ros2 colcon build error

[juanvon]

i have tried my best to find a solution, but it doesn't work.
It seems that the problem occurs only in foxy, but i need foxy not humble.
Did you meet this problem?

[SamuelChua]

I did face a similar issue as well in ROS2 Foxy and Ubuntu 20.04. But the "rosidl_get_typesupport_target" does not exist in Foxy, instead I edited the CMakeLists.txt to have "rosidl_target_interfaces" instead. There was one other change I needed to make in map.cc as std::bind was causing issues with mismatch in types. Hopefully this helps!

cmake_minimum_required(VERSION 3.12.4)
project(direct_lidar_inertial_odometry)
find_package(rosidl_default_generators REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pcl_ros REQUIRED)

find_package(PCL REQUIRED)
find_package( Eigen3 REQUIRED )
find_package(Threads REQUIRED)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_STANDARD 17)

set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
set(THREADS_PREFER_PTHREAD_FLAG TRUE)

Not all machines have <cpuid.h> available

set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

rosidl_generate_interfaces(
${PROJECT_NAME}
srv/SavePCD.srv
DEPENDENCIES
)

include_directories(${PCL_INCLUDE_DIRS})
include_directories(${EIGEN3_INCLUDE_DIR})

include_directories(include)
include_directories(SYSTEM)

NanoFLANN

add_library(nanoflann STATIC
src/nano_gicp/nanoflann.cc
)
target_link_libraries(nanoflann ${PCL_LIBRARIES})
ament_target_dependencies(nanoflann)

NanoGICP

add_library(nano_gicp STATIC
src/nano_gicp/lsq_registration.cc
src/nano_gicp/nano_gicp.cc
)
target_link_libraries(nano_gicp ${PCL_LIBRARIES} ${OpenMP_LIBS} nanoflann)
ament_target_dependencies(nano_gicp)

Odometry Node

add_executable(dlio_odom_node src/dlio/odom_node.cc src/dlio/odom.cc)
target_link_libraries(dlio_odom_node ${PCL_LIBRARIES} ${OpenMP_LIBS} Threads::Threads nano_gicp)
ament_target_dependencies(dlio_odom_node "tf2_ros" "pcl_ros" "nav_msgs" "pcl_conversions" "rclcpp" "sensor_msgs" "geometry_msgs")
rosidl_target_interfaces(dlio_odom_node ${PROJECT_NAME} "rosidl_typesupport_cpp")

Mapping Node

add_executable (dlio_map_node src/dlio/map_node.cc src/dlio/map.cc)
target_link_libraries(dlio_map_node ${PCL_LIBRARIES} ${cpp_typesupport_target})
ament_target_dependencies(dlio_map_node "tf2_ros" "pcl_ros" "pcl_conversions" "rclcpp")
rosidl_target_interfaces(dlio_map_node ${PROJECT_NAME} "rosidl_typesupport_cpp")

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME} nano_gicp nanoflann)
ament_export_dependencies(rclcpp std_msgs sensor_msgs geometry_msgs pcl_ros)
ament_package()

Binaries

install( TARGETS dlio_odom_node dlio_map_node
DESTINATION lib/${PROJECT_NAME}
)
install( DIRECTORY cfg launch
DESTINATION share/${PROJECT_NAME}
)

add_compile_options(-std=c++14)

link_directories(${PCL_LIBRARY_DIRS})

include(FindOpenMP)
if(OPENMP_FOUND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
else(OPENMP_FOUND)
message("ERROR: OpenMP could not be found.")
endif(OPENMP_FOUND)
file(WRITE ${CMAKE_BINARY_DIR}/test_cpuid.cpp "#include <cpuid.h>")
try_compile(HAS_CPUID ${CMAKE_BINARY_DIR} ${CMAKE_BINARY_DIR}/test_cpuid.cpp)
file(REMOVE ${CMAKE_BINARY_DIR}/test_cpuid.cpp)
if(HAS_CPUID)
add_compile_definitions(HAS_CPUID)
endif()

target_compile_options(dlio_odom_node PRIVATE ${OpenMP_FLAGS})

target_compile_options(dlio_map_node PRIVATE ${OpenMP_FLAGS})