rosgenmsg can find CMake in R2021a but not in R2021b

Hello,

This week I tried to install the stable version of MATLAB R2021b in windows, but found that rosgenmsg could not find CMake. But there is no problem in ubuntu system.

>> !where cmake

C:\Program Files\CMake\bin\cmake.exe

>> !cmake --version

cmake version 3.21.3

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

>> folderpath = "C:\Users\xinxi\Documents\MATLAB\***"

folderpath =

"C:\Users\xinxi\Documents\MATLAB\***"

>> rosgenmsg(folderpath)

Identifying message files in folder 'C:/Users/xinxi/Documents/MATLAB/***'..Done.

Validating message files in folder 'C:/Users/xinxi/Documents/MATLAB/***'..Done.

[0/2] Generating MATLAB interfaces for custom message packages... 0%Error using ros.internal.utilities.getCMakeBinaryPath (line 24)

Could not find CMake in your system. Please install CMake version 3.15.5 or higher and rerun the

command.

Error in ros.internal.CatkinBuilder.getCMakePath (line 83)

[aPath, aVersion] = ros.internal.utilities.getCMakeBinaryPath(ros.internal.CatkinBuilder.CMAKEMINVERSION);

Error in ros.internal.ROSProjectBuilder (line 408)

h.CMakePath = h.getCMakePath();

Error in ros.internal.CatkinBuilder (line 25)

[e-mail](varargin{:});

Error in rosgenmsg (line 287)

builder = ros.internal.CatkinBuilder(genDir, pkgInfos{iPkg});

My computer also has MATLAB R2021a installed. I tried to run rosgenmsg but without any errors. I have before also used the preview version of R2021b, and there was no problem.

[Walter Roberson]

Which CMake version do you have installed on the Windows machine? And did you add it to you Windows PATH environment variables, and add CMAKE_PREFIX_PATH to your environment variables ?

https://www.mathworks.com/matlabcentral/answers/623103-matlab-2020b-rosgenmsg-can-t-find-cmake#answer_753184

[Xin Xing]

I have written in the description. I have latest CMake version 3.21.3 installed and added it to environment variables. And MATLAB can find CMake through !where cmake und !cmake --version.

Answer 1

[Walter Roberson]

I looked at the code for ros.internal.utilities.getCMakeBinaryPath() . It looks to me as if it cannot work on MS Windows. I have reported the problem to Mathworks.

[Xin Xing]

Dear Walter, thank you very much!

[Josh Chen]

Hello Xin and Walter,

Thanks for reporting this issue. We are aware of this issue and are actively working on addressing it. Please refer to this EBR link for future update.

As of a temporary workaround, you may try the follow steps:

1. Download and install msys from https://www.msys2.org/
2. Add it to system PATH on windows (if using default installation location, this would be: "C:\msys64\usr\bin")
3. Open a Window Command Prompt and type in "which ls" to verify msys has been installed properly. (It should show up: /usr/bin/ls)
4. Restart MATLAB and use rosgenmsg as usual

Hope this helps.

Josh

[Walter Roberson]

Thanks, @Josh Chen

[Xin Xing]

Josh, Thanks so much!

[Cong Dong Ngoc Minh]

Thank you Josh, it worked for me.

[tfg]

Hi @Josh Chen,

this workaround does not work for me.

After installing msys and configuring PATH as described, the initial error is gone, and cmake can be found.

colcon however fails to build.

Below is my output when running the official example 'ROS2CustomMessagesExample.mlx' for MATLAB R2021b on Windows 10.

Any thoughts on this?

I have to admit, that I am rather disappointed, that rather simple and once running features of the toolbox are broken with a new release and that seemingly nobody even tested this on all platforms before the release.

Identifying message files in folder 'C:/Users/GLT2ABT/Documents/MATLAB/Examples/R2021b/ros/ROS2CustomMessagesExample/custom'.Done.
Validating message files in folder 'C:/Users/GLT2ABT/Documents/MATLAB/Examples/R2021b/ros/ROS2CustomMessagesExample/custom'.Done.
[3/3] Generating MATLAB interfaces for custom message packages... Done.
Running colcon build in folder 'C:/Users/GLT2ABT/Documents/MATLAB/Examples/R2021b/ros/ROS2CustomMessagesExample/custom/matlab_msg_gen/win64'.
Build in progress. This may take several minutes...
Error using ros.internal.ROSProjectBuilder/buildPackage (line 552)
Error building package: **********************************************************************
** Visual Studio 2017 Developer Command Prompt v15.9.38
** Copyright (c) 2017 Microsoft Corporation
**********************************************************************
[vcvarsall.bat] Environment initialized for: 'x86_x64'
colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.environment_variable.powershell_command': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_powershell\shell\powershell.py", line 17, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[1.523s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.powershell': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_powershell\shell\powershell.py", line 17, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

Starting >>> example_b_msgs
[1.526s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.bat': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\shell\bat.py", line 16, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[1.530s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.sh': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\shell\sh.py", line 16, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[1.535s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.powershell': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_powershell\shell\powershell.py", line 17, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[1.542s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.bat': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\shell\bat.py", line 16, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[1.547s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.sh': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\shell\sh.py", line 16, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[1.547s] colcon.colcon_cmake.task.cmake.build ERROR Could not find a shell extension for the command environment
Failed   <<< example_b_msgs	[ Exited with code 1 ]

Summary: 0 packages finished [0.47s]
  1 package failed: example_b_msgs
  2 packages not processed
[6.660s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.powershell': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_powershell\shell\powershell.py", line 17, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[6.664s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.bat': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\shell\bat.py", line 16, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

[6.667s] colcon.colcon_core.entry_point ERROR Exception loading extension 'colcon_core.shell.sh': No module named 'colcon_core.shell.template'
Traceback (most recent call last):
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 98, in load_entry_points
    extension_type = load_entry_point(entry_point)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\entry_point.py", line 140, in load_entry_point
    return entry_point.load()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2434, in load
    return self.resolve()
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\pkg_resources\__init__.py", line 2440, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "C:\Users\GLT2ABT\AppData\Roaming\MathWorks\MATLAB\R2021b\ros2\win64\venv\lib\site-packages\colcon_core\shell\sh.py", line 16, in 
    from colcon_core.shell.template import expand_template
ModuleNotFoundError: No module named 'colcon_core.shell.template'

.

Error in ros2genmsg (line 276)
    buildPackage(builder, [], ' --merge-install', colconMakeArgs); %other messages might need to be present in the same directory

[Josh Chen]

Hi @tfg,

Sorry about the late response and the trouble caused by this issue. An update that addressed this issue has been released, please feel free to update your MATLAB to the latest version if you haven't done so.

This error message seems not related to the cmake issue. We've seen this before when python virtual environment used by MATLAB got corrupted.

Could you please recreate the python virtual environment using the following command and then follow the example to generate ROS 2 custom messages again?

>> ros.ros2.internal.createOrGetLocalPython(true)

Thanks,

Josh