Could not make sample Android Projects work

[bekleyis95]

Hello, I am trying to use this repo but I could not make it work at all. I am using Ubuntu 20.04 and ROS2 Galactic. Installation instructions did not work for me but after some long alterations of the instructions I finally made it work. Here is what I did:

Java ROS instalation did not work for me, it was giving this error:

ModuleNotFoundError: No module named 'ament_package' CMake Error at /opt/ros/galactic/share/ament_cmake_core/cmake/ament_cmake_package_templates-extras.cmake:41 (message): execute_process(/root/anaconda3/bin/python3 /opt/ros/galactic/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py /home/roboy/ros2_java_ws/build/ament_java_resources/ament_cmake_package_templates/templates.cmake) returned error code 1 Call Stack (most recent call first): /opt/ros/galactic/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake:41 (include) /opt/ros/galactic/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake:15 (find_package) /opt/ros/galactic/share/ament_cmake/cmake/ament_cmakeConfig.cmake:41 (include) CMakeLists.txt:5 (find_package)
But since the Android instructions already contained the similar modules I thought I can only follow the Android instructions. But it was problematic as well.

First spd_logging was causing errors and after some digging in the Issues sections I read that this can be ignored. So I add rcl_logging_spdlog to --packages_ignore and I also needed to add -DBUILD_TESTING=OFF to the colcon build script, here is the final script that I used:

sudo colcon build \ --packages-ignore cyclonedds rcl_logging_log4cxx \ rosidl_generator_py rcl_logging_spdlog \ --packages-up-to rcljava \ --cmake-args \ -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \ -DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \ -DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \ -DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \ -DANDROID_FUNCTION_LEVEL_LINKING=OFF \ -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \ -DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \ -DANDROID_STL=c++_shared \ -DANDROID_ABI=${ANDROID_ABI} \ -DANDROID_NDK=${ANDROID_NDK} \ -DTHIRDPARTY=ON \ -DCOMPILE_EXAMPLES=OFF \ -DCMAKE_FIND_ROOT_PATH="${PWD}/install" \ -DBUILD_TESTING=OFF

Secondly #include <tinyxml2.h> was causing errors and after I changed these statements to absolute paths like #include "/home/roboy/ros2_android_ws/src/eProsima/Fast-DDS/thirdparty/tinyxml2/tinyxml2.h" it worked.

Thirdly, IPFinder.cpp file was causing troubles so I needed to comment out the parts that includes getifaddrs and freeifaddrs functions.

Lastly as the it is suggested in here I changed this part
if(NOT "${RCL_LOGGING_IMPLEMENTATION}" STREQUAL "") set(_logging_implementation "${RCL_LOGGING_IMPLEMENTATION}") elseif(NOT "$ENV{RCL_LOGGING_IMPLEMENTATION}" STREQUAL "") set(_logging_implementation "$ENV{RCL_LOGGING_IMPLEMENTATION}") else() set(_logging_implementation rcl_logging_spdlog) endif()
to
set(_logging_implementation rcl_logging_noop)

After all this I was finally able to colcon build but the sample projects was unable to gradle build and when I tried to implement the project in my example app, I could not include the necessary imports such as BaseComposableNode class, Android Studio did not recognize them. I tried frankly everything and now I think maybe something missing in the instructions for Android Studio to recognize these imports.

Any help is appreciated. Regards