ros2genmsg folder path validation error line 197

Going through the tutorials for both examples for custom ROS2 generation ROS2CustomMessagesExample and CreateShareableROS2CustomMessageExample yield this same error on 2 different computers.

Both are running MSVS 2019, one used python 3.8, the other 3.9 and the python environment was setup from the Matlab preferences. Matlab\Simulink Coders are installed. Microsoft Windows 10 Enterprise Version 10.0 (Build 19044), Java 1.8.0_202-b08 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode

It looks like a Linux/Windows mishap based on the / vs \

ros2genmsg(folderPath)

Identifying message files in folder 'C:/Users/223/Documents/MATLAB/Examples/R2023a/ros/ROS2CustomMessagesExample/custom'..Validating message files in folder 'C:/Users/223/Documents/MATLAB/Examples/R2023a/ros/ROS2CustomMessagesExample/custom'..Done.

Done.

Error using ros.ros2.internal.validateMsg

Invalid message format, package, or structure found during validation.

Error in ros2genmsg (line 197)

ros.ros2.internal.validateMsg(folderPath);

Caused by:

/usr/bin/bash: C:/Program: No such file or directory

[CB]

-----------------------------------------------------------------------------------------------------

MATLAB Version: 9.14.0.2254940 (R2023a) Update 2

MATLAB License Number: 99999999

Operating System: Microsoft Windows 10 Enterprise Version 10.0 (Build 19044)

Java Version: Java 1.8.0_202-b08 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode

-----------------------------------------------------------------------------------------------------

MATLAB Version 9.14 (R2023a)

Simulink Version 10.7 (R2023a)

Aerospace Blockset Version 6.0 (R2023a)

Aerospace Toolbox Version 4.4 (R2023a)

Automated Driving Toolbox Version 3.7 (R2023a)

Computer Vision Toolbox Version 10.4 (R2023a)

Control System Toolbox Version 10.13 (R2023a)

Curve Fitting Toolbox Version 3.9 (R2023a)

DDS Blockset Version 1.4 (R2023a)

DSP System Toolbox Version 9.16 (R2023a)

Data Acquisition Toolbox Version 4.7 (R2023a)

Deep Learning Toolbox Version 14.6 (R2023a)

Embedded Coder Version 7.10 (R2023a)

Fixed-Point Designer Version 7.6 (R2023a)

Fuzzy Logic Toolbox Version 3.1 (R2023a)

GPU Coder Version 2.5 (R2023a)

Global Optimization Toolbox Version 4.8.1 (R2023a)

Image Acquisition Toolbox Version 6.7.1 (R2023a)

Image Processing Toolbox Version 11.7 (R2023a)

Industrial Communication Toolbox Version 6.2 (R2023a)

Instrument Control Toolbox Version 4.8 (R2023a)

Lidar Toolbox Version 2.3 (R2023a)

MATLAB Coder Version 5.6 (R2023a)

MATLAB Compiler Version 8.6 (R2023a)

MATLAB Compiler SDK Version 7.2 (R2023a)

MATLAB Report Generator Version 5.14 (R2023a)

MATLAB Test Version 1.0 (R2023a)

Machine Vision Toolbox Version 4.3.0

Model Predictive Control Toolbox Version 8.1 (R2023a)

Model-Based Calibration Toolbox Version 5.14 (R2023a)

Motor Control Blockset Version 2.0 (R2023a)

Navigation Toolbox Version 2.4 (R2023a)

Optimization Toolbox Version 9.5 (R2023a)

Parallel Computing Toolbox Version 7.8 (R2023a)

Partial Differential Equation Toolbox Version 3.10 (R2023a)

Powertrain Blockset Version 2.0 (R2023a)

Predictive Maintenance Toolbox Version 2.7 (R2023a)

ROS Toolbox Version 2.0 (R2023a)

Reinforcement Learning Toolbox Version 2.4 (R2023a)

Requirements Toolbox Version 2.2 (R2023a)

Robotics System Toolbox Version 4.2 (R2023a)

Robotics Toolbox for MATLAB Version 10.4

Robust Control Toolbox Version 6.11.3 (R2023a)

Sensor Fusion and Tracking Toolbox Version 2.5 (R2023a)

Signal Processing Toolbox Version 9.2 (R2023a)

