2021-10-28

ROS:新手使用VScode过程中用launch文件进行多节点运行时遇到ERROR: cannot launch node of type

刚刚学ROS，遇到这个问题百度看了以下，用他们 办法解决不了，在我探索一会儿解决了，分享给大家。
下面展示一些 内联代码片。

// 

ERROR: cannot launch node of type [hello_vscode/hello _vscode_c]: Cannot locate node of type [hello _vscode_c] in package [hello_vscode]. Make sure file exists in package path and permission is set to executable (chmod +x)

// 
ERROR: cannot launch node of type [hello_vscode/hello _vscode_c]: Cannot locate node of type [hello _vscode_c] in package [hello_vscode]. Make sure file exists in package path and permission is set to executable (chmod +x)

在学习时为了自己弄懂并没有完全根据奥特学院做，他说的是type后面写的是rsc下的那个cpp文件名字，我也就是这样做的，但所运行就有错误，说找不到这个包。原因是CMakeLists.txt这个文件中给文件映射的名字不一样。
下面展示一些 内联代码片。

// add_executable(baba src/hello_vscode_c.cpp)

// 
 add_executable(baba src/hello_vscode_c.cpp)

我这里写的是baba所以报出上面的错误，我将type=“baba”，再执行就正常了。

{
auto-starting new master
process[master]: started with pid [26279]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f439e7fc-37d6-11ec-b58c-3cf01147c0f2
process[rosout-1]: started with pid [26290]
started core service [/rosout]
process[t1-2]: started with pid [26293]
process[key1-3]: started with pid [26299]
process[hello-4]: started with pid [26300]
[ INFO] [1635415690.817274596]: hello，哈哈哈哈
[hello-4] process has finished cleanly
log file: /home/sun/.ros/log/f439e7fc-37d6-11ec-b58c-3cf01147c0f2/hello-4*.log
[t1-2] process has finished cleanly
log file: /home/sun/.ros/log/f439e7fc-37d6-11ec-b58c-3cf01147c0f2/t1-2*.log
}

总结，pkg是你工程的名字， type是你在CMakeLists.txt文件中映射的名字。