Dependency to geographic_msgs not found when building Autoware in an environment of locally-built ROS 2

[lorenzzhao]

I'm trying to build Autoware in an environment of a locally-built ROS 2, rather than in the environment of the ROS 2 distribution as installed by the autoware/setup-dev-env.sh script. In other words, I don't source the ROS 2 installation's setup.bash script:
source /opt/ros/humble/setup.bash
but rather I source the setup.bash script of my local (from-source-built) ROS 2 workspace:
source ~/Desktop/my_ros/ros2_humble/install/setup.bash.
The Autoware's colcon build command then leads to the following build error:
CMake Error at /home/lzh/Desktop/my_ros/ros2_humble/install/rosidl_cmake/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:162 (message): rosidl_generate_interfaces() the passed dependency 'geographic_msgs' has not been found before using find_package()

I am working on Ubuntu 22.04. Building Autoware in the environment of the ROS 2 distribution as installed by the autoware/setup-dev-env.sh script (i. e. after performing source /opt/ros/humble/setup.bash) succeeds.
My local (from-source-built) ROS 2 seems to be ok, as the ROS 2 tests (colcon test) succeed.

Here are the exacts steps that lead to the build error:

1. Building ROS 2 from source as described in https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#build-the-code-in-the-workspace -> succeeds
2. Running the ROS 2 tests: colcon test -> succeeds
3. Installing Autoware from source as described in https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/ with the following modifications:

• After execution of ./setup-dev-env.sh I removed the line source /opt/ros/humble/setup.bash from ~/.bashrc because I don't want the ROS 2 installation in /opt/ros/humble/ to be sourced as workspace
• Before the "rosdep install" and "colcon build" commands I sourced the setup.bash from my local ROS 2 workspace, i. e. source ~/Desktop/my_ros/ros2_humble/install/setup.bash, instead of sourcing the setup.bash from the ROS 2 distribution as installed by the autoware/setup-dev-env.sh (source /opt/ros/humble/setup.bash)
  -> Now the colcon build command to build Autoware (colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release) leads to an error, the full output is:
  `~/Desktop/autoware$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
  Starting >>> autoware_lint_common
  Starting >>> autoware_auto_geometry_msgs
  Starting >>> autoware_auto_mapping_msgs
  Starting >>> tier4_debug_msgs
  Starting >>> autoware_common_msgs
  Starting >>> autoware_planning_msgs
  Starting >>> autoware_adapi_v1_msgs
  Starting >>> autoware_auto_control_msgs
  Starting >>> tier4_planning_msgs
  Starting >>> tier4_map_msgs
  Starting >>> autoware_auto_system_msgs
  Starting >>> tier4_v2x_msgs
  Starting >>> tier4_rtc_msgs
  Starting >>> tier4_external_api_msgs
  Starting >>> autoware_map_msgs
  Starting >>> boost_io_context
  --- stderr: tier4_map_msgs
  CMake Error at /home/lzh/Desktop/my_ros/ros2_humble/install/rosidl_cmake/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:162 (message):
  rosidl_generate_interfaces() the passed dependency 'geographic_msgs' has
  not been found before using find_package()
  Call Stack (most recent call first):
  CMakeLists.txt:7 (rosidl_generate_interfaces)

---

Failed <<< tier4_map_msgs [3.62s, exited with code 1]
Aborted <<< autoware_adapi_v1_msgs [11.3s]
Aborted <<< autoware_common_msgs [17.9s]
Aborted <<< autoware_auto_geometry_msgs [19.1s]
Aborted <<< tier4_v2x_msgs [20.7s]
Aborted <<< boost_io_context [20.7s]
Aborted <<< autoware_lint_common [20.9s]
Aborted <<< autoware_auto_mapping_msgs [20.9s]
Aborted <<< autoware_auto_control_msgs [20.9s]
Aborted <<< autoware_auto_system_msgs [24.7s]
Aborted <<< autoware_planning_msgs [25.8s]
Aborted <<< autoware_map_msgs [26.0s]
Aborted <<< tier4_rtc_msgs [26.3s]
Aborted <<< tier4_debug_msgs [26.7s]
Aborted <<< tier4_planning_msgs [48.8s]
Aborted <<< tier4_external_api_msgs [1min 2s]

Summary: 0 packages finished [1min 3s]
1 package failed: tier4_map_msgs
15 packages aborted: autoware_adapi_v1_msgs autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_system_msgs autoware_common_msgs autoware_lint_common autoware_map_msgs autoware_planning_msgs boost_io_context tier4_debug_msgs tier4_external_api_msgs tier4_planning_msgs tier4_rtc_msgs tier4_v2x_msgs
3 packages had stderr output: autoware_adapi_v1_msgs boost_io_context tier4_map_msgs
294 packages not processed`

Can anyone help to solve this build error?

[kminoda]

Did you execute rosdep install ... command?

[lorenzzhao]

Yes sure, just the way it's indicated in https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/:
~/Desktop/autoware$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
and it succeeds with:
#All required rosdeps installed successfully

[kminoda]

Could you try clean installing the Autoware, or at least removing the tier4_map_msgs from install and build directory?

[lorenzzhao]

By "clean installing", do you mean rm -rf build/ install/ log/ before building autoware (with colcon build ...)? I did that and still I get the same error.

[kminoda]

Yes, that's my intention.

And then I don't have any idea how to fix it for now... will let you know once I come up with any.
FYI, TIER IV is running Autoware simulation on a daily basis on cloud service, and the latest Autoware has been verified to be built and run fine. So I assume it may be the environmental cause.

[isouf]

@lorenzzhao, @kminoda, did you find a solution to this issue? I am facing a very similar issue, failing at --- stderr: autoware_common_msgs. I have tried to build with and without Docker but I still get the same error.

[isouf]

Managed to find the issue on my side - it was due to my conda environment. I disabled it i.e. conda config --set auto_activate_base false and was able to build the workspace successfully.

[lorenzzhao]

Well, I did find a solution, but it's rather unsatisfying: I uninstalled all ROS 2 humble packages (that were installed by ./setup-dev-env.sh), then I resolved all missing dependencies by building them from source and then sourcing their environment before building Autoware. Still, I had to apply some smaller fixes to Autoware's CMakeLists.txt as well as to some CMakeLists.txt of the dependencies, but in the end I got a successful Autoware build.

Btw.: I don't have a conda environment, so this was not my issue.