SimEvents Version 5.14 (R2023a)

Simscape Version 5.5 (R2023a)

Simscape Driveline Version 3.7 (R2023a)

Simscape Electrical Version 7.9 (R2023a)

Simscape Multibody Version 7.7 (R2023a)

Simulink 3D Animation Version 9.6 (R2023a)

Simulink Check Version 6.2 (R2023a)

Simulink Code Inspector Version 4.3 (R2023a)

Simulink Coder Version 9.9 (R2023a)

Simulink Compiler Version 1.6 (R2023a)

Simulink Control Design Version 7.0 (R2023a)

Simulink Coverage Version 5.6 (R2023a)

Simulink Design Optimization Version 3.13 (R2023a)

Simulink Design Verifier Version 4.9 (R2023a)

Simulink Report Generator Version 5.14 (R2023a)

Simulink Test Version 3.8 (R2023a)

Stateflow Version 10.8 (R2023a)

Statistics and Machine Learning Toolbox Version 12.5 (R2023a)

Symbolic Math Toolbox Version 9.3 (R2023a)

System Composer Version 2.4 (R2023a)

System Identification Toolbox Version 10.1 (R2023a)

UAV Toolbox Version 1.5 (R2023a)

Vehicle Dynamics Blockset Version 2.0 (R2023a)

Wavelet Toolbox Version 6.3 (R2023a)

----------DATE/TIME----------

15-Sep-2023 03:44:48

----------ROS-SPECIFIC ENVIRONMENT VARIABLES----------

ROS_MASTER_URI =

ROS_HOSTNAME =

ROS_IP =

ROS_NAMESPACE =

ROS_DEFAULT_CORE_PORT =

ROS_DEFAULT_NODE_PORT =

ROS_DOMAIN_ID = 0

RMW_IMPLEMENTATION = rmw_fastrtps_cpp

FASTRTPS_DEFAULT_PROFILES_FILE =

----------GENERATED MASTER URI AND NODEHOST----------

Generated Master URI: http://localhost:11311

Generated Node Host: G

----------ROS Connectivity----------

Global core is not running.

Global node is not running.

----------PYTHON AND CODEGEN INFORMATION----------

BOOST_ROOT =

CATKIN_PREFIX_PATH =

MY_PYTHON2_VENV =

PYTHONHOME =

Mex Compiler Configuration:

<a href="matlab:helpPopup mex.CompilerConfiguration" style="font-weight:bold">CompilerConfiguration</a> with properties:

Name: 'Microsoft Visual C++ 2019'

Manufacturer: 'Microsoft'

Language: 'C++'

Version: '16.0'

Location: 'C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\'

ShortName: 'MSVCPP160'

Priority: 'A'

Details: [1×1 mex.CompilerConfigurationDetails]

LinkerName: 'link'

LinkerVersion: ''

MexOpt: 'C:\Users\223\AppData\Roaming\MathWorks\MATLAB\R2023a\mex_C++_win64.xml'

Using catkin prefix path: C:\Program Files\MATLAB\R2023a\sys\ros1\win64\ros1

Using boost root: C:\Program Files\MATLAB\R2023a\sys\ros1\win64\ros1\boost

pyenv:

<a href="matlab:helpPopup matlab.pyclient.PythonEnvironment" style="font-weight:bold">PythonEnvironment</a> with properties:

Version: "3.8"

Executable: "C:\Python38\python.EXE"

Library: "C:\Python38\python38.dll"

Home: "C:\Python38"

Status: NotLoaded

ExecutionMode: InProcess

where python =

C:\Python38\python.exe

C:\Users\223\AppData\Local\Microsoft\WindowsApps\python.exe

where python2 =

INFO: Could not find files for the given pattern(s).

python --version = Python 3.8.10

python2 --version = 'python2' is not recognized as an internal or external command,

operable program or batch file.

where cmake =

C:\CMake\bin\cmake.exe

cmake --version = cmake version 3.20.6

CMake suite maintained and supported by Kitware (kitware.com/cmake).

