UnsatisfiedLinkError: tier4_simulation_msgs__rosidl_typesupport_c.dll

[samanipour]

Hi, @mozhoku @SujayAmberkar @Aysenayilmaz @xmfcx if you could help me to solve this issue I would be very appreciated

I'm trying to setup AWSIM-Lab as Unity Project on Windows

System setup:

• AWSIM-Lab latest commit on main branch (also release v1.5.3)
• Windows 11
• Unity Editor version 2022.3.36f1
• Microsoft Visual Studio Community 2022 (Associated build tools with unity editor)

When I run the demo I got the following error, it seems the error raised from

UnsatisfiedLinkError: tier4_simulation_msgs__rosidl_typesupport_c.dll ROS2.DllLoadUtilsWindowsDesktop.ROS2.DllLoadUtils.LoadLibraryNoSuffix (System.String fileName) (at <c2fd60e12ae74b49b3633ef9563fbe65>:0) tier4_simulation_msgs.msg.DummyObject..cctor () (at <875a1a567ccc4ffe8e2115395ef84ff7>:0) Rethrow as TypeInitializationException: The type initializer for 'tier4_simulation_msgs.msg.DummyObject' threw an exception. (wrapper write-barrier) System.Object.wbarrier_conc(intptr) System.Reflection.RuntimeConstructorInfo.InternalInvoke (System.Object obj, System.Object[] parameters, System.Boolean wrapExceptions) (at <51fded79cd284d4d911c5949aff4cb21>:0) Rethrow as TargetInvocationException: Exception has been thrown by the target of an invocation. System.Reflection.RuntimeConstructorInfo.InternalInvoke (System.Object obj, System.Object[] parameters, System.Boolean wrapExceptions) (at <51fded79cd284d4d911c5949aff4cb21>:0) System.RuntimeType.CreateInstanceMono (System.Boolean nonPublic, System.Boolean wrapExceptions) (at <51fded79cd284d4d911c5949aff4cb21>:0) System.RuntimeType.CreateInstanceSlow (System.Boolean publicOnly, System.Boolean wrapExceptions, System.Boolean skipCheckThis, System.Boolean fillCache) (at <51fded79cd284d4d911c5949aff4cb21>:0) System.RuntimeType.CreateInstanceDefaultCtor (System.Boolean publicOnly, System.Boolean skipCheckThis, System.Boolean fillCache, System.Boolean wrapExceptions, System.Threading.StackCrawlMark& stackMark) (at <51fded79cd284d4d911c5949aff4cb21>:0) System.Activator.CreateInstance[T] () (at <51fded79cd284d4d911c5949aff4cb21>:0) ROS2.Subscription1[T]..ctor (System.String subTopic, ROS2.Node node, System.Action1[T] cb, ROS2.QualityOfServiceProfile qos) (at <2034886caef046439cfa6ebcd9ed8cd7>:0) ROS2.Node.CreateSubscription[T] (System.String topic, System.Action1[T] callback, ROS2.QualityOfServiceProfile qos) (at <2034886caef046439cfa6ebcd9ed8cd7>:0)
ROS2.ROS2Node.CreateSubscription[T] (System.String topicName, System.Action1[T] callback, ROS2.QualityOfServiceProfile qos) (at Assets/Ros2ForUnity/Scripts/ROS2Node.cs:92) AWSIM.SimulatorROS2Node.CreateSubscription[T] (System.String topicName, System.Action1[T] callback, ROS2.QualityOfServiceProfile qos) (at Assets/AWSIM/Scripts/ROS/SimulatorROS2Node.cs:86)
AWSIM.RVIZNPCSpawner.Start () (at Assets/AWSIM/Scripts/NPCs/RvizNPCSpawner/RVIZNPCSpawner.cs:53)`

I should also mentioned that there are some other errors related to missing RobotecGPULidar which could be solved by the following proposed solution in this issue.

[SujayAmberkar]

Hi @samanipour, the error you are facing is in the RVIZNPCSpawnner.cs file over here:

void Start()
        {
            // Initialize the ROS2 node and create the subscription
            dummyPerceptionSubscriber
                = SimulatorROS2Node.CreateSubscription<tier4_simulation_msgs.msg.DummyObject>(
                        dummyPerceptionTopic, OnObjectInfoReceived, qosSettings.GetQoSProfile());
        }

I think this error occurs because it is unable to subscribe to tier4_simulation_msgs.msg.DummyObject, likely due to the missing tier4_simulation_msgs__rosidl_typesupport_c.dll or its dependencies, as it says. Could you try rebuilding Autoware, since the issue is probably not on the Unity side but rather due to an incomplete Autoware build?

[samanipour]

@SujayAmberkar Thanks for your response,
yes the error caused by RVIZNPCSpawnner.cs but I think the tier4_simulation_msgs__rosidl_typesupport_c.dll should be part of Ros2ForUnity, because if you check AWSIM-Labs\Assets\Ros2ForUnity\Plugins\Linux\x86_64 you could see the equivalent library as libtier4_simulation_msgs__rosidl_typesupport_c.so for Linux. So I though maybe the tier4_simulation_msgs__rosidl_typesupport_c.dll should be exists in AWSIM-Labs\Assets\Ros2ForUnity\Plugins\Windows\x86_64, am I wrong?

by try to rebuilding Autoware, you mean I should build Autoware separately and run it while AWSIM-Lab runs? (I should also mentioned that as I checked before tier4_simulation_msgs__rosidl_typesupport_c.dll is not exists ether in Autoware project nor original AWSIM main branch )

[SujayAmberkar]

@samanipour Ahh yes, you're right. libtier4_simulation_msgs__rosidl_typesupport_c must be present in \windows\x86_64. No need to rebuild autoware, try reinstalling ros2-for-unity for windows https://github.com/RobotecAI/ros2-for-unity/blob/develop/README-WINDOWS.md I was using linux so it worked for me out of the box.

I removed libtier4_simulation_msgs__rosidl_typesupport_c.so and libtier4_simulation_msgs__rosidl_typesupport_cpp.so from my plugins folder and it gave me the same error, so that confirms it.

[samanipour]

@SujayAmberkar
Thanks!
I'm curious why libtier4_simulation_msgs__rosidl_typesupport_c is not included in the official ros2-for-unity window build release (https://github.com/RobotecAI/ros2-for-unity/releases).

Given its absence, I'm concerned that following the build instructions you provided (https://github.com/RobotecAI/ros2-for-unity/blob/develop/README-WINDOWS.md) might not generate the DLL we need.

Do you have any insights into why this library is missing or how we can ensure the build process includes it?

[SujayAmberkar]

@samanipour I'm not really sure about it. Maybe you can ask this question in ros2-for-unity's repo.