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    No executable found（ros2 run的时候找不到头文件）

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    ros2humble ros2编译 python3 节点与话题
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    • M
      march_xiong
      最后由 march_xiong 编辑

      ubuntu20.04
      在B站视频《面向过程思想编写cpp节点》

      https://www.bilibili.com/video/BV1gr4y1Q7j5/?p=25&spm_id_from=pageDriver&vd_source=5340b8baff6fb33e9d5215026c441964

      中。最后会出现此问题

      ros2@ros2-virtual-machine:~/town_ws$ ros2 run village_wang wang2_node
No executable found

      查阅资料说 使用ros2 run的时候找不到头文件，是因为现在和ros1不一样了。你必须要将可执行文件注册，ros2命令才找得到。但是此前已经在CMakeLists头文件中进行注册了

      下面文档CMakeLists.txt中有关的部分代码

      ament_package()

add_executable(wang2_node src/wang2.cpp)
ament_target_dependencies(wang2_node rclcpp)

install(TARGETS wang2_node
DESTINATION lib/${PROJECT_NAME}
)

ament_package()

      下面是wang.cpp代码

      #include "rclcpp/rclcpp.hpp"

int main(int argc,char ** argv)
{
    rclcpp::init(argc,argv);
    auto node = std::make_shared<rclcpp::Node>("wang2");

    RCLCPP_INFO(node->get_logger(),"大家好,我是单身狗wang2.");

    rclcpp::spin(node);
    rclcpp::shutdown();
}

      下面是运行中的结果

      ros2@ros2-virtual-machine:~/town_ws$ colcon build --packages-select village_wang
Starting >>> village_wang
Finished <<< village_wang [0.19s]                

Summary: 1 package finished [0.40s]
ros2@ros2-virtual-machine:~/town_ws$ source install/setup.bash
ros2@ros2-virtual-machine:~/town_ws$ ros2 pkg list | grep vill
village_li
village_wang
ros2@ros2-virtual-machine:~/town_ws$ ros2 run village_wang wang2_node
No executable found
      小鱼小 1 条回复 最后回复 回复 引用 1
      • 小鱼小
        小鱼 技术大佬 @march_xiong
        最后由 编辑

        @march_xiong 试试这个指令，看看会显示什么

        cd  src/village_wang
mkdir build
cd build
cmake ..
make

        小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

        M 1 条回复 最后回复 回复 引用 1
        • M
          march_xiong @小鱼
          最后由 march_xiong 编辑

          @小鱼
          运行上述后的结果

          ros2@ros2-virtual-machine:~/town_ws$ cd  src/village_wang
ros2@ros2-virtual-machine:~/town_ws/src/village_wang$ mkdir build
mkdir: 无法创建目录 "build": 文件已存在
ros2@ros2-virtual-machine:~/town_ws/src/village_wang$ cd build
ros2@ros2-virtual-machine:~/town_ws/src/village_wang/build$ cmake ..
-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found ament_lint_auto: 0.12.5 (/opt/ros/humble/share/ament_lint_auto/cmake)
-- Added test 'cppcheck' to perform static code analysis on C / C++ code
-- Configured cppcheck include dirs: 
-- Configured cppcheck exclude dirs and/or files: 
-- Added test 'lint_cmake' to check CMake code style
-- Added test 'uncrustify' to check C / C++ code style
-- Configured uncrustify additional arguments: 
-- Added test 'xmllint' to check XML markup files
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ros2/town_ws/src/village_wang/build
ros2@ros2-virtual-machine:~/town_ws/src/village_wang/build$ make
ros2@ros2-virtual-machine:~/town_ws/src/village_wang/build$

          然后我在新的终端重新执行ros2 run程序，结果

          ros2@ros2-virtual-machine:~/town_ws$ colcon build --packages-select village_wang
Starting >>> village_wang
Finished <<< village_wang [0.17s]                  

Summary: 1 package finished [0.35s]
ros2@ros2-virtual-machine:~/town_ws$ source install/setup.bash
ros2@ros2-virtual-machine:~/town_ws$ ros2 pkg list | grep vill
village_li
village_wang
ros2@ros2-virtual-machine:~/town_ws$ ros2 run village_wang wang2_node
No executable found
ros2@ros2-virtual-machine:~/town_ws$

          发现报相同错误

          No executable found

          后续发现找不到wang2这个节点

          ros2@ros2-virtual-machine:~/town_ws$ ros2 node list
/li4
ros2@ros2-virtual-machine:~/town_ws$ ros2 node info /wang2
Unable to find node '/wang2'
ros2@ros2-virtual-machine:~/town_ws$
          醉后不知天在水醉 2 条回复 最后回复 回复 引用 0
          • 醉后不知天在水醉
            醉后不知天在水 活跃VIP @march_xiong
            最后由 编辑

