ROS2: How to generate code without makefile execution using Matlab coder

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Marek Gal 2022-4-21

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1701645-ros2-how-to-generate-code-without-makefile-execution-using-matlab-coder

回答： Josh Chen 2022-4-27

How can I generate code only when deploying ROS2 node from Matlab script? Dispite I configure coder not to build the node I get error "Current compiler MinGW64 Compiler (C++) is not supported for ROS build. To choose a compiler, run 'mex -setup cpp'..". Process is interrupted before the code is generated.

My build config is below. I tried to generate code from Simulink and it works when I check "Generate code only" option in Hardware settigs. I have now no other option than use remote device deployment (Linux pc with ROS2 installed).

Toolchain is correctly configured to "Colcon Tools".

cfg = coder.config('exe');
cfg.Hardware = coder.hardware('Robot Operating System 2 (ROS 2)');
cfg.Hardware.BuildAction = 'None'; % Do not build
cfg.GenCodeOnly = true; % Force to generate code only
cfg.Hardware.DeployTo = 'Localhost';

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Jagadeesh Konakalla 2022-4-27

Hi,

For now, Can you run mex -setup and choose the Microsoftvisual Studio 2017 or 2019 compiler before you run the codegen build command.

Thanks,

Jagadeesh

Marek Gal 2022-4-27

Hello Jagadeesh,

thanks for your comment! Yes, that is a way, but I wanted to avoid installing 20GB of unnecessary junk into my PC :D It seems to me like a bug. Shall I report it somewhere else than on this forum?

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Answer 1

Josh Chen 2022-4-27

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https://ww2.mathworks.cn/matlabcentral/answers/1701645-ros2-how-to-generate-code-without-makefile-execution-using-matlab-coder#answer_952345

Hello Marek,

Thanks for bringing this to our attention! This is a bug in both ROS and ROS 2 MATLAB code generation. We are currently working on the fix and it should be availble in a recent update.

Unfortunately, there is no workaround to generate code only in MATLAB for now. Please consider using remote deployment as an alternative before this issue get address.

Thanks,

Josh

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