最全创建ROS 2工作区+导入第三方软件包_ros2 使用第三方库(1)，2024年最新看懂这份大数据开发面经大厂真不是问题

网上学习资料一大堆，但如果学到的知识不成体系，遇到问题时只是浅尝辄止，不再深入研究，那么很难做到真正的技术提升。

需要这份系统化资料的朋友，可以戳这里获取

一个人可以走的很快，但一群人才能走的更远！不论你是正从事IT行业的老鸟或是对IT行业感兴趣的新人，都欢迎加入我们的的圈子（技术交流、学习资源、职场吐槽、大厂内推、面试辅导），让我们一起学习成长！

正在读取软件包列表… 完成
正在分析软件包的依赖关系树       
正在读取状态信息… 完成       
E: 无法定位软件包 ros-foxy-play-motion-msgs
E: 无法定位软件包 ros-foxy-pal-local-joint-control
E: 无法定位软件包 ros-foxy-tiago-2dnav
E: 无法定位软件包 ros-foxy-rostest
E: 无法定位软件包 ros-foxy-tiago-moveit-config
E: 无法定位软件包 ros-foxy-custom-ee-description

1. 重新运行 colcon build 命令

• colcon build: 这是构建 ROS 2 工作空间的命令，colcon 是用于构建、测试和分发 ROS 2 软件包的构建工具。
• --symlink-install: 通过使用符号链接方式进行安装，软件包的文件将被链接到安装目录而不是复制。这使得对软件包的更改可以立即在系统中生效，而无需重新构建。这对于开发和调试过程中的迭代非常方便。

综合起来，这个命令的目的是使用 colcon 构建 ROS 2 工作空间，并通过 --symlink-install 选项以符号链接方式进行软件包的安装。这有助于提高开发效率，特别是在频繁进行修改和测试的情况下。

附加依赖项

twist_mux 软件包的构建失败。错误信息表明缺少 diagnostic_updater 软件包的配置文件。

hardware_interface 软件包的构建失败。错误信息表明缺少 control_msgs 软件包的配置文件。

br2_bt_bumpgo 和 br2_bt_patrolling 软件包的构建失败。错误信息表明缺少 behaviortree_cpp_v3 软件包的配置文件。

sudo apt install ros-foxy-diagnostic-updater
sudo apt-get install ros-foxy-control-msgs
sudo apt-get install ros-foxy-xacro
sudo apt-get install ros-foxy-behaviortree-cpp-v3
sudo apt-get install ros-foxy-nav2-msgs
sudo apt-get install ros-foxy-vision-msgs
sudo apt-get install ros-foxy-realtime-tools
sudo apt-get install ros-foxy-gazebo-dev
sudo apt-get install ros-foxy-control-toolbox
sudo apt-get install ros-foxy-gazebo-ros

