# Help Needed: Build Error with stretch\_funmap Due to Numpy Dependency

**URL:** <https://forum.hello-robot.com/t/help-needed-build-error-with-stretch-funmap-due-to-numpy-dependency/1191>\
**Category:** Ask\
**Created:** [January 3, 2025, 6:27pm UTC](https://forum.hello-robot.com/t/help-needed-build-error-with-stretch-funmap-due-to-numpy-dependency/1191 "2025-01-03T18:27:50Z")\
**Posts on this page:** 1\
**Showing post:** 5

<div class="post-metadata">

**Author:** ![allen](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/allen/32/914_2.png) [@allen](https://forum.hello-robot.com/u/allen)\
**Post date:** [February 7, 2025, 2:31am UTC](https://forum.hello-robot.com/t/help-needed-build-error-with-stretch-funmap-due-to-numpy-dependency/1191/5 "2025-02-07T02:31:50Z")

</div>

Sure @bshah , here’s the output from each step.

### Environment: SE3, Ubuntu 22.04

* * *

### Command

```bash
rm -rf ~/ament_ws
mkdir -p ~/ament_ws/src
cd ~/ament_ws/src
vcs import --input ~/stretch_install/factory/22.04/stretch_ros2_humble.repos

```

### Output (No errors):

```auto
=== ./audio_common (git) ===
Cloning into '.'...
=== ./realsense-ros (git) ===
Cloning into '.'...
Note: switching to '4.55.1'.
...
HEAD is now at 8a86cb88 4.55.1
=== ./sllidar_ros2 (git) ===
Cloning into '.'...
Note: switching to '34300099fadfc772965962dec837bf436706188f'.
...
HEAD is now at 3430009 bugfix:set the minimum distance to 5cm
...

```

* * *

### Command

```bash
cd ~/ament_ws/src/stretch_ros2/stretch_funmap
uv venv --system-site-packages --allow-existing .venv

```

### Output (No errors):

```auto
Using CPython 3.10.12 interpreter at: /usr/bin/python3.10
Creating virtual environment at: .venv
Activate with: source .venv/bin/activate

```

* * *

```bash
uv sync --frozen

```

### Output (No error):

```auto
Installed 25 packages in 29ms
 + cma==4.0.0
 + contourpy==1.3.1
 + cycler==0.12.1
 + ...
 + transforms3d==0.4.2

```

* * *

### Command

```bash
uv run cythonize stretch_funmap/cython_min_cost_path.pyx -3 -i

```

### Output (Error):

```auto
Compiling /home/hello-robot/ament_ws/src/stretch_ros2/stretch_funmap/stretch_funmap/cython_min_cost_path.pyx because it changed.
[1/1] Cythonizing /home/hello-robot/ament_ws/src/stretch_ros2/stretch_funmap/stretch_funmap/cython_min_cost_path.pyx
error: Multiple top-level packages discovered in a flat-layout: ['rviz', 'launch', 'images', 'resource', 'tmpugwgwciy', 'stretch_funmap'].

To avoid accidental inclusion of unwanted files or directories,
setuptools will not proceed with this build.

If you are trying to create a single distribution with multiple packages
on purpose, you should not rely on automatic discovery.
Instead, consider the following options:

1. set up custom discovery (`find` directive with `include` or `exclude`)
2. use a `src-layout`
3. explicitly set `py_modules` or `packages` with a list of names

To find more information, look for "package discovery" on setuptools docs.

```

_Fails due to multiple top-level packages being detected._

* * *

### Command

```bash
cd ~/ament_ws
colcon build --symlink-install

```

### Output (Build Error):

```auto
Traceback (most recent call last):
  File "<string>", line 1, in <module>
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 268, in run_setup
    exec(code, g)
  File "<string>", line 6, in <module>
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/ __init__.py", line 117, in setup
    return distutils.core.setup(**attrs)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 160, in setup
    dist.parse_config_files()
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/dist.py", line 652, in parse_config_files
    pyprojecttoml.apply_configuration(self, filename, ignore_option_errors)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/config/pyprojecttoml.py", line 73, in apply_configuration
    return _apply(dist, config, filepath)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/config/_apply_pyprojecttoml.py", line 54, in apply
    _apply_project_table(dist, config, root_dir)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/config/_apply_pyprojecttoml.py", line 81, in _apply_project_table
    corresp(dist, value, root_dir)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/setuptools/config/_apply_pyprojecttoml.py", line 193, in _license
    _set_config(dist, "license", _static.Str(val["text"]))
KeyError: 'text'
--- stderr: stretch_funmap                   
Traceback (most recent call last):
  File "/home/hello-robot/.local/lib/python3.10/site-packages/colcon_core/executor/ __init__.py", line 91, in __call__
    rc = await self.task(*args, **kwargs)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/colcon_core/task/ __init__.py", line 93, in __call__
    return await task_method(*args, **kwargs)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/colcon_ros/task/ament_python/build.py", line 51, in build
    setup_py_data = get_setup_data(self.context.pkg, env)
  File "/home/hello-robot/.local/lib/python3.10/site-packages/colcon_core/task/python/ __init__.py", line 20, in get_setup_data
    return dict(pkg.metadata[key](env))
  File "/home/hello-robot/.local/lib/python3.10/site-packages/colcon_ros/package_augmentation/ros_ament_python.py", line 57, in getter
    return get_setup_information(
  File "/home/hello-robot/.local/lib/python3.10/site-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 249, in get_setup_information
    _setup_information_cache[hashable_env] = _get_setup_information(
  File "/home/hello-robot/.local/lib/python3.10/site-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 296, in _get_setup_information
    result = subprocess.run(
  File "/usr/lib/python3.10/subprocess.py", line 526, in run
    raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist. __dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata. __dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1.
---
Failed <<< stretch_funmap [0.20s, exited with code 1]

Summary: 0 packages finished [0.34s]
  1 package failed: stretch_funmap
  1 package had stderr output: stretch_funmap
Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist. __dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata. __dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1.

```

* * *

## Summary of Issues:

1. **Cython Compilation Failure** : Multiple top-level packages detected.
2. **Build Failure in `stretch_funmap`** :
  - `setup.py` metadata issues (`license`, `authors`, `scripts` outside `pyproject.toml`).

## Approaches I Tried

- Reinstalling UV
- Edit pyproject.toml based on reference [here](https://stackoverflow.com/questions/72294299/multiple-top-level-packages-discovered-in-a-flat-layout)
- Upgrade pip and setup tools

* * *

Thanks again in advance for your help!

## Update

I was able to resolved the cythonize and build error by uninstalling setuptools & numpy: `pip uninstall setuptools numpy`, and downgrading em: `pip install 'empy<4.0'` to the system default version. Turns out the python package comflicts is the main reason the error persists and also the reason that you are not able to reproduce the error.  
After testing both cythonize step and stretch\_funmap is build successfully, I was able to run the update ros2 workspace code without any failures, thanks again for your help!

---

_[View the full topic](https://forum.hello-robot.com/t/help-needed-build-error-with-stretch-funmap-due-to-numpy-dependency/1191)._