I have Matlab code that includes a ROS2 node/publisher. I want to publish custom messages. This works when I run it natively in Matlab after running ros2genmsg. I now want to deploy me code to a remote Linux machine. This worked before I added the custom ROS2 message type, but now it appears that CMake can't find my custom message definitions (see below). How to do provide this to coder/CMake? The message output below suggests that I need to provide something to CMAKE_MODULE_PATH, should I do that as a environmental variable on my system like $export CMAKE_MODULE_PATH="$CMAKE_MODULE_PATH:<path_to_my_custom_message_directory>"
or do I need to set it in MATLAB somehow?
Here are the commands I ran in the Matlab terminal to run coder.
(Note that I have omitted my IP, username and password. )
>> cfg = coder.config('exe');
cfg.Hardware = coder.hardware('Robot Operating System 2 (ROS 2)');
cfg.Hardware.BuildAction = 'Build and run';
cfg.Hardware.RemoteDeviceAddress = '[OMITTED]';
cfg.Hardware.RemoteDeviceUsername = '[OMITTED]';
cfg.Hardware.RemoteDevicePassword = '[OMITTED]';
cfg.Hardware.DeployTo = 'Remote Device';
cfg.Hardware.ROS2Folder = '/opt/ros/galactic';
cfg.Hardware.ROS2Workspace = '~/detector_ws2';
cfg.HardwareImplementation.ProdHWDeviceType = 'Intel->x86-64 (Linux 64)';
codegen detectstreaming -args {} -config cfg
Here is the result
Connecting to ROS 2 device at '134.114.64.127'.
Using ROS 2 workspace '~/detector_ws2' to build ROS 2 node.
---
Transferring generated code for 'detectstreaming' to ROS device.
Starting build for ROS node.
---
ROS 2 project directory: /home/dasl/detector_ws2/src
Starting >>> detectstreaming
--- stderr: detectstreaming
CMake Error at CMakeLists.txt:19 (find_package):
By not providing "Finduavrt_interfaces.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"uavrt_interfaces", but CMake did not find one.
Could not find a package configuration file provided by "uavrt_interfaces"
with any of the following names:
uavrt_interfacesConfig.cmake
uavrt_interfaces-config.cmake
Add the installation prefix of "uavrt_interfaces" to CMAKE_PREFIX_PATH or
set "uavrt_interfaces_DIR" to a directory containing one of the above
files. If "uavrt_interfaces" provides a separate development package or
SDK, be sure it has been installed.
make: *** [Makefile:959: cmake_check_build_system] Error 1
---
Failed <<< detectstreaming [0.83s, exited with code 2]
Summary: 0 packages finished [1.12s]
1 package failed: detectstreaming
1 package had stderr output: detectstreaming
??? The following error occurred during deployment to your hardware board:
Build unsuccessful for model 'detectstreaming'. Check the build log in the diagnostics viewer
for error messages.
Code generation failed: View Error Report
