AUTOWARE编译问题

遇到ament_target_dependencies() … not found

// An highlighted block
Starting >>> tier4_perception_msgs
--- stderr: autoware_point_types                                      
CMake Error at /opt/ros/galactic/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:77 (message):
  ament_target_dependencies() the passed package name
  'point_cloud_msg_wrapper' was not found before
Call Stack (most recent call first):
  CMakeLists.txt:20 (ament_target_dependencies)

解决方法是找到 tier4_perception_msgs 这个文件夹，在src里面，然后在厘米找到CMakeLists.txt文件，在前面添加find_package(point_cloud_msg_wrapper REQUIRED)
再colcon，如果遇到

Starting >>> tier4_perception_msgs
--- stderr: autoware_point_types
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findpoint_cloud_msg_wrapper.cmake" in CMAKE_MODULE_PATH
  this project has asked CMake to find a package configuration file provided
  by "point_cloud_msg_wrapper", but CMake did not find one.

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

    point_cloud_msg_wrapperConfig.cmake
    point_cloud_msg_wrapper-config.cmake

这种问题的话，需要先 sudo apt-cache search point cloud msg wrapper 找一下可用版本，然后再 install
sudo apt-get install ros-galactic-point-cloud-msg-wrapper