ros2 foxy 报错缺少“diagnostic_updater“,By not providing “Finddiagnostic_updater.cmake“ in CMAKE_MODULE_P

环境：ubuntu 20.04 ros2 foxy

安装镭神M10串口版雷达，编译报错

Starting >>> lslidar_driver
--- stderr: lslidar_driver                         
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
CMake Error at CMakeLists.txt:22 (find_package):
  By not providing "Finddiagnostic_updater.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "diagnostic_updater", but CMake did not find one.

  Could not find a package configuration file provided by
  "diagnostic_updater" with any of the following names:

    diagnostic_updaterConfig.cmake
    diagnostic_updater-config.cmake

  Add the installation prefix of "diagnostic_updater" to CMAKE_PREFIX_PATH or
  set "diagnostic_updater_DIR" to a directory containing one of the above
  files.  If "diagnostic_updater" provides a separate development package or
  SDK, be sure it has been installed.


---
Failed   <<< lslidar_driver [1.39s, exited with code 1]
                                
Summary: 0 packages finished [1.74s]
  1 package failed: lslidar_driver
  1 package had stderr output: lslidar_driver

原因分析及解决方法：

仔细分析了一下，其实是缺少了这个包，diagnostic_updater，需要去下载适配于我的ros2 foxy的diagnostic_updater的包，就是先寻找适配的包，然后下载即可

sudo apt-cache search diagnostics updater #在apt源里寻找同样名字的包

返回

ros-noetic-diagnostic-updater - diagnostic_updater contains tools for easily updating diagnostics.
ros-foxy-diagnostic-updater - diagnostic_updater contains tools for easily updating diagnostics.
ros-galactic-diagnostic-updater - diagnostic_updater contains tools for easily updating diagnostics.
ros-rolling-diagnostic-updater - diagnostic_updater contains tools for easily updating diagnostics.

因此，ros-foxy-diagnostic-updater这个包就是我们所需的包，所以使用apt下载指令就好了。

sudo apt install ros-foxy-diagnostic-updater

参考博主：ROS2报错缺少“diagnostic_updater“,CMake did not find diagnostic_updater. 解决思路_diagnostics ros 安装_暮尘依旧的博客-CSDN博客