Can't Build Basic Project (Might Be Related to rosidl)

[akvavit01]

Issue template

• Hardware description: ESP WROOM 32
• RTOS: None
• Installation type: PlatformIO VS Code
• Version or commit hash: jazzy

Basically, I was just trying to build the environment first. I still hasn't used any micro-ROS-specific code in my code (it's still the default code from building a new PlatformIO project). The thing is, the build is not successful until now. I have also checked this issue; I have unsourced and reboot my machine, to no avail.

All I can understand is that this issue is related to rosidl, seen from the log I pasted below.

Steps to reproduce the issue

1. Use this platformio.ini configuration

[env:esp32doit-devkit-v1]
platform = espressif32
board = esp32doit-devkit-v1
framework = arduino
lib_deps =
    https://github.com/micro-ROS/micro_ros_platformio
board_microros_distro = jazzy
board_microros_transport = serial

2. Build

Expected behavior

Builds perfectly

Actual behavior

Build unable to complete

Additional information

Error Log:

CMake Error at /home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:57 (message):
execute_process(/home/leochen/.platformio/penv/bin/python -m rosidl_adapter
--package-name builtin_interfaces --arguments-file
/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/build/builtin_interfaces/rosidl_adapter__arguments__builtin_interfaces.json
--output-dir
/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/build/builtin_interfaces/rosidl_adapter/builtin_interfaces
--output-file
/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/build/builtin_interfaces/rosidl_adapter/builtin_interfaces.idls)
returned error code 1:

AttributeError processing template 'msg.idl.em'

Traceback (most recent call last):

File "/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/lib/python3.12/site-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template
  em.BUFFERED_OPT: True,
  ^^^^^^^^^^^^^^^

AttributeError: module 'em' has no attribute 'BUFFERED_OPT'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):

File "<frozen runpy>", line 198, in _run_module_as_main
File "<frozen runpy>", line 88, in _run_code
File "/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/lib/python3.12/site-packages/rosidl_adapter/__main__.py", line 19, in <module>
  sys.exit(main())
           ^^^^^^
File "/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/lib/python3.12/site-packages/rosidl_adapter/main.py", line 53, in main
  abs_idl_file = convert_to_idl(
                 ^^^^^^^^^^^^^^^
File "/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/lib/python3.12/site-packages/rosidl_adapter/__init__.py", line 19, in convert_to_idl
  return convert_msg_to_idl(
         ^^^^^^^^^^^^^^^^^^^
File "/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/lib/python3.12/site-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl
  expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1')
File "/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/lib/python3.12/site-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template
  content = evaluate_template(template_name, data)
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/lib/python3.12/site-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template
  _interpreter.shutdown()
  ^^^^^^^^^^^^^^^^^^^^^

AttributeError: 'NoneType' object has no attribute 'shutdown'

Call Stack (most recent call first):
/home/leochen/ros2_tutorial/micro_ros/tutorial/.pio/libdeps/esp32doit-devkit-v1/micro_ros_platformio/build/mcu/install/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:132 (rosidl_adapt_interfaces)
CMakeLists.txt:19 (rosidl_generate_interfaces)

[akvavit01]

So, I tried with PlatfromIO core with another platformio.ini file

[env:esp32doit-devkit-v1]
platform = espressif32
board = esp32doit-devkit-v1
framework = arduino
lib_deps = https://github.com/micro-ROS/micro_ros_platformio
board_microros_distro = jazzy
board_microros_transport = serial

[env:rpi_pico]
platform = raspberrypi
board = pico
framework = arduino
lib_deps = https://github.com/micro-ROS/micro_ros_platformio
board_microros_distro = jazzy
board_microros_transport = serial

I ran pio run -e rpi_pico, only to meet the same result

[pablogs9]

Take a look here: #155 and let me know if it solves the issue

[akvavit01]

Totally fixed it. Thanks