这个错误信息表明在链接阶段，链接器 /usr/bin/ld 未能找到 uuid_generate 函数的定义。这个函数通常属于 libuuid 库，用于生成 UUID（Universally Unique Identifier）。错误发生在尝试构建 ROS（Robot Operating System）的 turtlesim 节点时。

要解决这个问题，你可以尝试以下几个步骤：

安装 libuuid 库：
如果你的系统上尚未安装 libuuid 库，你需要先安装它。在 Ubuntu 或 Debian 系统上，你可以使用以下命令安装：

sudo apt-get update sudo apt-get install uuid-dev

对于其他 Linux 发行版，你可能需要使用不同的包管理器或包名。

确保链接器找到 libuuid：
在编译过程中，确保链接器知道要链接到 libuuid。如果你是在一个 CMake 项目中工作，你可能需要在 CMakeLists.txt 文件中添加如下行来链接 libuuid：

target_link_libraries(your_target_name PRIVATE uuid)

其中 your_target_name 是你的目标项目或可执行文件的名称。对于 ROS 项目，这通常是在 CMakeLists.txt 文件的底部，与 catkin_package() 一起配置。

清理并重新构建项目：
在修改了 CMakeLists.txt 或安装了新的库之后，确保清理你的构建环境并重新构建项目：

cd ~/catkin_ws catkin_make clean catkin_make

检查依赖关系：
如果问题仍然存在，检查你的项目是否有其他依赖关系问题或版本冲突。确保所有依赖库都是兼容的版本。

查看 ROS 论坛或文档：
如果上述步骤都不能解决问题，可能是 ROS 或其某个组件的特定问题。查看 ROS 的官方论坛、GitHub 问题跟踪器或相关文档可能会有帮助。

通过上述步骤，你应该能够解决链接到 uuid_generate 函数时遇到的问题。如果问题依旧，请确保所有步骤都已正确执行，并检查是否有其他潜在的配置问题。

以上为生成回答，仅供参考～

@小鱼 你好我从动手学ros2中按照流程将nav2的源码下载到本地记性编译。在编译的过程中出现终端报错的问题。我的系统是ubuntu22.04，ros2humble。
(base) xiaoche@xiaoche:~/catkin_ws$ colcon build
Starting >>> nav2_common
Starting >>> nav_2d_msgs
Starting >>> cartographer
Starting >>> cartographer_ros_msgs
Finished <<< nav2_common [1.40s]
Starting >>> nav2_msgs
Finished <<< nav_2d_msgs [3.23s]
Starting >>> nav2_voxel_grid
Finished <<< nav2_voxel_grid [0.42s]
Starting >>> dwb_msgs
Finished <<< cartographer_ros_msgs [4.96s]
Starting >>> ascend_slam
Finished <<< ascend_slam [0.31s]
Starting >>> ls01b_v2
Finished <<< ls01b_v2 [0.33s]
Starting >>> xiaoguo
Finished <<< dwb_msgs [2.29s]
Starting >>> xiaoguo_cartographer
Finished <<< xiaoguo_cartographer [0.23s]
Starting >>> ydlidar
Finished <<< nav2_msgs [5.08s]
Starting >>> nav2_util
Finished <<< ydlidar [0.53s]
Starting >>> nav2_simple_commander
Finished <<< cartographer [7.11s]
Starting >>> cartographer_ros
Finished <<< nav2_util [0.85s]
Starting >>> nav_2d_utils
Finished <<< xiaoguo [2.39s]
Starting >>> nav2_behavior_tree
Finished <<< nav_2d_utils [0.74s]
Starting >>> nav2_lifecycle_manager
Finished <<< cartographer_ros [1.57s]
Starting >>> nav2_map_server
Finished <<< nav2_lifecycle_manager [0.86s]
Starting >>> nav2_amcl
Finished <<< nav2_simple_commander [2.72s]
Starting >>> nav2_velocity_smoother
Finished <<< nav2_amcl [1.91s]
Starting >>> nav2_rviz_plugins
Finished <<< nav2_velocity_smoother [1.42s]
Starting >>> cartographer_rviz
Finished <<< nav2_rviz_plugins [0.56s]
Finished <<< cartographer_rviz [0.66s]
--- stderr: nav2_behavior_tree
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
collect2: error: ld returned 1 exit status
gmake[2]: *** [test/CMakeFiles/test_bt_conversions.dir/build.make:337：test/test_bt_conversions] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1735：test/CMakeFiles/test_bt_conversions.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
collect2: error: ld returned 1 exit status
gmake[2]: *** [test/plugins/condition/CMakeFiles/test_condition_distance_traveled.dir/build.make:338：test/plugins/condition/test_condition_distance_traveled] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1815：test/plugins/condition/CMakeFiles/test_condition_distance_traveled.dir/all] 错误 2
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so/usr/bin/ld: : undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
/opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' collect2: error: ld returned 1 exit status /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
gmake[2]: *** [test/plugins/condition/CMakeFiles/test_condition_time_expired.dir/build.make:430：test/plugins/condition/test_condition_time_expired] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1843：test/plugins/condition/CMakeFiles/test_condition_time_expired.dir/all] 错误 2
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
collect2: error: ld returned 1 exit status
gmake[2]: *** [test/plugins/condition/CMakeFiles/test_condition_path_expiring_timer.dir/build.make:337：test/plugins/condition/test_condition_path_expiring_timer] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1871：test/plugins/condition/CMakeFiles/test_condition_path_expiring_timer.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2

