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Static build rclnodejs.node problem

See original GitHub issue

Has any one tried static build rclnodejs.node with ROS2 foxy ?
I’m trying to use rclnodejs with electron, but rclnodejs.node relies on librcl.so, librmw.so, and some ros2 core shared libraries. One approach is source /opt/ros/foxy/setup.bash every time when electron start, but personally I don’t prefer this approach, because most electron application is a deliverable software, it supposed to double clicked to launch this app.

Issue Analytics

State:
Created 3 years ago
Comments:7 (3 by maintainers)

Top GitHub Comments

1reaction

anmilleriiicommented, Oct 6, 2021

As distributing rclnodejs in a bundle was a hard requirement for my use case, I spent the time to develop a workaround and have compiled it in this example repository for posterity.

After evaluating the alternatives discussed here (including building rclnodejs statically or using a launch file), I wrote a launch file (similar to sourcing from ~/.bashsrc as suggested by @minggangw).

This is not an ideal solution in production, since it requires the distribution of 2 files (the Electron executable, and the launch executable). This introduces challenges in automatically updating the entire distributed code (i.e., the Electron app is auto-updatable but the launch file is not).

Nonetheless, a well-designed distribution strategy (e.g., through a tar and some good instructions on how to launch to the end-user) should generally be sufficient.

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anmilleriiicommented, Aug 4, 2021

@cwyark I have a similar requirement to you where I would like to maintain the production release capability enabled by Electron’s autoUpdater, if possible without the additional liability/complexity of an external script that the end-user may need to update as well.

While ideally static ROS2 could be bundled in this Electron application I understand that to be inaccessible.

So, assuming the end-user’s environment has ROS2 installed, I was curious if you went down the path of using source /opt/ros/foxy/setup.bash or instead had made headway with a static version of rclnodejs.

Also, in either scenario did you get rclnodejs working beyond an Electron development server and into a bundled distributable executable?

Thanks in advance.