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link管理  ›  Undefined reference to `__ctype_ptr__' (again..) · Issue #1114 · micro-ROS/micro_ros_arduino · GitHu
https://github.com/micro-ROS/micro_ros_arduino/issues/1114
深情的大蒜
5 月前

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Hi micro-ROS team,
I really appreciate the effort you all put on making microROS possible. I have a question from issue #315 . In the steps that you mentioned, can you please explain in the detail the following:

How can I know the local path of my desired compiler? I install gcc-arm-none-eabi using sudo apt-get from this guide https://installati.one/ubuntu/20.04/gcc-arm-none-eabi/ I got 2019 version (arm-none-eabi-gcc (15:9-2019-q4-0ubuntu1) 9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599])

Step 3 involves calling docker to build the precompiled library. However, I'm not using a docker. My setup is Arduino Due, Jetson Nano with Xubuntu 20.04, ROS2 Foxy, microros Foxy 2.0.5. So how do I build the library without using the docker?

Hopefully, you could help with this. Thank you.

"Hello,

As you can see on the lib generation script, we use the same compiler version as the Arduino IDE for each board.

Your board is not currently supported by the library generator, but you can modify the script to use your own gcc version:

Clone this repo and modify this line to: export TOOLCHAIN_PREFIX=/toolchain/bin/arm-none-eabi-
micro_ros_arduino/extras/library_generation/library_generation.sh Line 88 94cb206

Set the local path of the desired compiler:
export GCC_PATH=/local_path/gcc-arm-none-eabi-10-2020-q4-major (Use your own local path)

Call the docker generator from the repo folder:
docker run -it --rm -v ${GCC_PATH}:/toolchain -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:foxy -p cortex_m3

The generated library should be on src/cortex-m3/libmicroros.a : 

~/workspace/micro_ros_arduino$ strings src/cortex-m3/libmicroros.a | grep "GCC: ("
$ GCC: (GNU Arm Embedded Toolchain 10-2020-q4-major) 10.2.1 20201103 (release)

Originally posted by @Acuadros95 in #315 (comment) "


So how do I build the library without using the docker?


If you do not want to use docker you have instructions for building micro-ROS libraries here: https://micro.ros.org/docs/tutorials/advanced/create_custom_static_library/


In this tutorial you will be asked for colcon.meta and toolchain.cmake files, you can use the ones here for reference.


How can I know the local path of my desired compiler?


check which

          
Hi @pablogs9,


I have tried to follow your recommendations but I having some trouble here. Below is what I have done:


I git clone the micro_ros_arduino repo into the src folder of my microros_ws that I make by following this guide https://micro.ros.org/docs/tutorials/core/first_application_linux/


I then use git checkout foxy to switch to foxy branch because I'm using ROS2 Foxy


I change the library_generation.sh line 88

from:

export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-4_8-2014q1/bin/arm-none-eabi-

export TOOLCHAIN_PREFIX=/toolchain/bin/arm-none-eabi-


Note that when I search for my desired compiler, I did this:

which arm-none-eabi-gcc

Result:

/usr/bin/arm-none-eabi-gcc

When I check my gcc --version, result is


gcc (Ubuntu 9.4.0-1ubuntu1~20.04.1) 9.4.0

Since I try to not use docker, I followed the instructions to build the micro-ROS libraries https://micro.ros.org/docs/tutorials/advanced/create_custom_static_library/ . As for the colcon.meta and toolchain.cmake files, I didn't change it. I just used the ones in micro_ros_arduino/extras/library_generation folder.


However, when I tried to run build firmware as per below instructions, I get an error about -mthumb

What I input in terminal


cd microros_ws
ros2 run micro_ros_setup build_firmware.sh /home/prostrain/microros_ws/src/micro_ros_arduino/extras/library_generation/cortex_m3_toolchain.cmake /home/prostrain/microros_ws/src/micro_ros_arduino/extras/library_generation/colcon.meta

Error that I got:


Crosscompiled environment: cleaning path
Building firmware for generate_lib platform generic
Using provided meta: /home/prostrain/microros_ws/src/micro_ros_arduino/extras/library_generation/colcon.meta
Starting >>> tinydir_vendor
Starting >>> rosidl_adapter
Starting >>> rosidl_typesupport_interface                                         
Starting >>> microcdr
--- stderr: microcdr                                                                                                              
gcc: error: unrecognized command line option ‘-mthumb’
make[5]: *** [CMakeFiles/microcdr.dir/build.make:66: CMakeFiles/microcdr.dir/src/c/common.c.obj] Error 1
make[5]: *** Waiting for unfinished jobs....
gcc: error: unrecognized command line option ‘-mthumb’
make[5]: *** [CMakeFiles/microcdr.dir/build.make:105: CMakeFiles/microcdr.dir/src/c/types/array.c.obj] Error 1
gcc: error: unrecognized command line option ‘-mthumb’
make[5]: *** [CMakeFiles/microcdr.dir/build.make:79: CMakeFiles/microcdr.dir/src/c/types/basic.c.obj] Error 1
gcc: error: unrecognized command line option ‘-mthumb’
make[5]: *** [CMakeFiles/microcdr.dir/build.make:92: CMakeFiles/microcdr.dir/src/c/types/string.c.obj] Error 1
make[4]: *** [CMakeFiles/Makefile2:79: CMakeFiles/microcdr.dir/all] Error 2
make[3]: *** [Makefile:133: all] Error 2
make[2]: *** [CMakeFiles/ucdr.dir/build.make:115: ucdr-prefix/src/ucdr-stamp/ucdr-build] Error 2
make[1]: *** [CMakeFiles/Makefile2:79: CMakeFiles/ucdr.dir/all] Error 2
make: *** [Makefile:87: all] Error 2
Failed   <<< microcdr [3.00s, exited with code 2]
Aborted  <<< tinydir_vendor [3.23s]                                                                            
Aborted  <<< rosidl_typesupport_interface [3.16s]
Aborted  <<< rosidl_adapter [3.22s]
Summary: 0 packages finished [5.05s]
  1 package failed: microcdr
  3 packages aborted: rosidl_adapter rosidl_typesupport_interface tinydir_vendor
  1 package had stderr output: microcdr
  57 packages not processed

How can I solve this error? Thank you.

          
It seems that your toolchain is using gcc instead your arm-none-eabi-gcc That's why -mthumb is not recognized.


Check that the cortex_m3_toolchain.cmake you are using  is using $ENV{TOOLCHAIN_PREFIX}. That means that you are taking the environment variable. This is valid for the micro-ROS Arduino build system.


Please check your toolchain.cmake and use something like set(CMAKE_C_COMPILER [YOUR PATH TO THE XCOMPILER]gcc)

          
I see. I tried your recommendation and it can be compiled now but I got a 38 packages had stderr output. Is this acceptable error or not?

Below are what I have done:


  • I edited cortex_m3_toolchain.cmake in /home/prostrain/microros_ws/src/micro_ros_arduino/extras/library_generation/cortex_m3_toolchain.cmake
    • 

    SET(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_CROSSCOMPILING 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
#set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
#set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
set(CMAKE_C_COMPILER /usr/bin/arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/arm-none-eabi-g++)
SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m3 -nostdlib -DARDUINO=10813 -mthumb --param max-inline-insns-single=500 -DF_CPU=84000000L -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)
set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_INIT "-std=c++11 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
set(__BIG_ENDIAN__ 0)

  • In terminal, I did this:
    
cd microros_ws
    • 

    ros2 run micro_ros_setup build_firmware.sh /home/prostrain/microros_ws/src/micro_ros_arduino/extras/library_generation/cortex_m3_toolchain.cmake /home/prostrain/microros_ws/src/micro_ros_arduino/extras/library_generation/colcon.meta
    

