Ubuntu 22.04, ros humble fixes

[nikola-j]

Fixes: Building and running UE5 + ros humble on ubuntu 22.04

About

Updates gcc and g++ to 11, updates setup file to install right dependencies. Fix fs link.

How Has This Been Tested?

Instructions for building:

# install ROS2 pkgs:
sudo apt-get install ros-${ROS_DISTRO}-tf2-sensor-msgs \
    ros-${ROS_DISTRO}-image-transport-plugins \
    ros-${ROS_DISTRO}-tf2-geometry-msgs \
    ros-${ROS_DISTRO}-mavros* \
    libyaml-cpp-dev \
    libc++abi-11-dev \
    libstdc++-11-dev \
    libc++-11-dev \
    vulkan-tools
    
sudo ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 /usr/lib/libstdc++.so

./setup.sh
./build.sh
cd ros2
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Run UE5, run airsim ros from ros2 folder

. install/setup.bash
ros2 launch airsim_ros_pkgs airsim_with_simple_PD_position_controller.launch.py

Issue takeoff command in separate terminal

. install/setup.bash
ros2 service call /airsim_node/drone_1/takeoff airsim_interfaces/srv/Takeoff "wait_on_last_task: false"

Screenshots (if appropriate):

[xxEoD2242]

@nikola-j I will review this tomorrow when I get back to my desktop Linux.

Is this cross compitable with 20.04?

[nikola-j]

Not sure, I don't have 20.04 to test. The setup.sh should probably be different.

[xxEoD2242]

Gotcha, I'll try it out on 20.04 but won't merge until that is verified

[iagupov]

what is a python version that you used? I've made changes according to the commit, but got an error: cannot find -lstdc++: No such file or directory.
The full log is shown below

CMake Error at /home/user/.pyenv/versions/3.9.17/lib/python3.9/site-packages/cmake/data/share/cmake-3.26/Modules/CMakeTestCXXCompiler.cmake:60 (message):
The C++ compiler
"/usr/bin/clang++-11"
is not able to compile a simple test program.
It fails with the following output:
Change Dir: /home/user/cv_dev/del/Colosseum/build_release/CMakeFiles/CMakeScratch/TryCompile-sxFXrH
Run Build Command(s): /home/user/.pyenv/versions/3.9.17/lib/python3.9/site-packages/cmake/data/bin/cmake -E env VERBOSE=1 /usr/bin/gmake -f Makefile cmTC_e1d20/fast && /usr/bin/gmake -f CMakeFiles/cmTC_e1d20.dir/build.make CMakeFiles/cmTC_e1d20.dir/build
gmake[1]: Entering directory '/home/user/cv_dev/del/Colosseum/build_release/CMakeFiles/CMakeScratch/TryCompile-sxFXrH'
Building CXX object CMakeFiles/cmTC_e1d20.dir/testCXXCompiler.cxx.o
/usr/bin/clang++-11 -MD -MT CMakeFiles/cmTC_e1d20.dir/testCXXCompiler.cxx.o -MF CMakeFiles/cmTC_e1d20.dir/testCXXCompiler.cxx.o.d -o CMakeFiles/cmTC_e1d20.dir/testCXXCompiler.cxx.o -c /home/user/cv_dev/del/Colosseum/build_release/CMakeFiles/CMakeScratch/TryCompile-sxFXrH/testCXXCompiler.cxx
Linking CXX executable cmTC_e1d20
/home/user/.pyenv/versions/3.9.17/lib/python3.9/site-packages/cmake/data/bin/cmake -E cmake_link_script CMakeFiles/cmTC_e1d20.dir/link.txt --verbose=1
/usr/bin/clang++-11 CMakeFiles/cmTC_e1d20.dir/testCXXCompiler.cxx.o -o cmTC_e1d20
/usr/bin/ld: cannot find -lstdc++: No such file or directory
clang: error: linker command failed with exit code 1 (use -v to see invocation)
gmake[1]: *** [CMakeFiles/cmTC_e1d20.dir/build.make:100: cmTC_e1d20] Error 1
gmake[1]: Exiting directory '/home/user/cv_dev/del/Colosseum/build_release/CMakeFiles/CMakeScratch/TryCompile-sxFXrH'
gmake: *** [Makefile:127: cmTC_e1d20/fast] Error 2

[nikola-j]

The default Python 3.10.12, did you follow all of the steps?
Did you change this line? https://github.com/CodexLabsLLC/Colosseum/pull/41/files#diff-4d2a8eefdf2a9783512a35da4dc7676a66404b6f3826a8af9aad038722da6823R120

It might be a problem with your installation.

[iagupov]

@nikola-j yes, I did exactly all these steps, I did all modifications in build.sh, CommonSetup.cmake, CMakeLists.txt, package.xml and setup.sh. And after that I get this error above

[jmackay2]

@iagupov You can run clang -v and check what GCC installation it is using. This error is probably due to the fact that clang is using a newer gcc that doesn't have the stdc++ version installed (i.e. probably using gcc 12 instead of 11). To fix this you can either install the newer stdc++ version or tell clang to use gcc 11.

[jmackay2]

@xxEoD2242 I tested this change on a 20.04 docker container, and it built without issues.

[Snoeprol]

Hi. I managed to get the Blocks environment working with UE5.2 and ubuntu 22.04. If there's interest in it let me know.