[ros-users] [Discourse.ros.org] [TurtleBot] [TB3] Introducing ROS2 Tutorials

[Nils Westhoff]

I installed ROS2 using the official [ROS2 wiki](https://github.com/ros2/ros2/wiki/OSX-Development-Setup). The ROS2 build is complaining about connext_cmake_module not working, but other than that, the talker/listener example seems to work fine.

When trying to install the Turtlebot 3 dependencies, it's not finding the `ament_package` module, which I had fixed before, but is back after installing RTI Connext. 

Full logs after `source local_setup.bash` and `colcon build`:
```
Starting >>> cartographer
Starting >>> cartographer_ros_msgs
Starting >>> pcl_conversions
Starting >>> turtlebot3_description
Starting >>> turtlebot3_msgs                                                                                                                    
Starting >>> turtlebot3_teleop
--- stderr: cartographer_ros_msgs                                                                                                                   
CMake Error at CMakeLists.txt:32 (find_package):
  By not providing "Findgeometry_msgs.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "geometry_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "geometry_msgs"
  with any of the following names:

    geometry_msgsConfig.cmake
    geometry_msgs-config.cmake

  Add the installation prefix of "geometry_msgs" to CMAKE_PREFIX_PATH or set
  "geometry_msgs_DIR" to a directory containing one of the above files.  If
  "geometry_msgs" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< cartographer_ros_msgs	[ Exited with code 1 ]
--- stderr: cartographer                                                                                                                          
CMake Error at /usr/local/Cellar/cmake/3.12.2/share/cmake/Modules/FindPkgConfig.cmake:659 (message):
  None of the required 'cairo>=1.12.16' found
Call Stack (most recent call first):
  CMakeLists.txt:36 (PKG_SEARCH_MODULE)


---
Aborted  <<< cartographer
Aborted  <<< turtlebot3_teleop
--- stderr: turtlebot3_description                                                                                                               
Traceback (most recent call last):
  File "/Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 21, in <module>
    from catkin_pkg.package import parse_package_string
ModuleNotFoundError: No module named 'catkin_pkg'
CMake Error at /Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:94 (message):
  execute_process(/usr/local/bin/python3
  /Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  /Users/intern/turtlebot3_ws/src/turtlebot3/turtlebot3_description/package.xml
  /Users/intern/turtlebot3_ws/build/turtlebot3_description/ament_cmake_core/package.cmake)
  returned error code 1
Call Stack (most recent call first):
  /Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  /Users/intern/ros2_ws/install/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:30 (ament_package_xml)
  CMakeLists.txt:54 (ament_lint_auto_find_test_dependencies)


---
Aborted  <<< turtlebot3_description
--- stderr: turtlebot3_msgs                                                                                
Traceback (most recent call last):
  File "/Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 21, in <module>
    from catkin_pkg.package import parse_package_string
ModuleNotFoundError: No module named 'catkin_pkg'
CMake Error at /Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:94 (message):
  execute_process(/usr/local/bin/python3
  /Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  /Users/intern/turtlebot3_ws/src/turtlebot3_msgs/package.xml
  /Users/intern/turtlebot3_ws/build/turtlebot3_msgs/ament_cmake_core/package.cmake)
  returned error code 1
Call Stack (most recent call first):
  /Users/intern/ros2_ws/install/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  /Users/intern/ros2_ws/install/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:126 (ament_package_xml)
  CMakeLists.txt:36 (rosidl_generate_interfaces)


---
Aborted  <<< turtlebot3_msgs
--- stderr: pcl_conversions                                     
CMake Error at CMakeLists.txt:21 (find_package):
  By not providing "Findsensor_msgs.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "sensor_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "sensor_msgs" with
  any of the following names:

    sensor_msgsConfig.cmake
    sensor_msgs-config.cmake

  Add the installation prefix of "sensor_msgs" to CMAKE_PREFIX_PATH or set
  "sensor_msgs_DIR" to a directory containing one of the above files.  If
  "sensor_msgs" provides a separate development package or SDK, be sure it
  has been installed.


---
Aborted  <<< pcl_conversions

Summary: 0 packages finished [9.27s]
  1 package failed: cartographer_ros_msgs
  5 packages aborted: cartographer pcl_conversions turtlebot3_description turtlebot3_msgs turtlebot3_teleop
  5 packages had stderr output: cartographer cartographer_ros_msgs pcl_conversions turtlebot3_description turtlebot3_msgs
  4 packages not processed
The file /Users/intern/turtlebot3_ws/None does not exist.
```





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