  • The result that I get:
    • 

    Crosscompiled environment: cleaning path
Building firmware for generate_lib platform generic
Using provided meta: /home/prostrain/microros_ws/src/micro_ros_arduino/extras/library_generation/colcon.meta
Starting >>> tinydir_vendor
Starting >>> rosidl_adapter
Starting >>> rosidl_typesupport_interface                     
Starting >>> microcdr
Finished <<< rosidl_typesupport_interface [2.79s]                   
Starting >>> rmw_implementation_cmake
Finished <<< rosidl_adapter [3.22s]                                 
Starting >>> rosidl_parser
Finished <<< rmw_implementation_cmake [3.38s]                           
Starting >>> tracetools
Finished <<< rosidl_parser [3.83s]                                      
Starting >>> rosidl_cmake
Finished <<< microcdr [7.64s]                                           
Starting >>> microxrcedds_client
Finished <<< tinydir_vendor [11.2s]                                        
Starting >>> rcutils
Finished <<< rosidl_cmake [4.38s]                                     
Starting >>> tracetools_trace
Finished <<< tracetools [7.38s]                                       
Starting >>> test_interface_files
Finished <<< test_interface_files [2.58s]                                      
Starting >>> tracetools_read                                                   
Finished <<< tracetools_trace [6.41s]                                        
--- stderr: microxrcedds_client                                               
/home/prostrain/microros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/util/time.c: In function 'uxr_nanos':
/home/prostrain/microros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/util/time.c:60:5: warning: implicit declaration of function 'clock_gettime' [-Wimplicit-function-declaration]
   60 |     clock_gettime(CLOCK_REALTIME, &ts);
      |     ^~~~~~~~~~~~~
Finished <<< microxrcedds_client [10.2s]
Starting >>> tracetools_launch
Starting >>> libyaml_vendor                                        
--- stderr: rcutils                                                 
In function 'rcutils_char_array_strncat',
    inlined from 'rcutils_char_array_strcat' at /home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/char_array.c:239:10:
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/char_array.c:224:3: warning: 'strncat' output truncated before terminating nul copying as many bytes from a string as its length [-Wstringop-truncation]
  224 |   strncat(char_array->buffer, src, n);
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/char_array.c: In function 'rcutils_char_array_strcat':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/char_array.c:239:10: note: length computed here
  239 |   return rcutils_char_array_strncat(char_array, src, strlen(src));
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/error_handling.c:35:
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h: In function '__rcutils_convert_uint64_t_into_c_str':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h:109:48: warning: unused parameter 'number' [-Wunused-parameter]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                       ~~~~~~~~~^~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h:109:63: warning: unused parameter 'buffer' [-Wunused-parameter]
  109 | _rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                                       ~~~~~~~^~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h:109:78: warning: unused parameter 'buffer_size' [-Wunused-parameter]
  109 | convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                                             ~~~~~~~^~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h: In function '__rcutils_format_error_string':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h:142:28: warning: unused parameter 'error_string' [-Wunused-parameter]
  142 |   rcutils_error_string_t * error_string,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h:143:33: warning: unused parameter 'error_state' [-Wunused-parameter]
  143 |   const rcutils_error_state_t * error_state)
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/error_handling.c: In function 'rcutils_get_error_string':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/error_handling.c:240:38: warning: initializer-string for array of chars is too long
  240 |     return (rcutils_error_string_t) {"error not set"};  // NOLINT(readability/braces)
      |                                      ^~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/error_handling.c:240:38: note: (near initialization for '(anonymous).str')
In file included from /home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/error_handling.c:35:
At top level:
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h:109:1: warning: '__rcutils_convert_uint64_t_into_c_str' defined but not used [-Wunused-function]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/./error_handling_helpers.h:91:1: warning: '__rcutils_reverse_str' defined but not used [-Wunused-function]
   91 | __rcutils_reverse_str(char * string_in, size_t string_len)
      | ^~~~~~~~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/logging.c: In function 'rcutils_get_env_var_zero_or_one':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/logging.c:127:35: warning: unused parameter 'zero_semantic' [-Wunused-parameter]
  127 |   const char * name, const char * zero_semantic,
      |                      ~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/logging.c:128:16: warning: unused parameter 'one_semantic' [-Wunused-parameter]