Failed <<< nav2_behavior_tree [3.58s, exited with code 2]
Aborted <<< nav2_map_server [7.75s]

Summary: 21 packages finished [16.7s]
1 package failed: nav2_behavior_tree
1 package aborted: nav2_map_server
2 packages had stderr output: nav2_behavior_tree nav2_map_server
25 packages not processed

@小鱼 好的，谢谢

@3031350854 https://fishros.org.cn/forum/topic/151

@无贰无别 你好末端抖动的问题解决了吗

@415808688 发个新帖看看

ac88eae1-4902-4c93-b6b1-9ef3d98a4814-1.png 这个是我上述设置的标定结果，我的标准差好大啊，球球了，帮我看看，拜托前辈们了

@did2818233534 修改下Fixed Frame ？

@348946522装虚拟机吧。在虚拟机里面运行Ubuntu。

如果想挑战一下，可以从源码编译一下ROS2，不过成功的概率挺小的。

@1204043105

问题一定要描述清楚，终端打印一定复制粘贴，方便回答者检索和引用（你可以在linux系统上打开浏览器进社区）
基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟
提问时一定要提供尽可能多的信息(系统版本，ROS版本，前后操作，终端日志)，包括你的目的，比如你其实想装装某个库遇到问题，不要只说这个问题，因为可能有更好的替代方案
先搜索再提问，很多问题其实都有解决方案，确保你自己对自己的问题有一定了解再提问
尽量一句话说完，不要把社区当微信聊天一样用，每一个回复都尽量提供更多的的信息。

@437985437
查明了原因，OpenSSL的安装错误了，重新安装OpenSSL后解决了

base_link主坐标系未定义

@312780179 麻烦问一下/display_planned_path 这个话题结构体在哪

@1357029556 在 cmake报错 中说：

CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor
'gazebo_LIBRARIES' is defined.

应该是没有安装好gazebo相关的开发库造成的

sudo apt-get install gazebo9 libgazebo9-dev

重新装下试试

以下是使用Python编写的在gazebo中对UR5机器人末端力矩传感器进行重力补偿和零点标定的代码：

引入相关库

import rospy
from std_msgs.msg import Float64
from geometry_msgs.msg import WrenchStamped

初始化节点

rospy.init_node('ur5_gravity_compensation_node')

创建发布者

pub_grav_comp = rospy.Publisher('/ur5/grav_comp', Float64, queue_size=10)

定义回调函数

def callback(wrench_msg):
# 计算重力补偿
grav_comp = wrench_msg.wrench.force.z * -1
# 发布重力补偿
pub_grav_comp.publish(grav_comp)

创建订阅者

sub_wrench = rospy.Subscriber('/ur5/wrench', WrenchStamped, callback)

运行节点

rospy.spin()

以上为生成回答，仅供参考～

@Lorry 果然是因为eft_wheel_joint','right_wheel_joint' 的<joint name="left_wheel_joint" type="continuous"> type 我设置成fixed 了

@小鱼 谢谢您！

@961779132 建议从头了解下ROS2编译基础原理：https://fishros.com/d2lros2/#/humble/chapt2/basic/1.使用g++编译ROS2节点

4203c697-23a5-4667-94b6-997eb9707040-image.png