Issues bulding own package when including pcl_ros / does not find libstatistics_collector libraries

[floriankittelmann]

I am using ros2 - foxy and want to build a colcon package written in C++, which includes the pcl_ros library. But somehow it can not find the libstatistics_collector libraries. For debugging reasons I just included the basics libraries to find the root cause of the problem.

The basic ROS2 node:

#include "rclcpp/rclcpp.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>

class LidarPerceptionNode : public rclcpp::Node
{
    public:
        LidarPerceptionNode() : Node("lidar_perception_node")
        {
            // Does nothing
        }

    private:
        void topic_callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg) const
        {
             // Does nothing
        }
};

int main(int argc, char ** argv)
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<LidarPerceptionNode>());
    rclcpp::shutdown();
    return 0;
}

The package.xml file:

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>fs_zhaw_lidar_perception</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="[email protected]">florian</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <exec_depend>velodyne</exec_depend>
  <exec_depend>pcl_ros</exec_depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

My CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(fs_zhaw_lidar_perception)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(PCL 1.8 REQUIRED)
find_package(pcl_ros REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})

add_executable(lidar_perception_node src/lidar_perception_node.cpp)
target_include_directories(lidar_perception_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

ament_target_dependencies(lidar_perception_node "rclcpp" "pcl_ros")

install(TARGETS lidar_perception_node
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

When I try to build it the package, I get an error msg:

CMake Error at CMakeLists.txt:26 (add_executable):
  Target "lidar_perception_node" links to target
  "libstatistics_collector::libstatistics_collector_test_msgs__rosidl_generator_c"
  but the target was not found.  Perhaps a find_package() call is missing for
  an IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:26 (add_executable):
  Target "lidar_perception_node" links to target
  "libstatistics_collector::libstatistics_collector_test_msgs__rosidl_typesupport_introspection_c"
  but the target was not found.  Perhaps a find_package() call is missing for
  an IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:26 (add_executable):
  Target "lidar_perception_node" links to target
  "libstatistics_collector::libstatistics_collector_test_msgs__rosidl_typesupport_c"
  but the target was not found.  Perhaps a find_package() call is missing for
  an IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:26 (add_executable):
  Target "lidar_perception_node" links to target
  "libstatistics_collector::libstatistics_collector_test_msgs__rosidl_generator_cpp"
  but the target was not found.  Perhaps a find_package() call is missing for
  an IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:26 (add_executable):
  Target "lidar_perception_node" links to target
  "libstatistics_collector::libstatistics_collector_test_msgs__rosidl_typesupport_introspection_cpp"
  but the target was not found.  Perhaps a find_package() call is missing for
  an IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:26 (add_executable):
  Target "lidar_perception_node" links to target
  "libstatistics_collector::libstatistics_collector_test_msgs__rosidl_typesupport_cpp"
  but the target was not found.  Perhaps a find_package() call is missing for
  an IMPORTED target, or an ALIAS target is missing?


CMake Warning at CMakeLists.txt:26 (add_executable):
  Cannot generate a safe runtime search path for target lidar_perception_node
  because there is a cycle in the constraint graph:

    dir 0 is [/opt/ros/foxy/lib]
      dir 1 must precede it due to runtime library [liborocos-kdl.so.1.4]
    dir 1 is [/home/florian/ros2_foxy/ros2-linux/lib]
      dir 0 must precede it due to runtime library [libmessage_filters.so]

  Some of these libraries may not be found correctly.


CMake Generate step failed.  Build files cannot be regenerated correctly.
make: *** [Makefile:266: cmake_check_build_system] Error 1
---
Failed   <<< fs_zhaw_lidar_perception [1.94s, exited with code 2]

I usually source foxy and build my packages like this:

source /opt/ros/foxy/setup.bash
. ~/ros2_foxy/ros2-linux/setup.bash
cd ~/colcon_ws
rosdep install --from-paths src --ignore-src -r -y --rosdistro foxy
colcon build --symlink-install
. install/local_setup.bash

When I remove the pcl_ros from the ament_target_dependencies() in the CMakeLists.txt, it compiles without any error. Do I source my foxy distribution wrongly or is there somewhere a bug?

Thanks in advance for the help!