  128 |   const char * one_semantic)
      |   ~~~~~~~~~~~~~^~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c: In function 'rcutils_get_symbol':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:121:23: warning: implicit declaration of function 'dlsym' [-Wimplicit-function-declaration]
  121 |   void * lib_symbol = dlsym(lib->lib_pointer, symbol_name);
      |                       ^~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:121:23: warning: initialization of 'void *' from 'int' makes pointer from integer without a cast [-Wint-conversion]
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:122:18: warning: implicit declaration of function 'dlerror'; did you mean 'perror'? [-Wimplicit-function-declaration]
  122 |   char * error = dlerror();
      |                  ^~~~~~~
      |                  perror
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:122:18: warning: initialization of 'char *' from 'int' makes pointer from integer without a cast [-Wint-conversion]
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c: In function 'rcutils_has_symbol':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:159:23: warning: initialization of 'void *' from 'int' makes pointer from integer without a cast [-Wint-conversion]
  159 |   void * lib_symbol = dlsym(lib->lib_pointer, symbol_name);
      |                       ^~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:160:20: warning: comparison between pointer and integer
  160 |   return dlerror() == NULL && lib_symbol != 0;
      |                    ^~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c: In function 'rcutils_unload_shared_library':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:178:20: warning: implicit declaration of function 'dlclose'; did you mean 'pclose'? [-Wimplicit-function-declaration]
  178 |   int error_code = dlclose(lib->lib_pointer);
      |                    ^~~~~~~
      |                    pclose
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c: In function 'rcutils_get_platform_library_name':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:201:16: warning: unused parameter 'buffer_size' [-Wunused-parameter]
  201 |   unsigned int buffer_size,
      |   ~~~~~~~~~~~~~^~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/shared_library.c:202:8: warning: unused parameter 'debug' [-Wunused-parameter]
  202 |   bool debug)
      |        ^
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/atomic_64bits.c:53:10: warning: mismatch in argument 1 type of built-in function '__atomic_load_8'; expected 'const volatile void *' [-Wbuiltin-declaration-mismatch]
   53 | uint64_t __atomic_load_8(uint64_t *mem, int model) {
      |          ^~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/atomic_64bits.c:62:6: warning: mismatch in argument 1 type of built-in function '__atomic_store_8'; expected 'volatile void *' [-Wbuiltin-declaration-mismatch]
   62 | void __atomic_store_8(uint64_t *mem, uint64_t val, int model) {
      |      ^~~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/atomic_64bits.c:70:10: warning: mismatch in argument 1 type of built-in function '__atomic_exchange_8'; expected 'volatile void *' [-Wbuiltin-declaration-mismatch]
   70 | uint64_t __atomic_exchange_8(uint64_t *mem, uint64_t val, int model) {
      |          ^~~~~~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/atomic_64bits.c:80:10: warning: mismatch in argument 1 type of built-in function '__atomic_fetch_add_8'; expected 'volatile void *' [-Wbuiltin-declaration-mismatch]
   80 | uint64_t __atomic_fetch_add_8(uint64_t *mem, uint64_t val, int model) {
      |          ^~~~~~~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/time_unix.c:42:4: warning: #warning is a GCC extension
   42 | #  warning no monotonic clock function available
      |    ^~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/time_unix.c:42:4: warning: #warning no monotonic clock function available [-Wcpp]
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/time_unix.c: In function 'rcutils_system_time_now':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcutils/src/time_unix.c:64:3: warning: implicit declaration of function 'clock_gettime' [-Wimplicit-function-declaration]
   64 |   clock_gettime(CLOCK_REALTIME, &timespec_now);
      |   ^~~~~~~~~~~~~
Finished <<< rcutils [10.7s]
Starting >>> rosidl_runtime_c
Finished <<< tracetools_read [5.85s]                             
Starting >>> rcl_logging_noop
Finished <<< tracetools_launch [5.59s]                             
Starting >>> ros2trace                                                    
--- stderr: rcl_logging_noop                                              
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)
Finished <<< rcl_logging_noop [5.08s]
Starting >>> rosidl_generator_dds_idl
--- stderr: rosidl_runtime_c                                              
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)
Finished <<< rosidl_runtime_c [6.01s]
Starting >>> rmw
Finished <<< ros2trace [5.45s]                                             
Starting >>> rosidl_generator_c                                            
Finished <<< rosidl_generator_dds_idl [5.45s]                              
Finished <<< rosidl_generator_c [7.50s]                                    
--- stderr: rmw                                                            
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  CMakeLists.txt:21 (find_package)