成功构建

colcon build --symlink-install
Starting >>> controller_manager_msgs
Starting >>> ros2_control_test_assets                  
Starting >>> launch_pal                                                
Starting >>> twist_mux                                                 
Starting >>> hey5_description                                          
Starting >>> tiago_description_calibration                             
Starting >>> pal_gazebo_worlds                                         
Starting >>> urdf_test                                                 
Finished <<< ros2_control_test_assets [3.16s]                                  
Finished <<< hey5_description [2.81s]                                          
Starting >>> hardware_interface
Starting >>> pmb2_maps                                                         
Finished <<< tiago_description_calibration [3.22s]                             
Starting >>> br2_tracking_msgs
Finished <<< pal_gazebo_worlds [3.45s] 
Finished <<< launch_pal [4.95s]        
Finished <<< urdf_test [4.27s]         
Starting >>> br2_basics
Starting >>> br2_bt_bumpgo             
Starting >>> pal_gripper_description   
Finished <<< controller_manager_msgs [6.57s]
Finished <<< twist_mux [6.20s]                                    
Starting >>> br2_bt_patrolling
Starting >>> br2_fsm_bumpgo_cpp                                               
Finished <<< pmb2_maps [4.51s]                                                
Finished <<< br2_bt_bumpgo [2.80s]                                         
Starting >>> pmb2_2dnav
Starting >>> br2_fsm_bumpgo_py                                              
Finished <<< br2_tracking_msgs [5.76s]                                      
Starting >>> br2_navigation                                                 
Finished <<< pal_gripper_description [4.91s]                                
Finished <<< hardware_interface [7.56s]                                     
Finished <<< br2_basics [5.78s]                                     
Starting >>> controller_interface                                          
Starting >>> br2_tf2_detector                                              
Starting >>> br2_tiago                                                     
Finished <<< br2_fsm_bumpgo_cpp [5.37s]                                    
Starting >>> br2_vff_avoidance
Finished <<< br2_bt_patrolling [6.06s]                                     
Starting >>> groot
Finished <<< br2_fsm_bumpgo_py [5.24s]                              
Finished <<< pmb2_2dnav [5.65s]                                     
Starting >>> br2_tracking
Starting >>> pmb2_navigation                                            
Finished <<< br2_navigation [5.16s]                                     
Starting >>> transmission_interface
Finished <<< br2_tiago [3.74s]                                                
Finished <<< br2_tf2_detector [4.24s]                                         
Finished <<< controller_interface [4.71s]                                     
Starting >>> controller_manager                                            
Finished <<< br2_vff_avoidance [4.92s]                                     
Finished <<< groot [4.75s]                                     
Finished <<< pmb2_navigation [4.11s]                                  
Finished <<< br2_tracking [4.57s]                                     
Finished <<< transmission_interface [4.04s]
Finished <<< controller_manager [3.10s]                     
Starting >>> forward_command_controller
Starting >>> joint_state_broadcaster                        
Starting >>> diff_drive_controller                                          
Starting >>> imu_sensor_broadcaster                                         
Starting >>> joint_trajectory_controller                                    
Starting >>> force_torque_sensor_broadcaster                                
Starting >>> ros2controlcli                                                 
Starting >>> gazebo_ros2_control                                            
Finished <<< forward_command_controller [3.56s]                             
Finished <<< imu_sensor_broadcaster [3.35s]
Starting >>> position_controllers
Starting >>> effort_controllers         
Finished <<< joint_state_broadcaster [4.35s]
Finished <<< ros2controlcli [3.70s]                                            
Finished <<< force_torque_sensor_broadcaster [4.43s]                           
Starting >>> joint_state_controller
Starting >>> velocity_controllers                                              
Finished <<< joint_trajectory_controller [5.35s]                               
Starting >>> ros2_control
Starting >>> gripper_controllers                                               
Finished <<< diff_drive_controller [6.73s]                                     
Finished <<< gazebo_ros2_control [7.60s]                                     
Finished <<< ros2_control [3.97s]       
Finished <<< joint_state_controller [5.68s]
Starting >>> pmb2_controller_configuration
Finished <<< pmb2_controller_configuration [4.51s]
Starting >>> pmb2_description
Finished <<< effort_controllers [16.0s]                                        
Finished <<< position_controllers [16.5s]                                      
Starting >>> pal_gripper_controller_configuration
Finished <<< pmb2_description [5.37s]   
Starting >>> pmb2_bringup
Finished <<< gripper_controllers [15.9s]                                       
Finished <<< velocity_controllers [16.9s]                                      
Starting >>> ros2_controllers
Finished <<< pmb2_bringup [2.64s]       
Starting >>> pmb2_robot
Finished <<< pal_gripper_controller_configuration [3.57s]
Starting >>> tiago_controller_configuration
Starting >>> pal_gripper                                                
Finished <<< ros2_controllers [2.58s]                                     
Starting >>> gazebo_ros2_control_demos
Finished <<< pal_gripper [1.95s]                                    
Finished <<< pmb2_robot [3.00s]                                     
Finished <<< tiago_controller_configuration [2.82s]
Starting >>> tiago_description
Starting >>> tiago_bringup              
Finished <<< tiago_bringup [2.38s]      
Finished <<< tiago_description [3.20s]  
Starting >>> tiago_gazebo
Starting >>> tiago_robot                
Finished <<< gazebo_ros2_control_demos [6.16s]
Finished <<< tiago_robot [1.70s]                                      
Finished <<< tiago_gazebo [3.23s]                     
Starting >>> tiago_2dnav_gazebo
Starting >>> tiago_simulation                       
Finished <<< tiago_simulation [1.59s]                                     
Finished <<< tiago_2dnav_gazebo [2.00s]

