安装使用ROS2中一些警告、报错与解决方法参考

最新推荐文章于 2024-09-13 22:15:12 发布

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最新推荐文章于 2024-09-13 22:15:12 发布

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本文链接：https://blog.csdn.net/qq_42266322/article/details/121038163

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本文档列举了一系列在ROS2环境中遇到的编译错误和警告，包括源重复、CMake链接库问题、库冲突、头文件路径错误、环境变量问题以及析构函数中的初始化顺序错误等，并提供了相应的解决方法，如删除冗余源、调整初始化顺序、添加命名空间等。

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Target Packages (main/binary-amd64/Packages) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
源重复，删掉其中一个即可
cmake 报错：Cannot specify link libraries for target " XXX XXX " which is not built by this project.
add_executable写在target_link_libraries的前面
This warning is for project developers. Use -Wno-dev to suppress it.
查阅官方文档：https://colcon.readthedocs.io/en/released/reference/verb/build.html?highlight=cmake#cmake-specific-arguments

colcon build --packages-select darknet_ros_msgs --cmake-args "-Wno-edv"

Cannot generate a safe runtime search path for target
darknet_ros_msgs__rosidl_typesupport_fastrtps_c__pyext because files in
some directories may conflict with libraries in implicit directories:runtime library [libssl.so.1.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
/home/kiki/anaconda3/lib
runtime library [libcrypto.so.1.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
/home/kiki/anaconda3/lib
库冲突，不知道怎么指定路径，只能删除了anaconda里面的lib
fatal error: darknet_ros_msgs/BoundingBox.h: No such file or directory
#include “darknet_ros_msgs/BoundingBox.h”
fatal error: darknet_ros_msgs/msg/BoundingBox.h: No such file or directory
#include “darknet_ros_msgs/msg/BoundingBox.h”
fatal error: darknet_ros_msgs/msg/BoundingBox.hpp: No such file or directory
#include “darknet_ros_msgs/msg/BoundingBox.hpp”
fatal error: darknet_ros_msgs/msg/boundingbox.hpp: No such file or directory
#include “darknet_ros_msgs/msg/boundingbox.hpp”
正确写法：darknet_ros_msgs/msg/bounding_box.hpp
ros2中消息的头文件路径中多了一个/msg，且头文件全部为小写，且中间的大写字母前面要加下划线，数字不影响，比如box3d还是box3d
WARNING:colcon.colcon_ros.prefix_path.ament:The path ‘/home/kiki/KalmanFusion/ros_ws/install/tutorial_interfaces’ in the environment variable AMENT_PREFIX_PATH doesn’t exist
在AMENT_PREFIX_PATH中删除该路径
warning: ‘KittiPublisher::count_’ will be initialized after [-Wreorder]
size_t count_;
^~~~~~
warning: when initialized here [-Wreorder]
KittiPublisher():Node(“kitti_node”), count_(0), frame(0) {
^~~~~~~~~~~~~~
析构函数中，初始化成员变量的顺序要与类声明中的变量顺序相对应，若不对应，则出现如题错误。解决方法就是按照顺序进行初始化。
error: unable to find numeric literal operator ‘operator""ms’
500ms, std::bind(&KittiPublisher::timer_callback, this));
^~~~~
添加：using namespace std::chrono_literals;
warning: ‘Ptr’ is deprecated
ros2中使用的是SharedPtr，例如sensor_msgs::msg::Image::SharedPtr
ros2中image的操作示范: https://blog.csdn.net/weixin_41003113/article/details/115522546
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/dashing/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.3.4
/usr/bin/ld: warning: libopencv_imgproc.so.3.2, needed by /opt/ros/dashing/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.4
/usr/bin/ld: warning: libopencv_core.so.3.2, needed by /opt/ros/dashing/lib/libcv_bridge.so, may conflict with libopencv_core.so.3.4
版本冲突，不影响后续使用，待解决中
— stderr: sensor_fusion
** WARNING ** io features related to ensenso will be disabled
** WARNING ** io features related to davidSDK will be disabled
** WARNING ** io features related to dssdk will be disabled
** 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
** WARNING ** visualization features related to ensenso will be disabled
** WARNING ** visualization features related to davidSDK will be disabled
** WARNING ** visualization features related to dssdk will be disabled
** WARNING ** visualization features related to rssdk will be disabled
不影响后续使用，待解决中
编译失败且未出现任何错误警告提示，对于明显的错误也未进行任何提示
文件中有中文符号。
undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<visualization_msgs::msg::Marker_<std::allocator > >()’
未显示line，是link错误，而不是compile错误，应检查CMakeLists和package。CMakeLists中find_package漏掉了visualization_msgs