In file included from /home/prostrain/microros_ws/firmware/mcu_ws/ros2/rmw/rmw/src/validate_full_topic_name.c:17:
/home/prostrain/microros_ws/firmware/mcu_ws/ros2/rmw/rmw/src/validate_full_topic_name.c: In function 'rmw_validate_full_topic_name_with_size':
/home/prostrain/microros_ws/firmware/mcu_ws/ros2/rmw/rmw/src/validate_full_topic_name.c:106:29: warning: array subscript has type 'char' [-Wchar-subscripts]
  106 |       if (isdigit(topic_name[i + 1]) != 0) {
      |                   ~~~~~~~~~~^~~~~~~
In file included from /home/prostrain/microros_ws/firmware/mcu_ws/ros2/rmw/rmw/src/validate_node_name.c:17:
/home/prostrain/microros_ws/firmware/mcu_ws/ros2/rmw/rmw/src/validate_node_name.c: In function 'rmw_validate_node_name_with_size':
/home/prostrain/microros_ws/firmware/mcu_ws/ros2/rmw/rmw/src/validate_node_name.c:72:24: warning: array subscript has type 'char' [-Wchar-subscripts]
   72 |   if (isdigit(node_name[0]) != 0) {
      |               ~~~~~~~~~^~~
Finished <<< rmw [11.2s]
Starting >>> rosidl_typesupport_microxrcedds_c
--- stderr: libyaml_vendor                                                  
CMake Warning (dev) at CMakeLists.txt:55 (add_library):
  ADD_LIBRARY called with SHARED option but the target platform does not
  support dynamic linking.  Building a STATIC library instead.  This may lead
  to problems.
This warning is for project developers.  Use -Wno-dev to suppress it.
/home/prostrain/microros_ws/firmware/mcu_ws/build/libyaml_vendor/libyaml-10c9078-prefix/src/libyaml-10c9078/src/api.c: In function 'yaml_strdup':
/home/prostrain/microros_ws/firmware/mcu_ws/build/libyaml_vendor/libyaml-10c9078-prefix/src/libyaml-10c9078/src/api.c:66:27: warning: implicit declaration of function 'strdup'; did you mean 'strcmp'? [-Wimplicit-function-declaration]
   66 |     return (yaml_char_t *)strdup((char *)str);
      |                           ^~~~~~
      |                           strcmp
Finished <<< libyaml_vendor [22.2s]
--- stderr: rosidl_typesupport_microxrcedds_c                                 
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  CMakeLists.txt:22 (find_package)
Finished <<< rosidl_typesupport_microxrcedds_c [4.88s]
Starting >>> rosidl_typesupport_c
--- stderr: rosidl_typesupport_c                                 
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  CMakeLists.txt:21 (find_package)
Finished <<< rosidl_typesupport_c [7.37s]
Starting >>> rosidl_default_runtime
Starting >>> rosidl_default_generators                  
Finished <<< rosidl_default_runtime [2.90s]                                   
Finished <<< rosidl_default_generators [2.97s]                     
Starting >>> builtin_interfaces
Starting >>> micro_ros_msgs                         
Starting >>> unique_identifier_msgs
Starting >>> lifecycle_msgs                                         
--- stderr: unique_identifier_msgs                                            
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)
Finished <<< unique_identifier_msgs [11.5s]
Starting >>> std_srvs
--- stderr: builtin_interfaces              
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< builtin_interfaces [13.9s]
Starting >>> std_msgs
--- stderr: micro_ros_msgs                                                     
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:20 (find_package)
Finished <<< micro_ros_msgs [15.8s]
Starting >>> rmw_microxrcedds
--- stderr: std_srvs                         
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< std_srvs [16.8s]
Starting >>> action_msgs
--- stderr: lifecycle_msgs                                                    
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< lifecycle_msgs [31.6s]
Starting >>> rcl_interfaces
--- stderr: rmw_microxrcedds                                             
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  CMakeLists.txt:27 (find_package)
Finished <<< rmw_microxrcedds [17.2s]
Starting >>> rmw_implementation                                          
--- stderr: rmw_implementation                                           
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw_microxrcedds/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw_microxrcedds/cmake/rmw_microxrceddsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake:62 (find_package)
  CMakeLists.txt:22 (get_default_rmw_implementation)
Finished <<< rmw_implementation [4.46s]
Starting >>> rosidl_typesupport_microxrcedds_test_msg
Finished <<< rosidl_typesupport_microxrcedds_test_msg [4.42s]             
Starting >>> rosgraph_msgs
--- stderr: action_msgs                                                   
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< action_msgs [19.7s]
Starting >>> test_msgs
--- stderr: rosgraph_msgs                                                 
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< rosgraph_msgs [11.1s]
Starting >>> example_interfaces
[Processing: example_interfaces, rcl_interfaces, std_msgs, test_msgs]          
--- stderr: std_msgs                                                         
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< std_msgs [1min 10s]
Starting >>> geometry_msgs
--- stderr: rcl_interfaces                                                    
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< rcl_interfaces [58.8s]
Starting >>> actionlib_msgs
--- stderr: actionlib_msgs                                                 
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< actionlib_msgs [16.1s]
Starting >>> statistics_msgs
--- stderr: statistics_msgs                                                    
