‘you package‘ is redundant with build_depend, build_export_depend, exec_depend问题解决

boyhoodme

于 2022-08-20 16:30:18 发布

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分类专栏：个人笔记 ROS使用文章标签： ROS

本文链接：https://blog.csdn.net/boyhoodme/article/details/126440941

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问题背景

在编译OpenVINS最新版本程序时，工程中package.xml采用了更新版本实现依赖关系

<?xml version="1.0"?>
<package format="3">
    <!-- Package Information -->
    <name>ov_msckf</name>
    <version>2.6.0</version>
    <description>
        Implementation of a type-based error-state Kalman filter.
    </description>
    <url type="website">https://docs.openvins.com/</url>
    <url type="bugtracker">https://github.com/rpng/open_vins/issues</url>
    <url type="repository">https://github.com/rpng/open_vins</url>

    <!-- Code Authors -->
    <author email="pgeneva@udel.edu">Patrick Geneva</author>
    <author email="keck@udel.edu">Kevin Eckenhoff</author>
    <author email="ghuang@udel.edu">Guoquan Huang</author>
    <maintainer email="pgeneva@udel.edu">Patrick Geneva</maintainer>

    <!-- Licensing -->
    <license>GNU General Public License v3.0</license>

    <!-- ROS1: Dependencies needed to compile this package. -->
    <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
    <depend condition="$ROS_VERSION == 1">cmake_modules</depend>
    <depend condition="$ROS_VERSION == 1">roscpp</depend>
    <depend condition="$ROS_VERSION == 1">rosbag</depend>
    <depend condition="$ROS_VERSION == 1">tf</depend>
    <depend condition="$ROS_VERSION == 1">std_msgs</depend>
    <depend condition="$ROS_VERSION == 1">sensor_msgs</depend>
    <depend condition="$ROS_VERSION == 1">geometry_msgs</depend>
    <depend condition="$ROS_VERSION == 1">nav_msgs</depend>
    <depend condition="$ROS_VERSION == 1">visualization_msgs</depend>
    <depend condition="$ROS_VERSION == 1">image_transport</depend>
    <depend condition="$ROS_VERSION == 1">cv_bridge</depend>
    <depend condition="$ROS_VERSION == 1">ov_core</depend>
    <depend condition="$ROS_VERSION == 1">ov_init</depend>

问题分析

详见ROS文档

解决方式

既不是package format="1"页不是package format="2"，OpenVINS用的package format="3"，但是编译时候，tag中不能含有 condition="$ROS_VERSION == 1",删除这个判断ROS版本的语句就行了，改后版本是 <depend>ov_init</depend>