【踩坑指南】ROS

太长不看版：本帖记录了问题解决过程中的学习过程，只关心结果的同学请直接跳至问题的解决方案部分

编译报错

1. (.text+0x20)

• 问题： 学习古月居ROS第二章（ROS基础）话题编程时，自己手敲代码编译不通过，报错如下：
  

  -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  -- ~~  traversing 1 packages in topological order:
  -- ~~  - learning_com
  -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  -- +++ processing catkin package: 'learning_com'
  -- ==> add_subdirectory(learning_com)
  -- Configuring done
  -- Generating done
  -- Build files have been written to: /home/xxx/Study/ROS/2/catkin_ws/build
  ####
  #### Running command: "make -j6 -l6" in "/home/xxx/Study/ROS/2/catkin_ws/build"
  ####
  Scanning dependencies of target listener
  [ 25%] Building CXX object learning_com/CMakeFiles/listener.dir/src/listener.cpp.o
  [ 50%] Linking CXX executable /home/xxx/Study/ROS/2/catkin_ws/devel/lib/learning_com/listener
  /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o: In function `_start':
  (.text+0x20): undefined reference to `main'
  collect2: error: ld returned 1 exit status
  learning_com/CMakeFiles/listener.dir/build.make:113: recipe for target '/home/xxx/Study/ROS/2/catkin_ws/devel/lib/learning_com/listener' failed
  make[2]: *** [/home/xxx/Study/ROS/2/catkin_ws/devel/lib/learning_com/listener] Error 1
  CMakeFiles/Makefile2:557: recipe for target 'learning_com/CMakeFiles/listener.dir/all' failed
  make[1]: *** [learning_com/CMakeFiles/listener.dir/all] Error 2
  Makefile:138: recipe for target 'all' failed
  make: *** [all] Error 2
  Invoking "make -j6 -l6" failed
  

• 解决方案： 其实问题就是因为Python留下的习惯，在.cpp文件最后一行留了空格，删除空格后编译通过。
  

roslaunch报错

1. 找不到serial、tf2

• 问题： 学习古月居ROS第四章（机器人仿真）尝试运行视频提供的代码时报错，如下：
  

  started core service [/rosout]
  process[arbotix-2]: started with pid [15249]
  process[joint_state_publisher-3]: started with pid [15255]
  process[robot_state_publisher-4]: started with pid [15256]
  process[rviz-5]: started with pid [15257]
  Traceback (most recent call last):
    File "/home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros-noetic-devel/arbotix_python/bin/arbotix_driver", line 37, in <module>
      from arbotix_python.diff_controller import DiffController
    File "/home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros-noetic-devel/arbotix_python/src/arbotix_python/diff_controller.py", line 38, in <module>
      from tf.broadcaster import TransformBroadcaster
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/__init__.py", line 28, in <module>
      from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module>
      from tf2_py import *
    File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module>
      from ._tf2 import *
  ImportError: dynamic module does not define module export function (PyInit__tf2)
  [arbotix-2] process has died [pid 15249, exit code 1, cmd /home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros-noetic-devel/arbotix_python/bin/arbotix_driver __name:=arbotix __log:=/home/xxx/.ros/log/ffc963b4-d817-11eb-af38-b42e998b06c6/arbotix-2.log].
  log file: /home/xxx/.ros/log/ffc963b4-d817-11eb-af38-b42e998b06c6/arbotix-2*.log
  ================================================================================REQUIRED process [rviz-5] has died!
  process has finished cleanly
  log file: /home/xxx/.ros/log/ffc963b4-d817-11eb-af38-b42e998b06c6/rviz-5*.log
  Initiating shutdown!
  ================================================================================
  [robot_state_publisher-4] killing on exit
  [rviz-5] killing on exit
  [joint_state_publisher-3] killing on exit
  [rosout-1] killing on exit
  [master] killing on exit
  shutting down processing monitor...
  ... shutting down processing monitor complete
  done
  

• 尝试： 尝试了以下方法中的前三个，均未解决：
  （1）Dr. 慧珍儿的方法
  （2）232hdsjdh的方法
  （3）修改python环境 系统环境已顺利修改为python2.7，且在终端中运行python可以正常import tf，尝试重新编译但依旧报错。
  （4）使用python3模块编译 这个方法暂时没敢尝试，因为看到有人说自己的ros在执行后被卸载了，但是我目前认为这个方法可行。
  （5）使用python3模块编译，解决tf2的问题 这个介绍的更详细。

