OSError: [WinError 193] %1 is not a valid Win32 application

[zhengyuxin0507]

Description
I compiled rosbridge_suite in windows, then occuer this error.

• Library Version: ros2 branch, commit id: 7d78af1
• ROS Version: ROS2-Iron
• Platform / OS: Windows 11，64bit
  

Steps To Reproduce

1. git clone https://github.com/RobotWebTools/rosbridge_suite.git
2. call $MY_PATH_TO_ROS\setup.bat
3. colcon build
4. ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Expected Behavior
rosbridge run sucessfully.

Actual Behavior

OSError: [WinError 193] %1 is not a valid Win32 application

[EricGallimore]

I have this issue when trying to use rosbridge under Jazzy on Windows 10.

I've also tried copying rosapi_node to "rosapi_node.exe" and running it, and then I get

C:\Users\robot\colcon_ws\install\rosapi\Lib\rosapi>rosapi_node.exe
This version of C:\Users\robot\colcon_ws\install\rosapi\Lib\rosapi\rosapi_node.exe is not compatible with the version of Windows you're running. Check your computer's system information and then contact the software publisher.

However, this isn't going to help, since rosapy_node is a python script. The issue seems to be that Windows doesn't handle shebangs.

[EricGallimore]

The short version of this is that rosbridge has a number of Python packages that are currently built using ament_cmake. To make it work under Windows, they will need to be converted to use ament_python (as far as I can tell).

ament_python invokes setuptools and will generate exe file wrappers for all the Python scripts listed in the entry_points['console_scripts'] dictionary inside setup.py. These can be run on Windows.

It's not clear (and may be impossible) to generate the exe wrappers using ament_cmake and ament_cmake_python.

I've been able to get rosapi to work by converting it to an ament_python package. I'll try to get a fork and PR up soon.