazers)


**Checkout URI** |  [ https://github.com/ros2/rosbag2.git
](https://github.com/ros2/rosbag2.git)
---|---
**VCS Type** |  git
**VCS Version** |  humble
**Last Updated**

2024-02-23  |  **Dev Status** |  DEVELOPED
**CI status** |  No Continuous Integration
**Released** |  RELEASED
**Tags** |  _No category tags._
**Contributing** |  [ Help Wanted (  0  ) ](/r/rosbag2/#humble-contribute-
lists-help-wanted)
[ Good First Issues (  0  ) ](/r/rosbag2/#humble-contribute-lists-good-first-
issue)
[ Pull Requests to Review (  0  ) ](/r/rosbag2/#humble-contribute-lists-pull-
requests)

###  Package Description


namely, the topics are:


Clear


[ Star  ](/login?return_to=%2Fros-tooling%2Frosbag2_storage_mcap)


edit


Development


{{ message }}


![](/assets/package.png) |


Code


The ` topics ` Table is a "backup copy" of [ ` rosbag2_storage::BagMetadata `
](https://github.com/ros2/rosbag2/blob/master/rosbag2_storage/include/rosbag2_storage/bag_metadata.hpp)
, which is fully stored in ` metadata.yaml ` as a storage-implementation-
independend format (your "neutral intermediary format")- unless it has been
lost and needs your Reindexer applied :). The ` BagMetadata ` , and there for
the ` Bag Metadata Version ` that we mentioned before, contain all of this
information.


Apache-2.0 license


**[ danthony06 ](/danthony06) ** commented  Apr 7, 2021


####  Authors


Spawned from a conversation in issue [ #677
](https://github.com/ros2/rosbag2/issues/677)


  * Added mcap_vendor package. Updated CMakeLists.txt to fetch dependencies with FetchContent rather than Conan.
  * Contributors: Jacob Bandes-Storch


  * [ Code  ](/ros-tooling/rosbag2_storage_mcap)
  * [ Issues  0  ](/ros-tooling/rosbag2_storage_mcap/issues)
  * [ Pull requests  0  ](/ros-tooling/rosbag2_storage_mcap/pulls)
  * [ Discussions  ](/ros-tooling/rosbag2_storage_mcap/discussions)
  * [ Actions  ](/ros-tooling/rosbag2_storage_mcap/actions)
  * [ Projects  0  ](/ros-tooling/rosbag2_storage_mcap/projects)
  * [ Security  ](/ros-tooling/rosbag2_storage_mcap/security)
  * [ Insights  ](/ros-tooling/rosbag2_storage_mcap/pulse)


[ ![Gerbert gravatar image](/m/default/media/images/nophoto.png?v=28)
](/users/72796/gerbert/)


The ROS 2 Bag converter would be a program/function that you could run on your
current ROS 2 bags, and convert them into different storage types. This could
be a different version of the same storage (for instance, upgrading formats
within SQLite databases), or converting to a completely new storage type (for
instance, ROS 1 bag to SQLite database).


> Not being able to open bag files generated from newer versions of ROS on an
> older version is going to cause us a lot of headaches.


##  0.1.7 (2022-08-15)