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)
Finished <<< statistics_msgs [17.8s]
Starting >>> composition_interfaces
--- stderr: test_msgs                                                          
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:19 (find_package)
Finished <<< test_msgs [1min 26s]
Starting >>> rcl                            
--- stderr: example_interfaces               
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< example_interfaces [1min 22s]
Starting >>> tracetools_test
Finished <<< tracetools_test [4.44s]                                           
Starting >>> rosidl_typesupport_microxrcedds_c_tests
Finished <<< rosidl_typesupport_microxrcedds_c_tests [3.65s]                   
Starting >>> test_rmw_implementation
--- stderr: composition_interfaces                                             
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< composition_interfaces [20.4s]
Finished <<< test_rmw_implementation [4.24s] 
--- stderr: geometry_msgs                    
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< geometry_msgs [1min 6s]
Starting >>> sensor_msgs
Starting >>> diagnostic_msgs                                       
Starting >>> nav_msgs
--- stderr: rcl                                                    
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:10 (find_package)
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/graph.c: In function '__validate_node_name_and_namespace':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/graph.c:52:18: warning: unused variable 'msg' [-Wunused-variable]
   52 |     const char * msg = rmw_namespace_validation_result_string(validation_result);
      |                  ^~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/graph.c:64:18: warning: unused variable 'msg' [-Wunused-variable]
   64 |     const char * msg = rmw_node_name_validation_result_string(validation_result);
      |                  ^~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/graph.c: In function '__rcl_get_info_by_topic':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/graph.c:457:22: warning: variable 'error_string' set but not used [-Wunused-but-set-variable]
  457 |   rmw_error_string_t error_string;
      |                      ^~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/init.c: In function 'rcl_init':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/init.c:191:8: warning: extra tokens at end of #endif directive [-Wendif-labels]
  191 | #endif RCL_COMMAND_LINE_ENABLED
      |        ^~~~~~~~~~~~~~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/init_options.c: In function 'rcl_init_options_copy':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/init_options.c:94:24: warning: unused variable 'error_string' [-Wunused-variable]
   94 |     rmw_error_string_t error_string = rmw_get_error_string();
      |                        ^~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/init_options.c:112:24: warning: unused variable 'error_string' [-Wunused-variable]
  112 |     rmw_error_string_t error_string = rmw_get_error_string();
      |                        ^~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/node.c: In function 'rcl_node_init':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/node.c:169:18: warning: unused variable 'msg' [-Wunused-variable]
  169 |     const char * msg = rmw_node_name_validation_result_string(validation_result);
      |                  ^~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/node.c:201:18: warning: unused variable 'msg' [-Wunused-variable]
  201 |     const char * msg = rmw_namespace_validation_result_string(validation_result);
      |                  ^~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/rmw_implementation_identifier_check.c: In function 'rcl_rmw_implementation_identifier_check':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/rmw_implementation_identifier_check.c:136:34: warning: unused variable 'rmw_error_msg' [-Wunused-variable]
  136 |     const rcutils_error_string_t rmw_error_msg = rcl_get_error_string();
      |                                  ^~~~~~~~~~~~~
At top level:
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/rmw_implementation_identifier_check.c:168:13: warning: 'initialize' defined but not used [-Wunused-function]
  168 | INITIALIZER(initialize) {
      |             ^~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/rmw_implementation_identifier_check.c:54:15: note: in definition of macro 'INITIALIZER'
   54 |   static void f(void)
      |               ^
In file included from /home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/validate_topic_name.c:22:
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/validate_topic_name.c: In function 'rcl_validate_topic_name_with_size':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/validate_topic_name.c:58:25: warning: array subscript has type 'char' [-Wchar-subscripts]
   58 |   if (isdigit(topic_name[0]) != 0) {
      |               ~~~~~~~~~~^~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/validate_topic_name.c:84:27: warning: array subscript has type 'char' [-Wchar-subscripts]
   84 |         isdigit(topic_name[i]) != 0 &&
      |                 ~~~~~~~~~~^~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl/src/rcl/validate_topic_name.c:179:29: warning: array subscript has type 'char' [-Wchar-subscripts]
  179 |       if (isdigit(topic_name[i + 1]) != 0) {
      |                   ~~~~~~~~~~^~~~~~~
Finished <<< rcl [16.4s]
Starting >>> rclc
