《ROS2圆通》

最新推荐文章于 2024-08-06 11:31:12 发布

David-Chow

最新推荐文章于 2024-08-06 11:31:12 发布

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分类专栏： ROS 文章标签： ROS2

本文链接：https://blog.csdn.net/qq_23981335/article/details/124729035

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一、安装

参考：【1】《技术分享 | 详解ROS 2的安装步骤》

【2】《《动手学ROS2》2.3ROS2的安装》

【3】若网络受限，则使用镜像《ros2镜像》

二、错误集解

2.1 ros2用colcon build出现错误：ModuleNotFoundError: No module named ‘catkin_pkg’

错误如下：

Starting >>> fishbot_navigation2
--- stderr: fishbot_navigation2                         
Traceback (most recent call last):
  File "/opt/ros/foxy/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 21, in <module>
    from catkin_pkg.package import parse_package_string
ModuleNotFoundError: No module named 'catkin_pkg'
CMake Error at /opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:94 (message):
  execute_process(/home/ros2/miniconda3/bin/python3
  /opt/ros/foxy/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  /home/ros2/code/fishbot_ws/src/fishbot_navigation2/package.xml
  /home/ros2/code/fishbot_ws/build/fishbot_navigation2/ament_cmake_core/package.cmake)
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  /opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:31 (ament_package_xml)
  CMakeLists.txt:34 (ament_lint_auto_find_test_dependencies)


---
Failed   <<< fishbot_navigation2 [0.29s, exited with code 1]
                                
Summary: 0 packages finished [0.42s]
  1 package failed: fishbot_navigation2
  1 package had stderr output: fishbot_navigation2

原因分析及解决方案：

原因1： 未安装catkin_pkg

解决方案：

pip3 install catkin_pkg

原因2：与Anaconda安装的Python冲突【绝大数是这种原因】

解决方案：

（1）在terminal中退出base环境：

conda deactivate

再试试colcon build，如果通过则说明正确找到了python；若不行，则使用第二步；

（2）手工指定Python 【PYTHON_EXECUTABLE】

在CMakeList.txt中添加 “ set(PYTHON_EXECUTABLE /usr/bin/python3) ”

如在《ROS2学习笔记13--编写一个简单的发布器和侦听器（C++）》例子中的CMakeList.txt变成：

cmake_minimum_required(VERSION 3.5)
project(cpp_pubsub)

#Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

set(PYTHON_EXECUTABLE /usr/bin/python3)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

add_executable(talker src/publisher_member_function.cpp)
ament_target_dependencies(talker rclcpp std_msgs)

add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs)

install(TARGETS
  talker
  listener
  DESTINATION lib/${PROJECT_NAME})

ament_package()