ros2编译 fatal error: rclcpp/rclcpp.hpp: No such file or directory 28 | #include ＜rclcpp/rclcpp.hpp＞

solution_zoo common dir:
In file included from /usr/robot/ros2_ws/src/ros2_project/aiic_cv_framework/ros_interface/src/ros_publisher_handler.cpp:3:
/usr/robot/ros2_ws/src/ros2_project/aiic_cv_framework/ros_interface/include/ros_common.h:28:10: fatal error: rclcpp/rclcpp.hpp: No such file or directory
   28 | #include <rclcpp/rclcpp.hpp>
      |          ^~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /usr/robot/ros2_ws/src/ros2_project/aiic_cv_framework/ros_interface/include/ros_subscriber_handler.h:6,
                 from /usr/robot/ros2_ws/src/ros2_project/aiic_cv_framework/ros_interface/src/ros_subscriber_handler.cpp:3:
/usr/robot/ros2_ws/src/ros2_project/aiic_cv_framework/ros_interface/include/ros_common.h:28:10: fatal error: rclcpp/rclcpp.hpp: No such file or directory
   28 | #include <rclcpp/rclcpp.hpp>
      |          ^~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [aiic_cv_framework/solutionzoo/CMakeFiles/run_solution.dir/build.make:76: aiic_cv_framework/solutionzoo/CMakeFiles/run_solution.dir/__/ros_interface/src/ros_publisher_handler.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [aiic_cv_framework/solutionzoo/CMakeFiles/run_solution.dir/build.make:89: aiic_cv_framework/solutionzoo/CMakeFiles/run_solution.dir/__/ros_interface/src/ros_subscriber_handler.cpp.o] Error 1
In file included from /usr/robot/ros2_ws/src/ros2_project/aiic_cv_framework/solutionzoo/src/main.cpp:9:
/usr/robot/ros2_ws/src/ros2_project/aiic_cv_framework/ros_interface/include/ros_common.h:28:10: fatal error: rclcpp/rclcpp.hpp: No such file or directory
   28 | #include <rclcpp/rclcpp.hpp>
      |          ^~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [aiic_cv_framework/solutionzoo/CMakeFiles/run_solution.dir/build.make:63: aiic_cv_framework/solutionzoo/CMakeFiles/run_solution.dir/src/main.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1394: aiic_cv_framework/solutionzoo/CMakeFiles/run_solution.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< ros2_project [4.13s, exited with code 2]

1.添加find_package

find_package(rclcpp REQUIRED)

2.设置依赖

set(dependencies
    rclcpp
)

3.添加target

ament_target_dependencies(${solution_name} ${dependencies})

最后再进行编译。

完整版cMakeList.txt

cmake_minimum_required(VERSION 3.12)

PROJECT(solutionzoo)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# get deps directory begin
set(SOLUTION_ZOO_DIR)
    function(get_parent_dir arg dir n)
        foreach(i RANGE ${ARGV2})
            get_filename_component(dir ${dir} DIRECTORY)
            # message("i:${i} dir:${dir}")
        endforeach(i)
        set(SOLUTION_ZOO_DIR ${dir} PARENT_SCOPE)
    endfunction()
get_parent_dir(XSTREAM_CURRENT_DIR ${PROJECT_SOURCE_DIR} 0)
message("solution_zoo common dir:${SOLUTION_ZOO_COMMON_DIR}")

if (${CMAKE_BUILD_TYPE} STREQUAL "Release")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -g -fPIC -O3")
else ()
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -DEBUG -g -O0 -fPIC")
endif()

## append SOLUTION_ZOO_SRC
# webservice
include(${CMAKE_CURRENT_LIST_DIR}/src/webservice/webservice.cmake)

# messages
include(${CMAKE_CURRENT_LIST_DIR}/src/public_message/public_message.cmake)

#ros_interface
include(${CMAKE_CURRENT_LIST_DIR}/../ros_interface/ros_interface.cmake)


set(SOLUTION_ZOO_SOURCE
    # methods
    ${WEBSERVICE_SOURCE}
    ${FOLLOWME_METHOD_SOURCE}
    ${BODY_REID_METHOD_SOURCE}
    # plugins
    ${FOLLOWME_PLUGINS_SOURCE}
    ${BBOXLOGGERXPROTOPLUGIN_SOURCE}
    # messages
    ${PUBLIC_MESSAGE_SOURCE}
    
)

find_package(ament_cmake_auto REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_msgs REQUIRED)

set(dependencies
    rclcpp
    rclcpp_components
    sensor_msgs
    geometry_msgs
    nav_msgs
    std_msgs
)

#message(STATUS "SOLUTION_ZOO_SOURCE: ${SOLUTION_ZOO_SOURCE}")
#target_sources(${PROJECT_NAME} PRIVATE
#    ${FOLLOWME_METHOD_SOURCE}
#)
include_directories(${CMAKE_CURRENT_LIST_DIR}/src)
set(LIBSOLUTIONZOO_NAME ${PROJECT_NAME})
add_library(${LIBSOLUTIONZOO_NAME} SHARED ${SOLUTION_ZOO_SOURCE})
target_link_libraries(${PROJECT_NAME} PUBLIC pthread rt dl
    ${LIBAI_EXPRESS_TARGET}
    ${LIBINFERENCE_MIDDLEWARE_TARGET}
    ${OpenCV_LIBS}
    ${LIBCV_MODULE_LIBS}
)

# TODO
set(SOURCE_FILES
    ${CMAKE_CURRENT_LIST_DIR}/src/main.cpp
    # ros_interface
    ${ROS_INTERFACE_SOURCE}
)
set(SOLUTION_EXE_NAME run_solution)
add_executable(${SOLUTION_EXE_NAME} ${SOURCE_FILES})
ament_target_dependencies(${SOLUTION_EXE_NAME} ${dependencies})
target_link_libraries(${SOLUTION_EXE_NAME}
    ${LIBSOLUTIONZOO_NAME}
    ${LIBINFERENCE_MIDDLEWARE_TARGET}
    ${LIBAI_EXPRESS_TARGET}
    ${OpenCV_LIBS}
    ${LIBMONGOOSE_NAME}
    ${LIBCV_MODULE_LIBS}
)

ament_auto_find_build_dependencies ()

ament_auto_package ()