@906519397 大概率是安装失败了，请贴出详细日志信息

@小鱼 🆗，小鱼老师

@小鱼 在 qt中无法cmake成功，find_package(rclcpp REQUIRED)错误 中说：

@zanxueyan windows下使用方法和linux下应该不一样，具体请找找其他教程。

非常感谢，我觉得会不会是因为以下原因：
1、在命令行窗口每次都要 call****.bat
这种情况下可以正常运行和编译代码
但是作为应用程序的时候，没有先call这一步，所以造成环境错误吗？

2、今天我在windows中调试open-rmf，都能正常编译生成，但是调试时出现如下错误a7908b1f-c578-4b8e-aeb9-9b2ae72deaff-165407380e8e0e531db626211d13275d.png

不知道是否有相关经验给与建议和方向啊，感谢

@1434598701 解决了吗

@43996173 你的角度变化为什么不是连续的，不是5.3 就是 -0.9

@43996173 权限占用问题，已解决

已解决，更换原文件成功

@小鱼已解决，更换解压软件后发现不完整，感谢

@280390510 在 使用colcon构建工作区时出错 中说：

given --rosdistro melodic but ROS_DISTRO is "humble" 是不是bashrc有什么配置错误的地方

@小鱼
custom_planner_plugin.xml代码：

<library path="nav2_custom_planner_plugin"> <class name="nav2_custom_planner/CustomPlanner" type="nav2_custom_planner::CustomPlanner" base_class_type="nav2_core::GlobalPlanner"> <description>是一个自定义示例插件，用于生成自定义路径。</description> </class> </library>

cmakelists.txt代码：“

cmake_minimum_required(VERSION 3.8) project(nav2_custom_planner) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake REQUIRED) find_package(nav2_core REQUIRED) find_package(pluginlib REQUIRED) #包含头文件目录 include_directories(include) #定义库名称 set(library_name ${PROJECT_NAME}_Plugin) #创建共享库 add_library(${library_name} SHARED src/nav2_custom_planner.cpp) #指定库的依赖关系 ament_target_dependencies(${library_name} nav2_core pluginlib) #安装库文件到指定目录 install(TARGETS ${library_name} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME} ) #安装头文件到指定目录 install(DIRECTORY include/ DESTINATION include/ ) #导出插件描述文件 pluginlib_export_plugin_description_file(nav2_core custom_planner_plugin.xml) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # comment the line when a copyright and license is added to all source files set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # comment the line when this package is in a git repo and when # a copyright and license is added to all source files set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() ament_package()

package.xml代码：

<?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>nav2_custom_planner</name> <version>0.0.0</version> <description>TODO: Package description</description> <maintainer email="tingbo01@qq.com">tingbo</maintainer> <license>Apache-2.0</license> <buildtool_depend>ament_cmake</buildtool_depend> <depend>nav2_core</depend> <depend>pluginlib</depend> <test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_common</test_depend> <export> <build_type>ament_cmake</build_type> <nav2_core plugin="${prefix}/custom_planner_plugin.xml" /> </export> </package>

@1181626792 可以用行为树，但其实可以把explore_lite提取出来，调用nav2不断导航探索就可以

@43996173 空间构建错误：

tingbo@DESKTOP-NHH5E05:~/chapt8/chapt8_ws$ colcon build Starting >>> autopatrol_interfaces Starting >>> autopatrol_robot Starting >>> fishbot_application Starting >>> fishbot_description Starting >>> fishbot_navigation2 Starting >>> nav2_custom_planner Finished <<< fishbot_description [2.74s] Finished <<< fishbot_navigation2 [2.75s] Finished <<< autopatrol_interfaces [5.11s] Finished <<< fishbot_application [8.58s] Finished <<< autopatrol_robot [8.63s] --- stderr: nav2_custom_planner /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp: In member function ‘virtual void nav2_custom_planner::CustomPlanner::configure(const WeakPtr&, std::string, std::shared_ptr<tf2_ros::Buffer>, std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)’: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:19:57: error: no matching function for call to ‘declare_parameter_if_not_declared(rclcpp_lifecycle::LifecycleNode::SharedPtr&, std::string&, const char*, rclcpp::ParameterValue)’ 19 | nav2_util::declare_parameter_if_not_declared( | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^ 20 | node_, name_, + ".interpolation_resolution", | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 21 | rclcpp::ParameterValue(0.1)); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:1: /opt/ros/humble/include/nav2_util/node_utils.hpp:92:6: note: candidate: ‘template<class NodeT> void nav2_util::declare_parameter_if_not_declared(NodeT, const string&, const rclcpp::ParameterValue&, const ParameterDescriptor&)’ 92 | void declare_parameter_if_not_declared( | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/humble/include/nav2_util/node_utils.hpp:92:6: note: template argument deduction/substitution failed: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:20:31: note: cannot convert ‘+(const char*)".interpolation_resolution"’ (type ‘const char*’) to type ‘const rclcpp::ParameterValue&’ 20 | node_, name_, + ".interpolation_resolution", | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:1: /opt/ros/humble/include/nav2_util/node_utils.hpp:113:6: note: candidate: ‘template<class NodeT> void nav2_util::declare_parameter_if_not_declared(NodeT, const string&, const rclcpp::ParameterType&, const ParameterDescriptor&)’ 113 | void declare_parameter_if_not_declared( | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/humble/include/nav2_util/node_utils.hpp:113:6: note: template argument deduction/substitution failed: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:20:31: note: cannot convert ‘+(const char*)".interpolation_resolution"’ (type ‘const char*’) to type ‘const rclcpp::ParameterType&’ 20 | node_, name_, + ".interpolation_resolution", | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp: In member function ‘virtual nav_msgs::msg::Path nav2_custom_planner::CustomPlanner::createPlan(const PoseStamped&, const PoseStamped&)’: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:40:70: warning: unused parameter ‘start’ [-Wunused-parameter] 40 | CustomPlanner::createPlan(const geometry_msgs::msg::PoseStamped &start, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~ /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:41:63: warning: unused parameter ‘goal’ [-Wunused-parameter] 41 | const geometry_msgs::msg::PoseStamped &goal) { | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~ gmake[2]: *** [CMakeFiles/nav2_custom_planner_Plugin.dir/build.make:76：CMakeFiles/nav2_custom_planner_Plugin.dir/src/nav2_custom_planner.cpp.o] 错误 1 gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/nav2_custom_planner_Plugin.dir/all] 错误 2 gmake: *** [Makefile:146：all] 错误 2 --- Failed <<< nav2_custom_planner [25.2s, exited with code 2] Summary: 5 packages finished [31.0s] 1 package failed: nav2_custom_planner 1 package had stderr output: nav2_custom_planner

@ganyuanzhen 在 8.1.3 cmake找不到源文件 中说：

spin_motion_cotroller.cpp

收到，谢谢