创建自定义ROS 2 msg 和 srv 文件，构建时报错

创建自定义ROS 2 msg 和 srv 文件，构建时报错

colcon build编译后报错信息：

--- stderr: tutorial_interfaces
CMake Error at C:/opt/ros/humble/x64/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:64 (message):
  rosidl_generate_interfaces() must be called before ament_package()
Call Stack (most recent call first):
  CMakeLists.txt:32 (rosidl_generate_interfaces)

解决方案：

打开CMakeLists.txt，将
find_package(rosidl_default_generatorss REQUIRED) should be right under the #find_dependencies section and before rosidl_generate_interfaces(${PROJECT_NAME} "msg/Num.msg" "srv/AddThreeInts.srv". It should not be at the last line.

即代码位置的问题，加入下列代码时候应保持如上顺序。

find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Num.msg"
  "msg/Sphere.msg"
  "srv/AddThreeInts.srv"
  DEPENDENCIES geometry_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
)

如图所示