cmake找不到rosidl_typesupport_c

starRiver.lea

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()

set(CMAKE_PREFIX_PATH "/opt/ros/humble")
# 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()

cmake配置文件运行时找不到rosidl_typesupport_c包，ament_cmake这个可以找到
cmake报错

CMake Error at /opt/ros/humble/share/rosidl_typesupport_c/cmake/get_used_typesupports.cmake:35 (message):
  No 'rosidl_typesupport_c' found
Call Stack (most recent call first):
  /opt/ros/humble/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:8 (get_used_typesupports)
  /opt/ros/humble/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /opt/ros/humble/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/humble/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /opt/ros/humble/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/humble/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
  /opt/ros/humble/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/humble/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
  CMakeLists.txt:12 (find_package)


-- Configuring incomplete, errors occurred!```
code_text

机器人小伊

从您提供的错误信息来看，CMake 在配置过程中未能找到 rosidl_typesupport_c 包。这通常意味着 rosidl_typesupport_c 包的路径没有被正确地添加到 CMake 的搜索路径中，或者该包并未被正确安装。

这里有几个步骤可以帮助您解决这个问题：

确认 rosidl_typesupport_c 是否已安装：
确保 rosidl_typesupport_c 包已经在您的 ROS 2 环境中正确安装。您可以通过运行以下命令来检查：
```
dpkg -l | grep rosidl-typesupport-c
```
如果此命令没有返回任何结果，那么您可能需要安装它。在 ROS 2 Humble 中，您可以使用以下命令安装：
```
sudo apt install ros-humble-rosidl-typesupport-c
```
检查 CMAKE_PREFIX_PATH：
您已经在 CMakeLists.txt 中设置了 CMAKE_PREFIX_PATH 为 /opt/ros/humble，这是正确的。但是，确保这个路径确实包含了所有需要的 ROS 2 包。通常，如果您是通过 ROS 2 的官方安装脚本或包管理器安装的，那么包应该位于这个路径下。
检查 CMakeLists.txt 中的依赖查找：
您的 CMakeLists.txt 中使用了 find_package 来查找依赖，但是对于 rosidl_typesupport_c，通常它应该是作为其他包的依赖而被间接找到的。如果您直接需要找到并使用 rosidl_typesupport_c，请确保它已经在您的项目中作为依赖被声明（虽然通常这是通过其他 ROS 2 包如 rclcpp 自动处理的）。
清理并重新构建：
有时候，旧的构建文件可能会导致问题。尝试清理您的构建目录（通常是 build 文件夹），然后重新运行 CMake。
检查环境变量：
确保您的 source /opt/ros/humble/setup.bash（或对应的 shell 初始化脚本）已经执行，这会将 ROS 2 的环境变量设置正确。
查看详细的 CMake 输出：
运行 CMake 时添加 -DCMAKE_VERBOSE_MAKEFILE=ON 选项，这将显示更多的详细信息，可能会帮助您诊断问题。

如果上述步骤都不能解决问题，您可能需要检查是否有其他配置或安装问题，或者查看 ROS 2 社区或相关论坛寻求帮助。

以上为生成回答，仅供参考～

小鱼

@starRiver-lea 在 cmake找不到rosidl_typesupport_c 中说：

set(CMAKE_PREFIX_PATH "/opt/ros/humble")

这个路径不对，你还是下source 改环境变量

starRiver.lea

@小鱼感谢您的回答，我只在/opt/ros/humble路径下面找到了setup.bash，使用wget http://fishros.com/install -O fishros && . fishros
命令安装的正确路径应该是什么

小鱼

@starRiver-lea 先 source /opt/ros/humble/setup.bash 接着执行 cmake

starRiver.lea

@小鱼执行完source /opt/ros/humble/setup.bash命令后仍然报错

/snap/clion/296/bin/cmake/linux/x64/bin/cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_MAKE_PROGRAM=/snap/clion/296/bin/ninja/linux/x64/ninja -G Ninja -S /home/lfy/workspace/ros2/village_wang -B /home/lfy/workspace/ros2/village_wang/cmake-build-debug
-- Found ament_cmake: 1.3.10 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.10 (/opt/ros/humble/share/rclcpp/cmake)
-- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
CMake Error at /opt/ros/humble/share/rosidl_typesupport_c/cmake/get_used_typesupports.cmake:35 (message):
  No 'rosidl_typesupport_c' found
Call Stack (most recent call first):
  /opt/ros/humble/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:8 (get_used_typesupports)
  /opt/ros/humble/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /opt/ros/humble/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/humble/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
  /opt/ros/humble/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/humble/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
  /opt/ros/humble/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/humble/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
  CMakeLists.txt:12 (find_package)


-- Configuring incomplete, errors occurred!

[无法重新加载]

starRiver.lea

@starRiver-lea 在文件中能找到rosidl_typesupport_c这个包