ROS 错误总结

1.ImportError: dynamic module does not define module export function (PyInit__tf2)

ImportError: dynamic module does not define module export function (PyInit__tf2)，报这个错的原因是因为不适配python3，需要安装一些需求后用python3编译。

sudo apt update
sudo apt install python3-catkin-pkg-modules python3-rospkg-modules python3-empy

cd /catkin_ws/src
wstool init
wstool set -y src/geometry2 --git https://github.com/ros/geometry2 -v 0.6.5
wstool up
rosdep install --from-paths src --ignore-src -y -r

用python3编译

catkin_make --cmake-args \
            -DCMAKE_BUILD_TYPE=Release \
            -DPYTHON_EXECUTABLE=/usr/bin/python3 \
            -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m \
            -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so

source之后才能应用刚才的设置

source ./devel/setup.bash

参考

2.undefined reference to `GeographicLib::UTMUPS::Forward’

使用Geographiclib后编译报错undefined reference to `GeographicLib::UTMUPS::Forward’，需要修改CMakeList，参考robot_localization包之后，在CMakeList添加如下:

# Geographiclib installs FindGeographicLib.cmake to this non-standard location
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/")
find_package(GeographicLib REQUIRED)

add_executable(get_goal_pts src/get_goal_pts.cpp)
target_link_libraries(get_goal_pts ${catkin_LIBRARIES} ${GeographicLib_LIBRARIES})

3.Exception thrown when deserializing message of length [75] from [/get_goal_pts]: Buffer Overrun

消息订阅的话题的消息类型与发布这一话题的消息类型不一致，导致消息的解码失败，需要检查发布和订阅的消息类型是否一致。比如这一次发布了一个名叫/utm_xy的话题类型是nav_msgs::odometry，订阅了这个话题但是消息类型确是geometry_msgs::posestamped.

4.[FATAL] [1634612888.704684537]: You must call ros::init() before creating the first NodeHandle

主函数中已经存在

ros::init(argc, argv, "simple_p2p");

依然报这个错误。
可能存在全局变量或者初始化的语句顺序不对。