Hello Patrick,
Apologies for the delayed reply.
After testing many configurations with my Dockerfiles, I've determined that
the issue lies with the *Chrono::Parsers module*. During the CMake
configuration step, the parsers module fails to find my ROS 2 installation,
even though it is installed correctly.
Here is the relevant output from CMake:
==== Chrono Parsers module ====
-- Found URDFDOM and dependencies
-- URDFDOM include dirs:
/home/project_chrono/packages/urdf/lib/urdfdom/cmake/../../../include/urdfdom;/home/project_chrono/packages/urdf/lib/urdfdom_headers/cmake/../../../include/urdfdom_headers
-- Package ROS2 NOT found.
ROS support disabled.
-- Found Python and dependencies
-- Python3_Interpreter_FOUND: TRUE
-- Python3_Development_FOUND: TRUE
--
I have confirmed that the required variables are set in the Dockerfile as
specified in the installation guide:
# Update CMake options
ENV CMAKE_OPTIONS="${CMAKE_OPTIONS} \
-DCH_ENABLE_MODULE_PARSERS:BOOL=ON \
-Durdfdom_DIR=${PACKAGE_DIR}/urdf/lib/urdfdom/cmake \
-Durdfdom_headers_DIR=${PACKAGE_DIR}/urdf/lib/urdfdom_headers/cmake \
-Dconsole_bridge_DIR=${PACKAGE_DIR}/urdf/lib/console_bridge/cmake \
-Dtinyxml2_DIR=${PACKAGE_DIR}/urdf/CMake"
Separately, I believe I found a typo in the ch_parser.dockerfile on the
main branch. It uses DCH_ENABLE_MODULE_PARSER instead of the correct
DCH_ENABLE_MODULE_PARSERS, which likely prevents the module from being
activated in that file.
I read online that this kind of issue can be caused by not sourcing the ROS
environment. I tried sourcing /opt/ros/humble/setup.bash in the same RUN
command as cmake, but the parsers module still could not find ROS 2.
If I disable the PARSERS module, ROS module works perfectly, but this
prevents me from using URDF files.
Do you have any suggestions on how to resolve this?
Thank you very much for your help :)
Le mardi 9 septembre 2025 à 06:42:02 UTC+2, [email protected] a écrit :
> p.s. Forgot but probably should mention this, the strace log you posted
> points to ROS2 attempting to load a custom ros middleware configuration and
> is failing to find it, which is why I guess its a broken ROS2 installation.
> If you are desperate you can put a placeholder file to see if will get past
> this, but I recommend us trying to get to the bottom of it.
> I also noted that you were running/building the demo from different
> directory this time than the initial issue, i tried both, and both worked
> for me.
> On Monday, September 8, 2025 at 8:46:52 AM UTC-5 [email protected] wrote:
>
>> Good afternoon Patrick,
>> Thanks you very much for your help.
>> I used the dockerfile provided in the main branch of project chrono
>> (Ubuntu 22.04 with ROS2 Humble), so I use a container to launch project
>> chrono demos.
>>
>> I have executed the commands you provided, the results are in the
>> attachment text file. The command strace yields an error about a missing
>> xml file inside build folder. Inside the ros demos folder, I created a
>> build folder then I cmake .. and make with the CMakeLists.txt file in the
>> attachment.
>>
>> Thank you very much for your help :)
>>
>> Le samedi 30 août 2025 à 16:56:23 UTC+2, [email protected] a écrit :
>>
>>> Hi,
>>>
>>> Just because the complex nature of a ROS setup, we will need to know
>>> more about your environment and enable extra logging to help you with this.
>>>
>>> Are you using Docker(if so please share Dockerfile)? What base OS
>>> version are you using(officially ROS2 Humble only support Ubuntu22.04,
>>> other version can cause unpredictable issues).
>>>
>>> To collect extra log, please help me with the following:
>>>
>>> Use ROS2 Logging, execute line by line in the same folder you build
>>> custom_handler:
>>>
>>> export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{time}] [{name}]:
>>> {message}"
>>> export RCUTILS_LOGGING_BUFFERED_STREAM=1
>>> export RCUTILS_LOGGING_USE_STDOUT=1
>>> export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1
>>> RCUTILS_LOG_MIN_SEVERITY=DEBUG ./custom_handler
>>>
>>> Use strace:
>>> strace -f ./custom_handler 2>&1 | tail -50
>>>
>>> Use ldd: ldd ./custom_handler | grep "not found"
>>>
>>>
>>> Hopefully one of these will yield some insights, please upload the info
>>> generated by each debugging step, if not we will go the core dump analysis
>>> route.
>>> libconsole_bridge.so is mainly used for ROS2 logging purposes, though it
>>> should not happen, it shouldn't be catastrophic and cause a segfault
>>> either. We will see if ldd points to this.
>>>
>>>
>>> Best,
>>> Patrick Chen
>>> Simulation Based Engineering Lab
>>>
>>> On Saturday, August 30, 2025 at 4:12:32 AM UTC-5 juju wrote:
>>>
>>>> Good morning,
>>>>
>>>> Thank you very much for your wonderful open-source simulator!
>>>>
>>>> I have an issue with the ROS examples. The compilation is successful,
>>>> however, when I execute the program, I get a segmentation fault. I am
>>>> using
>>>> the commit 8995d62963e9d6ef6c58985a2601d9a80d48fba7 on the branch main
>>>> (not the latest because I have meshes visualisation troubles).
>>>>
>>>> During the CMake configuration, I receive the following warning:
>>>> CMake Warning at CMakeLists.txt:96 (add_executable): Cannot generate a
>>>> safe runtime search path for target custom_handler because files in some
>>>> directories may conflict with libraries in implicit directories: runtime
>>>> library [libconsole_bridge.so.1.0] in /usr/lib/x86_64-linux-gnu may be
>>>> hidden by files in: /home/project_chrono/packages/urdf/lib Some of these
>>>> libraries may not be found correctly.
>>>>
>>>> (the document attached contains the whole terminal output)
>>>>
>>>> I am not sure how to solve this issue and was wondering if this is a
>>>> known problem.
>>>>
>>>> Thank you very much for your help! :)
>>>>
>>>
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