--- stderr: rclc                                                           
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl/cmake/rclConfig.cmake:41 (include)
  CMakeLists.txt:31 (find_package)
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rclc/rclc/src/rclc/executor_handle.c: In function 'rclc_executor_handle_print':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rclc/rclc/src/rclc/executor_handle.c:84:10: warning: variable 'typeName' set but not used [-Wunused-but-set-variable]
   84 |   char * typeName;
      |          ^~~~~~~~
Finished <<< rclc [9.63s]
Starting >>> shape_msgs
--- stderr: diagnostic_msgs                                                 
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< diagnostic_msgs [22.8s]
Starting >>> trajectory_msgs
--- stderr: shape_msgs                                                      
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/std_msgs/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/std_msgs/cmake/std_msgsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/geometry_msgs/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/geometry_msgs/cmake/geometry_msgsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< shape_msgs [18.9s]
Starting >>> visualization_msgs                                             
--- stderr: nav_msgs                                                        
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< nav_msgs [31.8s]
Starting >>> rcl_lifecycle
--- stderr: rcl_lifecycle                                                   
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/lifecycle_msgs/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/lifecycle_msgs/cmake/lifecycle_msgsConfig.cmake:41 (include)
  CMakeLists.txt:7 (find_package)
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl_lifecycle/src/rcl_lifecycle.c: In function 'rcl_lifecycle_state_machine_fini':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl_lifecycle/src/rcl_lifecycle.c:262:24: warning: unused variable 'error_string' [-Wunused-variable]
  262 |     rcl_error_string_t error_string = rcl_get_error_string();
      |                        ^~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl_lifecycle/src/rcl_lifecycle.c:272:24: warning: unused variable 'error_string' [-Wunused-variable]
  272 |     rcl_error_string_t error_string = rcl_get_error_string();
      |                        ^~~~~~~~~~~~
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl_lifecycle/src/rcl_lifecycle.c: In function '_trigger_transition':
/home/prostrain/microros_ws/firmware/mcu_ws/uros/rcl/rcl_lifecycle/src/rcl_lifecycle.c:365:26: warning: unused variable 'error_string' [-Wunused-variable]
  365 |       rcl_error_string_t error_string = rcl_get_error_string();
      |                          ^~~~~~~~~~~~
Finished <<< rcl_lifecycle [7.94s]
Starting >>> rcl_action
--- stderr: trajectory_msgs                                                 
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< trajectory_msgs [20.8s]
Starting >>> rclc_lifecycle
--- stderr: rcl_action                                                       
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/action_msgs/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/action_msgs/cmake/action_msgsConfig.cmake:41 (include)
  CMakeLists.txt:7 (find_package)
Finished <<< rcl_action [10.4s]
Starting >>> rclc_parameter                                                  
--- stderr: rclc_lifecycle                                                   
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/lifecycle_msgs/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/lifecycle_msgs/cmake/lifecycle_msgsConfig.cmake:41 (include)
  CMakeLists.txt:11 (find_package)
Finished <<< rclc_lifecycle [6.78s]
--- stderr: rclc_parameter                                                   
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcl/cmake/rclConfig.cmake:41 (include)
  CMakeLists.txt:34 (find_package)
Finished <<< rclc_parameter [6.55s]
--- stderr: visualization_msgs                                               
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< visualization_msgs [47.2s]
--- stderr: sensor_msgs                                            
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< sensor_msgs [1min 32s]
Starting >>> stereo_msgs
Starting >>> sensor_msgs_py
Finished <<< sensor_msgs_py [4.61s]                                     
--- stderr: stereo_msgs                                      
CMake Warning at /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rmw/cmake/rmwConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/prostrain/microros_ws/firmware/mcu_ws/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:14 (find_package)
Finished <<< stereo_msgs [11.6s]
Starting >>> common_interfaces
Finished <<< common_interfaces [2.39s]                          
Summary: 61 packages finished [5min 12s]
  38 packages had stderr output: action_msgs actionlib_msgs builtin_interfaces composition_interfaces diagnostic_msgs example_interfaces geometry_msgs libyaml_vendor lifecycle_msgs micro_ros_msgs microxrcedds_client nav_msgs rcl rcl_action rcl_interfaces rcl_lifecycle rcl_logging_noop rclc rclc_lifecycle rclc_parameter rcutils rmw rmw_implementation rmw_microxrcedds rosgraph_msgs rosidl_runtime_c rosidl_typesupport_c rosidl_typesupport_microxrcedds_c sensor_msgs shape_msgs statistics_msgs std_msgs std_srvs stereo_msgs test_msgs trajectory_msgs unique_identifier_msgs visualization_msgs
          
