missing depends cyclonedds

[realtime-neil]

Bug report

Required Info:

• Operating System:
  • ubuntu 20.04
• Installation type:
  • binary
• Version or commit hash:
  • 1.0.3-1focal.20220209.142624
• DDS implementation:
  • rmw_cyclonedds_cpp
• Client library (if applicable):
  • N/A

Steps to reproduce issue

apt-cache show ros-foxy-rmw-implementation | grep-dctrl --no-field-names --show-field=Depends --field=Depends 'ros-foxy-rmw-cyclonedds-cpp'

Expected behavior

ros-foxy-rmw-implementation has ros-foxy-rmw-cyclonedds-cpp in its Depends.

Actual behavior

ros-foxy-rmw-implementation does not have ros-foxy-rmw-cyclonedds-cpp in its Depends.

Additional information

https://github.com/ros2-gbp/rmw_implementation-release/blob/debian/foxy/focal/rmw_implementation/debian/control

[moriarty]

I just came across something similar to this.

I installed ros-iron-rmw-cyclonedds-cpp to get around it. I believe there is a dependency missing but not specifically to cyclonedds. I think it depends on one of the (vendor)dds-cpp implementations... Or maybe just some documentation missing.

Here is my line 11

	find_package(controller_interface REQUIRED)

CMake Error at /opt/ros/iron/share/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake:60 (message):
  Could not find ROS middleware implementation 'rmw_cyclonedds_cpp'.  Choose
  one of the following: rmw_fastrtps_cpp
Call Stack (most recent call first):
  /opt/ros/iron/share/rmw_implementation/cmake/rmw_implementation-extras.cmake:19 (get_default_rmw_implementation)
  /opt/ros/iron/share/rmw_implementation/cmake/rmw_implementationConfig.cmake:41 (include)
  /opt/ros/iron/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/iron/share/rcl/cmake/rclConfig.cmake:41 (include)
  /opt/ros/iron/share/rclcpp_lifecycle/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/iron/share/rclcpp_lifecycle/cmake/rclcpp_lifecycleConfig.cmake:41 (include)
  /opt/ros/iron/share/hardware_interface/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/iron/share/hardware_interface/cmake/hardware_interfaceConfig.cmake:41 (include)
  /opt/ros/iron/share/controller_interface/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/iron/share/controller_interface/cmake/controller_interfaceConfig.cmake:41 (include)
  CMakeLists.txt:11 (find_package)

rmw_implementation/rmw_implementation/package.xml

Lines 24 to 32 in 29640b9

	<!--
	Bloom does not support group_depend so entries below duplicate the group rmw_implementation_packages.
	This ensures that binary packages have support for all of these rmw impl. enabled.
	-->
	<build_depend>rmw_connextdds</build_depend>
	<build_depend>rmw_cyclonedds_cpp</build_depend>
	<build_depend>rmw_fastrtps_cpp</build_depend>
	<build_depend>rmw_fastrtps_dynamic_cpp</build_depend>
	<!-- end of group dependencies added for bloom -->

[moriarty]

My issue was due to exporting RMW_IMPLEMENTATION in my bashrc.

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

When I unset the RMW_IMPLEMENTATION it worked fine. I had set it for another project.

Unless there a nice way to depend on a rmw_implementation in a package.xml so that when a user runs:

rosdep install --ignore-src --from-paths src -y -r