• 原因猜测：
  （1）首先在python2.7环境下无论是import serial还是import tf都完全没问题；
  （2）其次，最开始的报错是缺少“serial”等模块，通过pip install方法一一安装之后报错信息变为了上面图片中的找不到tf。初始报错信息：
  

  started core service [/rosout]
  process[arbotix-2]: started with pid [14997]
  process[joint_state_publisher-3]: started with pid [15003]
  process[robot_state_publisher-4]: started with pid [15004]
  process[rviz-5]: started with pid [15005]
  Traceback (most recent call last):
    File "/home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros-noetic-devel/arbotix_python/bin/arbotix_driver", line 36, in <module>
      from arbotix_python.arbotix import ArbotiX, ArbotiXException
    File "/home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros-noetic-devel/arbotix_python/src/arbotix_python/arbotix.py", line 33, in <module>
      import serial, time, sys, threading
  ImportError: No module named 'serial'
  [arbotix-2] process has died [pid 14997, exit code 1, cmd /home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros-noetic-devel/arbotix_python/bin/arbotix_driver __name:=arbotix __log:=/home/xxx/.ros/log/68a73262-d8b8-11eb-af38-b42e998b06c6/arbotix-2.log].
  log file: /home/xxx/.ros/log/68a73262-d8b8-11eb-af38-b42e998b06c6/arbotix-2*.log
  ================================================================================REQUIRED process [rviz-5] has died!
  process has finished cleanly
  log file: /home/xxx/.ros/log/68a73262-d8b8-11eb-af38-b42e998b06c6/rviz-5*.log
  Initiating shutdown!
  ================================================================================
  

  原本都是在conda的base环境下操作的，之前退出conda环境后报错信息不变，但当采用了上述232hdsjdh和Dr. 慧珍儿的方法后发现报错信息又变为了初始的缺少 “serial”，仔细对比了下操作前后的环境变量（export | grep ROS），发现232hdsjdh方法可以将原本在PATH中的conda base环境的python路径（anaconda3/bin）删除。
  （3）由此，推测出现这个问题的原因是roslaunch执行的过程中，从环境变量查找到了其他位置（其他版本）的python路径，从而找不到serial、tf等等模块。下面想办法验证和解决。

  事实证明上面的推测是对的，而且上述方法已经解决了问题，anaconda3/bin不出现在环境变量PATH里面的话ROS就会找到系统的python2.7就可以正常运行了。
  但是后面用232hdsjdh的方法又不灵了，anaconda3/bin还是会出现在环境变量里，尝试的方法太多，没来得及及时记录，不记得到底是哪个操作能够成功屏蔽anaconda路径了。 😦

• 解决方案： 问题的核心在于launch文件调用了arbotix_ros模块中的python文件。
  （1）首先检查下载的arbotix_ros模块版本是否正确，默认下载的是对应ROS noetic版本的包，而巧就巧在ROS noetic是首个支持python3版本的ROS，所以arbotix_ros模块里面的python文件时python3版本的。【ps.这也是为什么我上面初次尝试删除掉anaconda的路径后依旧报错的原因】
  
  （2）arbotix_ros模块版本正确的话roslaunch会报这个错：
  

  started core service [/rosout]
  process[arbotix-2]: started with pid [14264]
  process[joint_state_publisher-3]: started with pid [14271]
  process[robot_state_publisher-4]: started with pid [14272]
  process[rviz-5]: started with pid [14273]
  Traceback (most recent call last):
    File "/home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros/arbotix_python/bin/arbotix_driver", line 36, in <module>
      from arbotix_python.arbotix import ArbotiX
    File "/home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py", line 69
      print e
            ^
  SyntaxError: Missing parentheses in call to 'print'. Did you mean print(e)?
  [arbotix-2] process has died [pid 14264, exit code 1, cmd /home/xxx/Study/ROS/4/catkin_4/src/arbotix_ros/arbotix_python/bin/arbotix_driver __name:=arbotix __log:=/home/xxx/.ros/log/cb83a8a2-d8d6-11eb-aa21-b42e998b06c6/arbotix-2.log].
  log file: /home/xxx/.ros/log/cb83a8a2-d8d6-11eb-aa21-b42e998b06c6/arbotix-2*.log
  

  这一看就是python版本的问题，提示你用python3运行了python2的代码，于是检查当前的环境变量：

  export | grep PATH
  

  关注PATH变量的值：
  

  PATH=/home/xxx/Study/ROS/4/catkin_4/devel/bin:/home/xxx/Navigation/Test/test_crowd_drl_nav_ws/devel/bin:/opt/ros/kinetic/bin:/home/xxx/anaconda3/bin:/home/xxx/anaconda3/condabin:/home/xxx/bin:/home/xxx/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/cuda/bin
  

  anaconda的路径赫然在列，而且在系统python路径（/usr/bin）的前面，基本验证了前面的猜想。于是可以通过修改PATH变量临时解决这个问题：

  export PATH=/home/xxx/Study/ROS/4/catkin_4/devel/bin:/home/xxx/Navigation/Test/test_crowd_drl_nav_ws/devel/bin:/opt/ros/kinetic/bin:/home/xxx/bin:/home/xxx/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/cuda/bin
  

  上面这句命令即是将打印出的PATH变量复制下来，删除带有anaconda的路径后直接再赋值给环境变量的PATH，命令中的xxx为当前的用户名。【此段需根据自己电脑的终端输出修改，直接复制无效。（不知道还有没有更好的办法可以删除PATH变量内的anaconda路径，还请大佬在评论中提供）】

注意： export命令仅在当前终端生效，因此这是一个临时解决的办法。想要“一劳永逸”就要弄清楚系统是如何在source devel/setup.zsh时找到anaconda的路径的，还请前辈在评论区指点迷津。