Ubuntu20.04 [Ros Noetic]版本——在catkin_make编译时出现报错的解决方案

今天在新的笔记本电脑上进行catkin_make的编译过程中遇到了报错，这个报错在之前也遇到过，但是，我却忘了怎么解决。很是头痛！

经过多篇博客的查询，特此解决了这个编译报错的问题，于此特地记录！！！

整体报错信息如下：

Base path: /home/hjx/hjx_file/URDF_model/catkin_ws
Source space: /home/hjx/hjx_file/URDF_model/catkin_ws/src
Build space: /home/hjx/hjx_file/URDF_model/catkin_ws/build
Devel space: /home/hjx/hjx_file/URDF_model/catkin_ws/devel
Install space: /home/hjx/hjx_file/URDF_model/catkin_ws/install
####
#### Running command: "cmake /home/hjx/hjx_file/URDF_model/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/hjx/hjx_file/URDF_model/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/hjx/hjx_file/URDF_model/catkin_ws/install -G Unix Makefiles" in "/home/hjx/hjx_file/URDF_model/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/hjx/hjx_file/URDF_model/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /home/hjx/anaconda3/bin/python3 (found suitable version "3.11.7", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /home/hjx/anaconda3/bin/python3
-- Using Debian Python package layout
-- Using empy: /home/hjx/anaconda3/lib/python3.11/site-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/hjx/hjx_file/URDF_model/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /home/hjx/anaconda3/bin/python3 (found version "3.11.7") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on

/opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em:2:1: error: RuntimeError: ImportError: "from catkin_pkg.topological_order import topological_order" failed: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
<root>:1:1: from this context
Traceback (most recent call last):
  File "<string>", line 8, in <module>
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/topological_order.py", line 39, in <module>
    from .packages import find_packages
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/packages.py", line 38, in <module>
    from .package import _get_package_xml
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/package.py", line 44, in <module>
    from catkin_pkg.condition import evaluate_condition
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/condition.py", line 17, in <module>
    import pyparsing as pp
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/pyparsing/__init__.py", line 140, in <module>
    from .core import __diag__, __compat__
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/pyparsing/core.py", line 31, in <module>
    from pathlib import Path
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/pathlib.py", line 10, in <module>
    from collections import Sequence
ImportError: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 6323, in <module>
    if __name__ == '__main__': main()
                               ^^^^^^
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 6320, in main
    exitCode = invoke(sys.argv[1:], executable=sys.argv[0], errors=None)
               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 6280, in invoke
    interp.go(
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4724, in go
    self.protect(name, method, file)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4740, in protect
    callable(*args, **kwargs)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4758, in file
    self.fileChunks(file, config.buffering, locals, dispatcher)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4804, in fileChunks
    while not self.safe(scanner, done, locals, dispatcher):
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4862, in safe
    if dispatcher():
       ^^^^^^^^^^^^
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 5800, in dispatch
    self.handle((type, error, traceback), fatal)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4843, in safe
    return self.parse(scanner, locals)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4874, in parse
    self.run(token, locals)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 5115, in run
    token.run(self, locals)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 2571, in run
    interp.execute(self.code, locals)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 5178, in execute
    self.core.execute(statements, self.globals, locals)
  File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4228, in execute
    execFunc(code, globals)
  File "<string>", line 10, in <module>
RuntimeError: ImportError: "from catkin_pkg.topological_order import topological_order" failed: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):
  
  execute_process(/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/env_cached.sh
  "/home/hjx/anaconda3/bin/python3"
  "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py" "--raw-errors"
  "-F"
  "/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.py"
  "-o"
  "/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.cmake"
  "/opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em") returned
  error code 1
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/em_expand.cmake:25 (safe_execute_process)
  /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:35 (em_expand)
  CMakeLists.txt:69 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

关于报错界面的部分截图：

关于我在执行catkin_make是遇到的报错关键信息如下：

RuntimeError: ImportError: "from catkin_pkg.topological_order import topological_order" failed: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):
  
  execute_process(/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/env_cached.sh
  "/home/hjx/anaconda3/bin/python3"
  "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py" "--raw-errors"
  "-F"
  "/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.py"
  "-o"
  "/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.cmake"
  "/opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em") returned
  error code 1
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/em_expand.cmake:25 (safe_execute_process)
  /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:35 (em_expand)
  CMakeLists.txt:69 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

其实，关键的报错点如下:

CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

根据这个报错提示，我找到了几篇相关的博客：

Ubuntu20.04安装Ros Noetic版本，在catkin_make编译时出现的问题_could not find py_em (missing: py_em)-CSDN博客

Ubuntu 20.04 ROS noetic 问题解决_cmake error at /opt/ros/noetic/share/catkin/cmake/-CSDN博客

 根据上面这2篇博客其实就可以解决问题了

下面为给出解决这个报错的终端指令：

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

 便可完成工作空间的创建！

下图是我catkin_make成功的页面截图：

 后面再次进行catkin_make编译时就不会再出现报错了