Could not find a package configuration file provided by “slam_karto” with any of the following names

ROS 系列学习教程(总目录)

零、问题描述

使用ROS时，需要编译别人的功能包，但编译时会出现各种错误，如下的缺少功能包的问题：
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by “slam_karto” with any of the following names:

slam_kartoConfig.cmake
slam_karto-config.cmake

Add the installation prefix of “slam_karto” to CMAKE_PREFIX_PATH or set “slam_karto_DIR” to a directory containing one of the above files. If “slam_karto” provides a separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
slam_sim_demo/CMakeLists.txt:3 (find_package)

– Configuring incomplete, errors occurred!
See also “/home/vistar/desktop/catkin_ws/build/CMakeFiles/CMakeOutput.log”.
See also “/home/vistar/desktop/catkin_ws/build/CMakeFiles/CMakeError.log”.
Invoking “cmake” failed

一、解决方法

缺少功能包很简单，安装相应功能包就行了。
安装命令如下：

sudo apt install ros-kinetic-slam-karto

其中kinetic可替换成你的ROS版本，slam-karto可替换成你缺少的功能包。
错误提示，Could not find a package configuration file provided by “slam_karto” with any of the following names一句中， “slam_karto” 即你缺少的包，将下划线改为连字符，即slam-karto，填到上述命令中就可以了。
通用格式：

sudo apt install ros-[你的ROS版本]-[功能包名称]

二、拓展补充

如果是编译别人的功能包,在package.xml中会有所依赖的功能包列表,执行以下命令会根据package.xml中的依赖功能包列表自动安装:

rosdep install [所编译的功能包的名称]

如你编译的功能包是gmapping,则编译前需执行以下命令:

rosdep install gmapping