0
$\begingroup$

Rosanswers logo

Hi, I am setting up ROS2 Bouncy on Windows10 and already encountered the following problem while compiling from source: ROS2 fails to build many packages on Windows 10, which I solved.

EDIT: I found this question to be the same issue.

Now, my code compiles and I want to test the examples. But when I run the talker example node, it gives me this output:

cd \dev\ros2
call install\local_setup.bat
ros2 run demo_nodes_py talker
>>> [rcutils|error_handling.c:155] rcutils_set_error_state()
This error state is being overwritten:

  'failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135'

with this new error message:

  'failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

With the error message above repeating many times...

>>> [rcutils|error_handling.c:155] rcutils_set_error_state()
This error state is being overwritten:

  'failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135'

with this new error message:

  'failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
Traceback (most recent call last):
  File "C:\dev\ros2\install\lib\demo_nodes_py\talker-script.py", line 11, in <module>
    load_entry_point('demo-nodes-py==0.5.1', 'console_scripts', 'talker')()
  File "C:\dev\ros2\install\Lib\site-packages\demo_nodes_py\topics\talker.py", line 39, in main
    rclpy.init(args=args)
  File "C:\dev\ros2\install\Lib\site-packages\rclpy\__init__.py", line 27, in init
    args if args is not None else sys.argv)
RuntimeError: Failed to init: failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135, at c:\dev\ros2\src\ros2\rcl\rcl\src\rcl\rcl.c:92

EDIT: The exact same output is generated when I use demo_nodes_cpp. Also, when writing my own simple publisher in python, I get this error as well.

My rmw_implementation as well as all other packages (except for connext-related ones) compiled without error. Also, I find the rmw_fastrtps_cpp.dll in the given path (C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll). (It bugs me, that the path has mixed forward and backslashes.)

Maybe, I missed something in my setup? EDIT: Does this have to do with environment variables? If so, is there a list of variables which should be set?

EDIT: I managed to isolate the error to the ros init call:

def main(args=None):
    rclpy.init(args=args) # error produced by this line of code
    ...

So somehow, when calling rlcpy.init(), the rmw_fastrtps_cpp dll fails to load. But why? Is there a connection to using OpenSplice?

EDIT: Even when calling

ros2 topic pub /chatter std_msgs/String "data: Hello world"

from command line, the following (similar) error occurs:

...
>>> [rcutils|error_handling.c:155] rcutils_set_error_state()
This error state is being overwritten:

  'failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135'

with this new error message:

  'failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
Failed to init: failed to load shared library of rmw implementation. Exception: Cannot load library: C:\dev\ros2\install\bin/rmw_fastrtps_cpp.dll, at c:\dev\ros2\src\ros2\rmw_implementation\rmw_implementation\src\functions.cpp:135, at c:\dev\ros2\src\ros2\rcl\rcl\src\rcl\rcl.c:92

I use OpenSplice 6.7, MS Visual Studio 2017 (v15.7.6), Python 3.7, Qt5 5.10.0 (but I have also installed 5.10.1, 5.11.0, 5.11.1) colcon:

colcon-cmake 0.2.3: up-to-date
colcon-core 0.3.9: up-to-date
colcon-defaults 0.2.0: up-to-date
colcon-devtools 0.2.1: up-to-date
colcon-library-path 0.2.0: up-to-date
colcon-metadata 0.2.0: up-to-date
colcon-notification 0.2.5: up-to-date
colcon-output 0.2.2: up-to-date
colcon-package-information 0.2.1: up-to-date
colcon-package-selection 0.2.0: up-to-date
colcon-parallel-executor 0.2.2: up-to-date
colcon-pkg-config 0.1.0: up-to-date
colcon-powershell 0.3.3: up-to-date
colcon-python-setup-py 0.2.0: up-to-date
colcon-recursive-crawl 0.2.0: up-to-date
colcon-ros 0.3.3: up-to-date
colcon-test-result 0.3.0: up-to-date

Originally posted by Marcel Usai on ROS Answers with karma: 200 on 2018-08-31

Post score: 0

Improve this question
$\endgroup$

1 Answer 1

Reset to default
0
$\begingroup$

Rosanswers logo

I got rid of this issue by:

  1. First setting my locale from German to English, then rebuilding from source and ignoring opensplice (as I actually do not need it). I do not know, if this step was really necessary.
  2. Reinstalling tinyxml2 as the respecting dll was not missing but unloadable. Actually, I followed these hints and reinstalled the dependencies asio, eigen, tinyxml-usestl and tinyxml2.

See also this issue as info: FastRTPS fails to find asio and tinyxml2 on Windows; and this info when you encounter problems uninstalling dependencies. I had issues reinstalling tinyxml2, so I had to remove the respecting registry entry manually because chocolatey would not install it otherwise.

Following these steps, the talker and listener nodes run as expected.

Originally posted by Marcel Usai with karma: 200 on 2018-09-10

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by marguedas on 2018-09-10:
Glad you got it working! If you get a chance, could you try building a workspace from scratch using the german locale ? It would be valuable to know if there are issues with UTF-8 locales other than english.

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.