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Claudio
2024-12-02 15:11:30 +01:00
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99 Work/0 OneSec/OneSecNotes/10 Projects/OsdAutopilot/ROS2 Build Instructions.md Normal file
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# PX4_MSGS
The [PX4_msgs](https://github.com/PX4/px4_msgs) package is required, because it translates [[Custom uORB Message|uORB]] messages into the ROS2 ecosystem and vice versa. The project contains a `msg` folder, which contains the msg definitions. Usually, those message definitions are autogenerated by [a script](https://github.com/PX4/PX4-Autopilot/blob/v1.13.3/msg/tools/uorb_to_ros_msgs.py) provided by the PX4-Autopilot project.
A build error that has popped up several times is that the messsage definition comments contain `*/` which is misinterpreted by the compiler
Error message:
``` bash
/home/pi/ros2_ws/build/px4_msgs/rosidl_generator_c/px4_msgs/msg/detail/gimbal_v1_command__struct.h:356:3: error: expected identifier or ‘(’ before ‘/’ token
356 | */
| ^
/home/pi/ros2_ws/build/px4_msgs/rosidl_generator_c/px4_msgs/msg/detail/gimbal_v1_command__struct.h:365:3: error: expected identifier or ‘(’ before ‘/’ token
365 | */
```
In order to solve this error, just delete the relevant parts of the comment.
# px4_ros_com
In order to successfully build the `px4_ros_com` package you need to define the following env-variable: `export FASTRTPSGEN_DIR="/usr/local/bin/"`.
Without it it will not work and throw the following error:
```bash
c++: error: /home/pi/ros2_ws/build/px4_ros_com/src/micrortps_agent/microRTPS_agent.cpp: No such file or directory
c++: fatal error: no input files
```