            @march_xiong 1.尝试检查一下CMakeLists.txt是否写入
            2.工作空间是否创建错误，
            文件目录为.
            └── src
            └── example_topic_rclcpp
            ├── CMakeLists.txt
            ├── include
            │ └── example_topic_rclcpp
            ├── package.xml
            └── src
            └── topic_publisher_01.cpp

            5 directories, 3 files

            1 条回复 最后回复 回复 引用 0
            • 醉后不知天在水醉
              醉后不知天在水 活跃VIP @march_xiong
              最后由 编辑

              @march_xiong 具体参考https://fishros.com/d2lros2foxy/#/chapt3/3.6.1%E5%88%9B%E5%BB%BA%E4%B8%80%E4%B8%AAC++%E5%8A%9F%E8%83%BD%E5%8C%85

              M 1 条回复 最后回复 回复 引用 0
              • M
                march_xiong @醉后不知天在水
                最后由 编辑

                @醉后不知天在水
                目录如下
                334600ee-0a51-4b94-a7a3-2f64dab28dce-5c1cf1840ae7180ecfea7ea264ede0f.png

                就是多了个构造build后的文件夹

                重新编译后报错情况如下

                ros2@ros2-virtual-machine:~/town_ws$ colcon build --packages-select village_wang
Starting >>> village_wang
--- stderr: village_wang                         
CMake Error at /opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_environment_hooks.cmake:29 (message):
  ament_environment_hooks() must be called before
  ament_generate_package_environment() (which is invoked by ament_package())
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_cmake_environment_hooks_package_hook.cmake:20 (ament_environment_hooks)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
  CMakeLists.txt:33 (ament_package)


gmake: *** [Makefile:226：cmake_check_build_system] 错误 1
---
Failed   <<< village_wang [1.41s, exited with code 2]

Summary: 0 packages finished [1.76s]
  1 package failed: village_wang
  1 package had stderr output: village_wang

                主要是这块

                CMake Error at /opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/ament_environment_hooks.cmake:29 (message):
  ament_environment_hooks() must be called before
  ament_generate_package_environment() (which is invoked by ament_package())

                就是这个环境的声明问题，不过CMakelist中的这行代码是照着视频敲的
                CMakelist进行了读写

                cmake_minimum_required(VERSION 3.8)
project(village_wang)

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(rclcpp REQUIRED)

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()

add_executable(wang2_node src/wang2.cpp)
ament_target_dependencies(wang2_node rclcpp)

install(TARGETS wang2_node
DESTINATION lib/${PROJECT_NAME}
)

                最下面的三段是视频的教程
                这个

                ament_package()

                网上查找结果

                因为ament package是构建系统独立的，所以有各种各样的ament包，比如ament CMake package、ament Python package等。

                所以这个报错，不知道应该如何解决

                小鱼小 1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @march_xiong
                  最后由 编辑

                  @march_xiong 将ament_package() 移到最后一行

                  cmake_minimum_required(VERSION 3.8)
project(example_cpp)

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(rclcpp REQUIRED)

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()

add_executable(node_01 src/node_01.cpp)
ament_target_dependencies(node_01 rclcpp)

add_executable(node_03 src/node_03.cpp)
ament_target_dependencies(node_03 rclcpp)

install(TARGETS
  node_01
  DESTINATION lib/${PROJECT_NAME}
)

install(TARGETS
  node_03
  DESTINATION lib/${PROJECT_NAME}
)


ament_package()

                  小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                  新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                  M 13183088151 2 3 条回复 最后回复 回复 引用 0
                  • M
                    march_xiong @小鱼
                    最后由 编辑

                    @小鱼
                    更改后确实运行正常了 小鱼好厉害👍 😊
                    不过有点好奇这个库要最后声明么？

                    1 条回复 最后回复 回复 引用 0
                    • 13183088151
                      学不会的ROS2 @小鱼
                      最后由 编辑

                      @小鱼 cmake_minimum_required(VERSION 3.8)
                      project(cpp01_launch)

                      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(rclcpp REQUIRED)

                      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()

                      install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
                      ament_package()

                      我的ament_package()就是在最后一行 为什么运行后的结果还是No executable found

                      1 条回复 最后回复 回复 引用 0
                      • 2
                        2041525450 @小鱼
                        最后由 编辑

                        @小鱼 9be6f6e9-4f9b-40d3-9eb5-fb37af575e8d-image.png ament_package（）在最后一行还是不行

                        小鱼小 1 条回复 最后回复 回复 引用 0
                        • 小鱼小
                          小鱼 技术大佬 @2041525450
                          最后由 编辑

                          @2041525450 我保证，视频和书里绝对没有你敲的这句命令

                          小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                          1 条回复 最后回复 回复 引用 0
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