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Known issues#

Install#

Warnings caused by setup.py#

  • Issue
    • The following warnings happen when building CARET
/usr/local/lib/python3.10/dist-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` and ``easy_install``.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://github.com/pypa/setuptools/issues/917 for details.
        ********************************************************************************

!!
  easy_install.initialize_options(self)

/usr/local/lib/python3.10/dist-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
  • Cause
    • Python3 deprecates building with setup.py
    • However, setup.py is used to build ROS 2 by colcon
  • Workaround
    • This warning does not prevent CARET from working and does not require any action
    • However, if you really want to remove the warning, the following steps can be taken to suppress the warning
export PYTHONWARNINGS=ignore:"setup.py install is deprecated.",ignore:"easy_install command is deprecated."

Build#

Conflicts of dependency on libtracetools.so#

  • Issue
    • The following errors happen when building a target application with certain packages like pcl_ros
      • undefined reference to `ros_trace_message_construct'
      • undefined reference to `ros_trace_rclcpp_intra_publish'
      • undefined reference to `ros_trace_dispatch_subscription_callback'
      • and so on
  • Cause
    • ~/ros2_caret_ws/install/tracetools/lib/libtracetools.so needs to be linked, but /opt/ros/humble/lib/libtracetools.so is referred when using some packages
    • For instance, pcl_ros package has /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake which enforces /opt/ros/humble/lib/libtracetools.so to be linked
  • Workaround
    • Remove /opt/ros/humble/lib/libtracetools.so; from /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake
sudo cp /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake.bak
sudo sed -i -e 's/\/opt\/ros\/humble\/lib\/libtracetools.so;//g' /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake

Build using ament_cmake#

  • Issue
    • The following error happens when building a target application using ament_cmake
      • error: too few arguments to function ‘void ros_trace_rclcpp_publish
  • Cause
    • SYSTEM is added as dependencies in ament_cmake_auto by this PR. As a result, ros2/rclcpp is used rather than CARET/rclcpp in some packages
  • Workaround
    • Remove SYSTEM from dependencies in ament_cmake_auto
cd /opt/ros/humble/share/ament_cmake_auto/cmake/
sudo cp ament_auto_add_executable.cmake ament_auto_add_executable.cmake.bak
sudo cp ament_auto_add_library.cmake ament_auto_add_library.cmake.bak
sudo sed -i -e 's/SYSTEM//g' ament_auto_add_executable.cmake
sudo sed -i -e 's/SYSTEM//g' ament_auto_add_library.cmake

SYSTEM's rclcpp is referred#

  • Issue
    • The following error happens when building a target application
/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp: In member function ‘void rclcpp::Publisher<MessageT, AllocatorT>::do_inter_process_publish(const ROSMessageType&)’:
/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:452:5: error: too few arguments to function ‘void ros_trace_rclcpp_publish(const void*, const void*, uint64_t)’
  452 |     TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
  • Cause
    • To build with CARET, caret/rclcpp should be used. However, in case rclcpp in SYSTEM ( /opt/ros/humble ) is used for some reasons, build will fail
    • Take pcl_ros for example, /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake enforces /opt/ros/humble/include/rclcpp to be referred. So that caret/rclcpp is not used and building a package depending on pcl_ros will fail
  • Workaround
    • Remove /opt/ros/humble/include/rclcpp; from /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake
sudo cp /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake.bak2
sudo sed -i -e 's/\/opt\/ros\/humble\/include\/rclcpp;//g' /opt/ros/humble/share/pcl_ros/cmake/export_pcl_rosExport.cmake

Recording#

Only metadata is recorded#

  • Issue
    • Only metadata file (~/.ros/tracing/ooo/ust/uid/1000/64-bit/metadata) is created, and the size of the trace data is always about 28 KByte
  • Cause
    • The size of LTTng buffer is too large for some environments
    • It happens especially when
      • Recording on Docker
      • and the number of CPUs is large (e.g. 24 cores)
  • Workaround
    • Decrease the number of the LTTng buffer size
      • lttng_impl.py
        • Rebuild is not required after the modification
      • Please note that decreasing the buffer size may cause tracer discarded