【问题解决】Could not find a package configuration file provided by “autoware_msgs“

问题描述

通过catkin_make命令编译时，产生问题如下： 

Base path: /home/defu/PncProject/frenet_planner_ws
Source space: /home/defu/PncProject/frenet_planner_ws/src
Build space: /home/defu/PncProject/frenet_planner_ws/build
Devel space: /home/defu/PncProject/frenet_planner_ws/devel
Install space: /home/defu/PncProject/frenet_planner_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/defu/PncProject/frenet_planner_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/defu/PncProject/frenet_planner_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/defu/PncProject/frenet_planner_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/defu/PncProject/frenet_planner_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/defu/PncProject/frenet_planner_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - frenet_optimal_planner
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'frenet_optimal_planner'
-- ==> add_subdirectory(frenet_optimal_planner)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find autoware_msgs (missing: autoware_msgs_DIR)
-- Could not find the required component 'autoware_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "autoware_msgs"
  with any of the following names:

    autoware_msgsConfig.cmake
    autoware_msgs-config.cmake

  Add the installation prefix of "autoware_msgs" to CMAKE_PREFIX_PATH or set
  "autoware_msgs_DIR" to a directory containing one of the above files.  If
  "autoware_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  frenet_optimal_planner/CMakeLists.txt:11 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/defu/PncProject/frenet_planner_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/defu/PncProject/frenet_planner_ws/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:320：cmake_check_build_system] 错误 1
Invoking "make cmake_check_build_system" failed

解决方法

这个错误表明你的项目在配置时无法找到名为 "autoware_msgs" 的软件包。这种情况通常发生在以下几种情况下：

1. 软件包未安装: ROS中的软件包通常需要通过 apt 或者其他安装方法进行安装。如果你确信 "autoware_msgs" 软件包应该存在但是找不到，可能是因为它没有正确安装。你可以尝试通过以下命令安装：

   sudo apt update 
   sudo apt install ros-noetic-autoware-msgs

   替换 noetic 为你正在使用的ROS发行版名称。如果这个软件包不在默认的ROS软件源中，你可能需要添加额外的软件源或者手动安装该软件包。

2. 软件包路径配置问题: 如果软件包安装了但是仍然无法找到，可能是因为你的 CMAKE_PREFIX_PATH 没有正确设置。你可以尝试设置环境变量 CMAKE_PREFIX_PATH，指向包含软件包安装的路径。例如：

   export CMAKE_PREFIX_PATH=/opt/ros/noetic/share/autoware_msgs:$CMAKE_PREFIX_PATH

   这将 /opt/ros/noetic/share/autoware_msgs 添加到 CMAKE_PREFIX_PATH 中，确保CMake能够找到该软件包。

3. 软件包配置文件问题: 如果软件包提供了单独的配置文件（如 autoware_msgsConfig.cmake），但是CMake无法找到，可能是因为配置文件未正确安装或者安装到了不同的位置。你可以查看该软件包的安装目录，确保配置文件位于正确的位置。

4. 项目依赖问题: 如果你的项目依赖于特定的消息或服务类型，确保你在 CMakeLists.txt 文件中正确地使用了 find_package() 来查找和导入这些依赖包。

综上所述，解决这个问题通常需要确保软件包已经正确安装，并且配置正确的环境变量或路径，以便CMake能够找到并正确导入依赖的软件包。