Hi
after using colcon build to compile Autoware 1.12 on Ubuntu 16.04 with ros kinetic , some times when running the script
source autoware_dir/install/setup.bash
I receive an error that the packages are not found, and of therefore roslaunch or rosrun fails to find any nodes in the packages. The error is:
user@locahost:~/autoware.ai$ source install/setup.bash
not found: "/home/user/autoware.ai/install/adi_driver
autoware_bag_tools
autoware_build_flags
autoware_can_msgs
..."
It turns out the problem is the way bash script tokenizes string variables (see below). My question is regarding the likely cause of the problem.
###Question Is it a problem with my environment? I may have messed up some environment variable or installed the wrong version of something. I would think if it is a problem with the colcon scripts themselves many other people would have similar problems.
Does anyone have any suggestions about what might be wrong?
I List the out put of various version info below.
EDIT: bash IFS is being overwritten by rosrun autocomplete. See below.
###Cause of Problem
The error occurs because the script file install/local_setup.bash generates a list of package names which is a string with package names separated by (I think) line breaks.
When the script then tries to add a prefix (path) to each package name, it treats the list of names as one single string.and of course can't find the file named after all packages. The relevant part of the script (install/local_setup.bash, from line 93) is
# get all packages in topological order
_colcon_ordered_packages="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX_local_setup_util.py")"
unset _colcon_python_executable
# source package specific scripts in topological order
for _colcon_package_name in $_colcon_ordered_packages; do
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="${_colcon_prefix_bash_COLCON_CURRENT_PREFIX}/${_colcon_package_name}"
_colcon_prefix_bash_source_script "$COLCON_CURRENT_PREFIX/share/${_colcon_package_name}/package.bash"
done
The ordered package string generated by the python script is iterated over in the for loop. In this case the string _colcon_ordered_packages is not tokenised and only one giant string is processed within the loop.
###Work Around
By using a while read -r _colcon_package_name; do .... done <<< "$_colcon_ordered_packages to iterate the string can be successfully tokenised and then sourced using the appropriate package.bash script
# source package specific scripts in topological order
while read -r _colcon_package_name; do
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="${_colcon_prefix_bash_COLCON_CURRENT_PREFIX}/${_colcon_package_name}"
_colcon_prefix_bash_source_script "$COLCON_CURRENT_PREFIX/share/${_colcon_package_name}/package.bash"
done <<< "$_colcon_ordered_packages"
Edit: fixed quotation marks
Edit: add
###Persistent Work Around
Using _colcon_pthon_executable variable in above script, to find out what version of python colcon is using (in my case python3), and depending on what shell you are using (bash) edit the file :
/usr/lib/python3/dist-packages/colcon_bash/shell/template/prefix.bash.em
This file is used by the colcon python module to generate the relevant part of install/local_setup.bash.
Making the same change to the string tokenizer as above results in a workaround that will be persistent between builds.
Note: line numbers are slightly different in the template file.
###Environment
$_colcon_python_executable evaluates to python3 (version 3.5.2)
GNU Bash version 4.3.48(1)
colcon version-check
colcon-argcomplete 0.3.2: newer version available (0.3.3)
colcon-bash 0.3.2: up-to-date
colcon-cmake 0.2.8: newer version available (0.2.13)
colcon-core 0.3.19: newer version available (0.3.23)
colcon-defaults 0.2.1: newer version available (0.2.2)
colcon-devtools 0.2.1: up-to-date
colcon-library-path 0.2.1: up-to-date
colcon-metadata 0.2.1: newer version available (0.2.2)
colcon-notification 0.2.7: newer version available (0.2.9)
colcon-output 0.2.3: newer version available (0.2.4)
colcon-package-information 0.2.2: newer version available (0.2.3)
colcon-package-selection 0.2.4: up-to-date
colcon-parallel-executor 0.2.3: newer version available (0.2.4)
colcon-pkg-config 0.1.0: up-to-date
colcon-powershell 0.3.4: up-to-date
colcon-python-setup-py 0.2.1: newer version available (0.2.2)
colcon-recursive-crawl 0.2.0: up-to-date
colcon-ros 0.3.8: newer version available (0.3.11)
colcon-test-result 0.3.1: newer version available (0.3.5)
colcon-zsh 0.3.2: up-to-date
Edit with Update - Cause of problem
Thanks to Dirk Thomas's comment I think the problem is using rosrun autocompletion is causing the bash shell IFS to be overwritten. If I start a new terminal:
user@locahost:~$ echo -n "$IFS" | od -abc
0000000 sp ht nl
040 011 012
\t \n
0000003
user@localhost:~$ rosrun m
map_msgs message_generation move_base_msgs
...
user@localhost:~$ echo -n "$IFS" | od -abc
0000000
user@localhost:~$
Originally posted by simon-t4 on ROS Answers with karma: 41 on 2019-08-06
Post score: 1
Original comments
Comment by simon-t4 on 2019-08-08:
Added a persistent (between builds) work around
Comment by Dirk Thomas on 2019-08-08:
My guess would be that you override the IFS in your bash configuration. Can you double check it and post the value you are using?
Comment by simon-t4 on 2019-08-08:
Thanks, you are right.
Open new terminal:
echo -n "$IFS" | od -abc
0000000 sp ht nl
040 011 012
\t \n
0000003
Run source install/setup.bash, gives the original error, then
echo -n "$IFS" | od -abc
0000000
Which I guess means that an overwrite occurs and there are no IFS set.
The overwrite also seems to occurs when using the workaround, but the sourcing works. Somewhere in the setup.bash script IFS is being overwritten, I'll try to pinpoint where.
Comment by simon-t4 on 2019-08-08:
The auto-complete function on rosrun seems to overwriting the IFS value.
See original question.