colcon build --symlink-install ros2_example_ws 出错

最新推荐文章于 2025-04-09 16:55:15 发布

晚餐男孩

最新推荐文章于 2025-04-09 16:55:15 发布

阅读量5.8k

点赞数 6

分类专栏： ros2 文章标签： ros2 colcon build ros2 examples

本文链接：https://blog.csdn.net/shanpenghui/article/details/92228361

版权

ros2 专栏收录该内容

21 篇文章

订阅专栏

本文记录了在使用Colcon构建ROS2包时遇到的错误，主要原因是未找到ament_cmake配置文件，通过设置环境变量解决了问题。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

用colcon去build packages，出现下面的错误：

sph@sph-System-Product-Name:~/Documents/ros2_example_ws$ colcon build --symlink-install
Starting >>> examples_rclcpp_minimal_action_client
Starting >>> examples_rclcpp_minimal_action_server
Starting >>> examples_rclcpp_minimal_client
Starting >>> examples_rclcpp_minimal_composition
Starting >>> examples_rclcpp_minimal_publisher
Starting >>> examples_rclcpp_minimal_service
Starting >>> examples_rclcpp_minimal_subscriber
Starting >>> examples_rclcpp_minimal_timer
Starting >>> examples_rclpy_executors
Starting >>> examples_rclpy_minimal_action_client
Starting >>> examples_rclpy_minimal_action_server
Starting >>> examples_rclpy_minimal_client
Starting >>> examples_rclpy_minimal_publisher
Starting >>> examples_rclpy_minimal_service
Starting >>> examples_rclpy_minimal_subscriber
--- stderr: examples_rclcpp_minimal_action_server                                                                                                
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_action_server	[ Exited with code 1 ]
--- stderr: examples_rclcpp_minimal_action_client
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_action_client	[ Exited with code 1 ]
--- stderr: examples_rclcpp_minimal_client
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_client	[ Exited with code 1 ]
--- stderr: examples_rclcpp_minimal_composition
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_composition	[ Exited with code 1 ]
--- stderr: examples_rclcpp_minimal_publisher
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_publisher	[ Exited with code 1 ]
--- stderr: examples_rclcpp_minimal_service
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_service	[ Exited with code 1 ]
--- stderr: examples_rclcpp_minimal_subscriber
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_subscriber	[ Exited with code 1 ]
--- stderr: examples_rclcpp_minimal_timer
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< examples_rclcpp_minimal_timer	[ Exited with code 1 ]
Finished <<< examples_rclpy_executors [1.65s]
Finished <<< examples_rclpy_minimal_action_client [1.64s]
Finished <<< examples_rclpy_minimal_action_server [1.64s]                                                                              
Finished <<< examples_rclpy_minimal_client [1.63s]
Finished <<< examples_rclpy_minimal_publisher [1.63s]
Aborted  <<< examples_rclpy_minimal_service
Aborted  <<< examples_rclpy_minimal_subscriber                               
                                  
Summary: 5 packages finished [2.06s]
  8 packages failed: examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_client examples_rclcpp_minimal_composition examples_rclcpp_minimal_publisher examples_rclcpp_minimal_service examples_rclcpp_minimal_subscriber examples_rclcpp_minimal_timer
  2 packages aborted: examples_rclpy_minimal_service examples_rclpy_minimal_subscriber
  8 packages had stderr output: examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_client examples_rclcpp_minimal_composition examples_rclcpp_minimal_publisher examples_rclcpp_minimal_service examples_rclcpp_minimal_subscriber examples_rclcpp_minimal_timer

一般原因都是工作环境变量没设置对，所以在build之前，最好source一下你要在ros1还是ros2的哪个版本上的进行build
解决办法：

source /opt/ros/dashing/local_setup.bash