----------CUSTOM MESSAGE INFORMATION----------

Custom Messages:

Custom Services:

----------ALL ENVIRONMENT VARIABLES----------

ALLUSERSPROFILE = C:\ProgramData

APPDATA = C:\Users\223\AppData\Roaming

CHOCOLATEYINSTALL = C:\ProgramData\chocolatey

CHOCOLATEYLASTPATHUPDATE = 133084179200956881

COMMONPROGRAMFILES = C:\Program Files\Common Files

COMMONPROGRAMFILES(X86) = C:\Program Files (x86)\Common Files

COMMONPROGRAMW6432 = C:\Program Files\Common Files

COMPUTERNAME = G

COMSPEC = C:\Windows\system32\cmd.exe

CYGWIN = nodosfilewarning upcaseenv winsymlinks

DRIVERDATA = C:\Windows\System32\Drivers\DriverData

FLEXLM_TIMEOUT = 40000000

GROFF_FONT_PATH = /usr/share/groff/font

GROFF_TMAC_PATH = /usr/share/groff/tmac

HOMEDIR = D:\Users\223

HOMEDRIVE = C:

HOMEPATH = \Users\223

ICU_TIMEZONE_FILES_DIR = C:\Program Files\MATLAB\R2023a/bin/icutzdata

IMAGE_GROUP = Engineering

KMP_BLOCKTIME = 1

KMP_HANDLE_SIGNALS = 0

KMP_STACKSIZE = 512k

LANG = en_US.UTF-8

LOCALAPPDATA = C:\Users\223\AppData\Local

LOGONSERVER = \\DCCINOHP0105

MATLAB_ARCH = win64

MODEL = Precision 7760

MSMPI_BENCHMARKS = C:\Program Files\Microsoft MPI\Benchmarks\

MSMPI_BIN = C:\Program Files\Microsoft MPI\Bin\

MW_MINGW64_LOC = C:\ProgramData\MATLAB\SupportPackages\R2023a\3P.instrset\mingw_w64.instrset

NUMBER_OF_PROCESSORS = 12

OLD_FLEXLM_TIMEOUT = 40000000

OMP_NUM_THREADS = 12

OPENCV_DIR = C:\opencv

OPENSSL_CONF = C:\Program Files\OpenSSL-Win64\bin\openssl.cfg

OS = Windows_NT

PATH = C:\Program Files\MATLAB\R2023a\bin\win64;C:\Python38\Scripts\;C:\Python38\;C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common;C:\Program Files\Microsoft MPI\Bin\;C:\Windows\system32;C:\Windows;C:\Windows\System32\Wbem;C:\Windows\System32\WindowsPowerShell\v1.0\;C:\Windows\System32\OpenSSH\;C:\Apps\perl\bin;C:\Apps\Tcl\bin;C:\Apps\cygwin\bin;c:\apps\bin;c:\apps\lib;C:\Program Files\Microsoft SQL Server\120\Tools\Binn\;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit\;C:\Program Files\Git\cmd;C:\Program Files\MATLAB\R2023a\runtime\win64;C:\Program Files\MATLAB\R2023a\bin;C:\Program Files\MATLAB\R2020b\runtime\win64;C:\Program Files\MATLAB\R2020b\bin;C:\Program Files\dotnet\;C:\Program Files (x86)\dotnet\;C:\ProgramData\chocolatey\bin;C:\ProgramData\chocolatey\lib\cunit\lib;C:\ProgramData\chocolatey\lib\tinyxml2\lib;C:\ProgramData\chocolatey\lib\bullet\lib;C:\Program Files (x86)\Pololu\Tic\bin;C:\Program Files\Microsoft SQL Server\Client SDK\ODBC\170\Tools\Binn\;C:\Program Files (x86)\Microsoft SQL Server\150\Tools\Binn\;C:\Program Files\Microsoft SQL Server\150\Tools\Binn\;C:\Program Files\Microsoft SQL Server\150\DTS\Binn\;C:\Program Files\TortoiseGit\bin;C:\CMake\bin;C:\Python38\Scripts\;C:\Python38\;C:\Users\223\AppData\Local\Microsoft\WindowsApps;C:\Users\223\AppData\Local\GitHubDesktop\bin;C:\Users\223\AppData\Local\Programs\Microsoft VS Code\bin;C:\Program Files\OpenSSL-Win64\bin\;C:\opencv\x64\vc16\bin;C:\Python38\Tools\scripts\;C:\Users\223\AppData\Local\Box\Box Edit\;