    Okay alright. After doing this, I tried to add the new micro_ros_arduino library inside my arduino.




    

    

    Open Arduino IDE, go to Add ZIP library and then I add the micro_ros_arduino as library. The library location is at /home/prostrain/microros_ws/src/micro_ros_arduino
    

    I noticed that in Arduino terminal, there is this output when i add the library. So I confirmed that the new library is added.
    
Library added to your libraries, Check "Include library" menu.
    

    I then proceed trying to just Verify the example code but this error still come out:
    

    Library micro_ros_arduino has been declared precompiled:
Using precompiled library in /home/prostrain/Arduino/libraries/micro_ros_arduino/src/cortex-m3
/home/prostrain/Arduino/libraries/micro_ros_arduino/src/cortex-m3/libmicroros.a(librmw-validate_full_topic_name.c.obj): In function `rmw_validate_full_topic_name':
validate_full_topic_name.c:(.text.rmw_validate_full_topic_name+0xf8): undefined reference to `__ctype_ptr__'
/home/prostrain/Arduino/libraries/micro_ros_arduino/src/cortex-m3/libmicroros.a(librcl-validate_topic_name.c.obj): In function `rcl_validate_topic_name':
validate_topic_name.c:(.text.rcl_validate_topic_name+0x1cc): undefined reference to `__ctype_ptr__'
/home/prostrain/Arduino/libraries/micro_ros_arduino/src/cortex-m3/libmicroros.a(librmw-validate_node_name.c.obj): In function `rmw_validate_node_name':
validate_node_name.c:(.text.rmw_validate_node_name+0x88): undefined reference to `__ctype_ptr__'
collect2: error: ld returned 1 exit status
exit status 1
Error compiling for board Arduino Due (Programming Port).
          
    The generating library procedure will generate a libmicroros.a and a include folder. You shall integrate them in the micro-ROS for Arduino package. Here you have the procedure: 
    
      micro_ros_arduino/extras/library_generation/library_generation.sh
        Lines 94 to 99
      fcab35d

  • Remove all .c from the generated include folder.
    • 

  • Copy the content of the include folder in this repo src folder.
    • 

  • Copy the generated libmicroros.a in src/cortex-m3/libmicroros.a
    • 
          
    Okay I did this
    

  • I got to microros_ws/firmware/build/include and then copy all the contents in here except the .c file. There was no .c file anyway.
    • 

  • I then paste the contents in the repo which located at microros_ws/src/micro_ros_arduino/src/ . I just select replace all. Note that there are still few cpp files here like default transport, native ethernet etc. I didn't disturbed this.
    • 

  • From this folder microros_ws/firmware/build/ , I then copy the microros.a and paste at microros_ws/src/micro_ros_arduino/src/cortex-m3/libmicroros.a and select replace option.
    • 

  • Then, I proceed to the library by using Include library/Add .ZIP Library and select this folder /home/prostrain/microros_ws/src/micro_ros_arduino/
    • 

  • I tried to Verify the example publisher code and it was compiled successfully
    • 

  • I also tried to upload the code to my Arduino Due and it was uploaded successfully.
    • 

    No words can describe the happiness that I feel right now. hahah Now, I can focus on developing my robot.
    

    Thank you @pablogs9 for the guidance! Keep up the good work with microros arduino!
    
          
    Hi, @zharifzubaidi , I face same problem.
    
I follow your solution but I can't find workspacce/src/micro_ros_arduino/cortex-m3
    
How can I install?
     
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