Could not change DDS in ROS 2 Humble

[atinfinity]

Checks

• I have checked that this issue has not already been reported.

• I have confirmed this bug exists on the latest version of pixi, using pixi --version.

Reproducible example

Environment

• macOS Sonoma 14.4
• pixi 0.40.1

Steps to reproduce

Install pixi

curl -fsSL https://pixi.sh/install.sh | bash

Create project

pixi init my_ros2_project -c robostack-staging -c conda-forge
cd my_ros2_project

Install package

pixi add ros-humble-desktop
pixi add ros-humble-rmw-fastrtps-cpp

Change DDS

I set RMW_IMPLEMENTATION to specify DDS.

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

And, I checked current DDS.

pixi run ros2 doctor --report

But, I could not change DDS.

   RMW MIDDLEWARE
middleware name    : rmw_cyclonedds_cpp

Issue description

I used pixi for the development of ROS2(https://pixi.sh/latest/tutorials/ros2/).
But, I could not change DDS.

Expected behavior

I set RMW_IMPLEMENTATION to specify DDS.

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

And, I checked current DDS.

pixi run ros2 doctor --report

I expect that the following message is displayed.

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

[ruben-arts]

TL;DR: It will be fixed soon, add export RMW_IMPLEMENTATION=rmw_fastrtps_cpp to a activate.sh file in the root of your project and add that to your pixi.toml:

[activation]
scripts = ["activate.sh"]

---

This variable will be overwritten by the activation of your environment, as there is a file in the activation scripts of ros-humble-ros-workspace that adds the following:

case "$OSTYPE" in
  darwin*)  export ROS_OS_OVERRIDE="conda:osx"; export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp";;
  linux*)   export ROS_OS_OVERRIDE="conda:linux";;
esac

This is a bug in that package and should be fixed upstream on Robostack. I've tried to fix it in this PR. If I was correct this should be fixed later. IF

As a quick workaround, you could add a file to the project activate.sh:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

And add it as a script to the activation:

[activation]
scripts = ["activate.sh"]

This doesn't work with the [activation.env] as they are evaluated before the scripts. The [activation.scripts] are added after all other activation scripts.

[atinfinity]

@ruben-arts

As a quick workaround, you could add a file to the project activate.sh:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

And add it as a script to the activation:

[activation]
scripts = ["activate.sh"]

I tried it. And, I run ros2 doctor --report.
As a result, rmw_fastrtps_cpp is displayed.

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

But, I failed to subscribe topic in this case.

Pub

pixi run ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

Sub

pixi run ros2 topic list
/parameter_events
/rosout

[ruben-arts]

I'm not able to reproduce that issue. Are you by any change mixing it with this issue ?

[atinfinity]

@ruben-arts

I'm not able to reproduce that issue. Are you by any change mixing it with this issue?

I recreate pixi project. But, this problem is reproduced. I'll investigate.

[pixi.toml]

[project]
authors = ["atinfinity <[email protected]>"]
channels = ["robostack-staging", "conda-forge"]
description = "Add a short description here"
name = "my_ros2_project"
platforms = ["osx-arm64"]
version = "0.1.0"

[tasks]

[dependencies]
ros-humble-desktop = ">=0.10.0,<0.11"
ros-humble-rmw-fastrtps-cpp = ">=6.2.7,<7"

[activation]
scripts = ["activate.sh"]

[activate.sh]

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

[wep21]

I can't reproduce the issue too.

❯ cat pixi.toml
[project]
authors = ["wep21 <[email protected]>"]
channels = ["robostack-staging", "conda-forge"]
description = "Add a short description here"
name = "ros2_pixi"
platforms = ["osx-arm64"]
version = "0.1.0"

[tasks]
build = "colcon build --symlink-install"

[dependencies]
ros-humble-desktop = ">=0.10.0,<0.11"
ros-humble-rmw-fastrtps-cpp = ">=6.2.7,<7"

[activation]
scripts = [
  "activate.sh",
  "install/setup.sh",
]

❯ pixi run ros2 doctor -r | grep middleware
/Users/daisuke/workspace/ros2_pixi/.pixi/envs/default/lib/python3.11/site-packages/ros2doctor/api/__init__.py: 154: UserWarning: Fail to call PackageReport class functions.
middleware name    : rmw_fastrtps_cpp

❯ pixi run ros2 topic list
/parameter_events
/rosout
/turtle1/cmd_vel

❯ pixi run ros2 topic echo /turtle1/cmd_vel
linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.8
---

[traversaro]

As RoboStack/ros-humble#244 was merged, it you update ros-humble-ros-workspace to the latest build, the original problem of this issue should be solved, and the workaround mentioned by @ruben-arts should not be neccessary anymore.

[ruben-arts]

Thanks @traversaro

This does now work like expected for me:

[project]
channels = ["robostack-staging", "conda-forge"]
name = "my_ros2_project"
platforms = ["osx-arm64"]

[activation.env]
RMW_IMPLEMENTATION="rmw_fastrtps_cpp"

[dependencies]
ros-humble-desktop = ">=0.10.0,<0.11"

Note: run pixi update ros-humble-ros-workspace to refresh the environment with the latest version.

[atinfinity]

Thank you. I resolved this problem.