ros2_controllers包中joint_state_broadcaster编译失败问题

ros2 foxy --ros2_controllers-joint_state_broadcaster编译失败

解决ros2_controllers包中joint_state_broadcaster编译失败问题。

复现

1. git clone 到包目录：
   git clone –branch=foxy https://github.com/ros-controls/ros2_controllers.git src/ros2_controllers
2. colcon build
3. 编译失败，报错如下：
   Starting >>> joint_state_controller
   [Processing: diff_drive_controller, force_torque_sensor_broadcaster, forward_command_controller, gripper_controllers, imu_sensor_broadcaster, joint_state_controller, joint_trajectory_controller, webots_ros2_control]
   — stderr: joint_state_controller
   In file included from /home/cym/Desktop/te_webots/src/ros2_controllers/joint_state_controller/src/joint_state_controller.cpp:15:
   /home/cym/Desktop/te_webots/install/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp:28:10: fatal error: realtime_tools/realtime_publisher.h: No such file or directory
   28 | #include “realtime_tools/realtime_publisher.h”
   | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   compilation terminated.
   make[2]: *** [CMakeFiles/joint_state_controller.dir/build.make:63: CMakeFiles/joint_state_controller.dir/src/joint_state_controller.cpp.o] Error 1
   make[1]: *** [CMakeFiles/Makefile2:151: CMakeFiles/joint_state_controller.dir/all] Error 2
   make: *** [Makefile:141: all] Error 2

---

Failed <<< joint_state_controller [37.7s, exited with code 2]

分析与处理

1. 根据报错主要内容，应该是缺少realtime_publisher.h这个头文件。
   ：/home/cym/Desktop/te_webots/install/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp:28:10: fatal error: realtime_tools/realtime_publisher.h: No such file or directory
   28 | #include “realtime_tools/realtime_publisher.h”

2. 找到头文件所在包，发现有这个头文件
   
   如果没有，需要download下来。

3. 有还会报错，那有可能是编译文件CMakeLists.txt内容有问题

4. 打开joint_state_broadcaster的CMakeLists.txt文件

5. 发现缺少导出依赖：
   

6. 在末尾增加一条依赖：realtime_tools

7. 重新编译，成功

总结

realtime_tools作为上述编译包的外部依赖，根据以ament_export_dependencies 的使用，有必要增加这条依赖。

The ament_export_dependencies exports dependencies to downstream packages. This is necessary so that the user of the library does not have to call find_package for those dependencies, too.