PATHEXT = .sh;.COM;.EXE;.BAT;.CMD;.VBS;.VBE;.JS;.JSE;.WSF;.WSH;.MSC;.tcl;.lnk;.PY;.PYW

PROCESSOR_ARCHITECTURE = AMD64

PROCESSOR_IDENTIFIER = Intel64 Family 6 Model 141 Stepping 1, GenuineIntel

PROCESSOR_LEVEL = 6

PROCESSOR_REVISION = 8d01

PROGRAMDATA = C:\ProgramData

PROGRAMFILES = C:\Program Files

PROGRAMFILES(X86) = C:\Program Files (x86)

PROGRAMW6432 = C:\Program Files

PROMPT = $P$G

PSMODULEPATH = C:\Program Files\WindowsPowerShell\Modules;C:\Windows\system32\WindowsPowerShell\v1.0\Modules;C:\Program Files (x86)\Microsoft Azure Information Protection\Powershell;C:\Program Files (x86)\Microsoft SQL Server\150\Tools\PowerShell\Modules\

PUBLIC = C:\Users\Public

PYTHONPATH = C:\Python38

RMW_IMPLEMENTATION = rmw_fastrtps_cpp

ROS_DOMAIN_ID = 0

SESSIONNAME = Console

SHELLOPTS = igncr

SITECODE = nsk

SYSTEMDRIVE = C:

SYSTEMOS = W1064

SYSTEMROOT = C:\Windows

TEMP = C:\Users\223\AppData\Local\Temp

TMP = C:\Users\223\AppData\Local\Temp

UGII_MAIN_VERSION = 1965

USERDNSDOMAIN = LOGON.DS.COM

USERDOMAIN = LOGON

USERDOMAIN_ROAMINGPROFILE = LOGON

USERNAME = 223

USERPROFILE = C:\Users\223

WINDIR = C:\Windows

----------MATLAB ROOT DIRECTORY----------

C:\Program Files\MATLAB\R2023a

----------PREFERENCES----------

Preferences Directory:

C:\Users\223\AppData\Roaming\MathWorks\MATLAB\R2023a

ROS_Toolbox Preferences:

CustomMessageMap: [0×1 containers.Map]

CustomMessageMapVersion: '1.0'

CustomServiceMap: [0×1 containers.Map]

CustomActionMap: [0×1 containers.Map]

ROS_NetworkAddress_Profiles: {[1×1 struct]}

CustomMessageMapROS1: [0×1 containers.Map]

CustomServiceMapROS1: [0×1 containers.Map]

CustomActionMapROS1: [0×1 containers.Map]

ROS_NetworkAddress_Profiles 1:

MasterUseDefault: 1

MasterHost: 'localhost'

MasterPort: 11311

NodeUseDefault: 1

NodeHost: '162.155.77.153'

DomainID: 0

RMWImplementation: 'rmw_fastrtps_cpp'

ProfileName: 'Standard'

Answer 1

[CB]

I had Cygwin installed and the ROS2 build function in Matlab has files with mlutple extensions for different operating systems and doesn't explicitly specify which one to use and one is a .sh file.

• The default program for .sh was Cygwin once I uninstalled it the build process continued.
• Then the build failed because the file path was too long and I moved it up the path from the example default.
• Then I tried with a custom message named Feedback.msg which is a Matlab keyword, so I had to update that. It didn't actually fail until I tried colcon build on the Linux machine.
• Then I renamed the message to FeedbackMtr.msg which build, but ROS2 auto-renames messages. It turns out to use the custom mesage in your C++ code you have to:

#include "<ros2_package>/msg/feedback_mtr.hpp" // FeedbackMtr.msg becomes feedback_mtr.hpp in you node include/<ros2_package>/<node>.hpp

Answer 2

[Josh Chen]

Hi CB,

Which location are you trying to generate these messages to? It seems somewhere under "C:/Program Files/..."? Would it work if you change it to somewhere else?

When this happened, is there any "log" folder got generated? If yes, please share it with us. Please also attach the support file generated by the following command:

ros.internal.generateSupportFile

This will help us to understand the system setup on your machine and better trouble this issue.

Once you are ready with these files, please reach out to our technical support department.

Thanks,

Josh

[CB]

No logs as far as I can tell.

Generating in the automatic Examples folder in the Matlab folder.