Summary: 57 packages finished [1min 1s]

将工作空间激活为覆盖,打开终端时默认激活

source bookros2_ws/install/setup.bash

echo "source ~/bookros2_ws/install/setup.bash" >> ~/.bashrc

问题补充

ament_cmake

rosdep install --from-paths src --ignore-src -r -y
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies (ROS distro is not set. Make sure ROS\_DISTRO environment variable is set, or use --rosdistro option to specify the distro, e.g. --rosdistro indigo):
pal_gripper_description: Cannot locate rosdep definition for [rostest]
gripper_controllers: Cannot locate rosdep definition for [ament_lint_common]
transmission_interface: Cannot locate rosdep definition for [ament_lint_common]
br2_tracking_msgs: Cannot locate rosdep definition for [rosidl_default_generators]
br2_tf2_detector: Cannot locate rosdep definition for [ament_lint_common]
br2_basics: Cannot locate rosdep definition for [ament_lint_common]
controller_manager: Cannot locate rosdep definition for [ament_lint_common]
pmb2_description: Cannot locate rosdep definition for [launch_testing_ament_cmake]
joint_trajectory_controller: Cannot locate rosdep definition for [ament_lint_common]
joint_state_controller: Cannot locate rosdep definition for [rclcpp]
urdf_test: Cannot locate rosdep definition for [ament_lint_common]
launch_pal: Cannot locate rosdep definition for [ament_pep257]
hardware_interface: Cannot locate rosdep definition for [ament_lint_common]
pmb2_2dnav: Cannot locate rosdep definition for [ament_lint_common]
ros2_control: Cannot locate rosdep definition for [ament_cmake]
pal_gripper: Cannot locate rosdep definition for [ament_cmake]
br2_bt_patrolling: Cannot locate rosdep definition for [ament_cmake_gtest]
tiago_gazebo: Cannot locate rosdep definition for [play_motion_msgs]
force_torque_sensor_broadcaster: Cannot locate rosdep definition for [ament_cmake_gmock]
br2_tracking: Cannot locate rosdep definition for [ament_cmake_gtest]
pmb2_controller_configuration: Cannot locate rosdep definition for [ament_lint_common]
controller_interface: Cannot locate rosdep definition for [ament_lint_common]
pmb2_navigation: Cannot locate rosdep definition for [ament_cmake_auto]
effort_controllers: Cannot locate rosdep definition for [ament_lint_common]
br2_tiago: Cannot locate rosdep definition for [ament_cmake]
tiago_simulation: Cannot locate rosdep definition for [ament_cmake]
br2_navigation: Cannot locate rosdep definition for [ament_cmake]
velocity_controllers: Cannot locate rosdep definition for [ament_lint_common]
tiago_description_calibration: Cannot locate rosdep definition for [xacro]

网上学习资料一大堆，但如果学到的知识不成体系，遇到问题时只是浅尝辄止，不再深入研究，那么很难做到真正的技术提升。

需要这份系统化资料的朋友，可以戳这里获取

一个人可以走的很快，但一群人才能走的更远！不论你是正从事IT行业的老鸟或是对IT行业感兴趣的新人，都欢迎加入我们的的圈子（技术交流、学习资源、职场吐槽、大厂内推、面试辅导），让我们一起学习成长！

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网上学习资料一大堆，但如果学到的知识不成体系，遇到问题时只是浅尝辄止，不再深入研究，那么很难做到真正的技术提升。

需要这份系统化资料的朋友，可以戳这里获取

一个人可以走的很快，但一群人才能走的更远！不论你是正从事IT行业的老鸟或是对IT行业感兴趣的新人，都欢迎加入我们的的圈子（技术交流、学习资源、职场吐槽、大厂内推、面试辅导），让我们一起学习成长！