请问ros2在使用make编译的时候报这个错误是怎么回事儿阿？

luyuan

.cpp file
#include "rclcpp/rclcpp.hpp"

int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_sharedrclcpp::Node("test_node");
RCLCPP_INFO(node->get_logger(), "Hello, ROS2!");
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

cmakelists.txt
cmake_minimum_required(VERSION 3.20)
project(test_node)
add_executable(test_node test_node.cpp)

find_package(rclcpp REQUIRED)

target_include_directories(test_node PUBLIC ${rclcpp_INCLUDE_DIRS})
target_link_libraries(test_node ${rclcpp_LIBRARIES})

In file included from /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:42:0,
from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/luyuan/桌面/all_codes/ros2_learn/test_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/publisher_options.hpp:69:10: error: ‘is_void_v’ is not a member of ‘std’
std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
^~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/publisher_options.hpp:69:10: note: suggested alternative: ‘is_void’
std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
^~~~~~~~~
is_void
/opt/ros/humble/include/rclcpp/rclcpp/publisher_options.hpp:69:73: error: expected ‘(’ before ‘>’ token
std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
^
/opt/ros/humble/include/rclcpp/rclcpp/publisher_options.hpp:69:74: error: expected primary-expression before ‘,’ token
std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
^
In file included from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25:0,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/luyuan/桌面/all_codes/ros2_learn/test_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:295:10: error: ‘is_same_v’ is not a member of ‘std’
std::is_same_v<TakeT, SubscribedType>,
^~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:295:10: note: suggested alternative: ‘is_same’
std::is_same_v<TakeT, SubscribedType>,
^~~~~~~~~
is_same
/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:293:8: error: parse error in template argument list
std::enable_if_t<
^~~~~~~~~~~~
!rosidl_generator_traits::is_message<TakeT>::value &&
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
std::is_same_v<TakeT, SubscribedType>,
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:295:42: error: expected unqualified-id before ‘,’ token
std::is_same_v<TakeT, SubscribedType>,
^
In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription_base.hpp:32:0,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:29,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/luyuan/桌面/all_codes/ros2_learn/test_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp: In instantiation of ‘class rclcpp::AnySubscriptionCallback<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> >’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:423:49: required from ‘class rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> > >’
/opt/ros/humble/include/rclcpp/rclcpp/parameter_client.hpp:208:69: required from here
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:977:3: error: no type named ‘variant_type’ in ‘struct rclcpp::detail::AnySubscriptionCallbackHelper<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, false>’
get_variant()
^~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:983:3: error: no type named ‘variant_type’ in ‘struct rclcpp::detail::AnySubscriptionCallbackHelper<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, false>’
get_variant() const
^~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:993:34: error: no type named ‘variant_type’ in ‘struct rclcpp::detail::AnySubscriptionCallbackHelper<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, false>’
typename HelperT::variant_type callback_variant_;
^~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/test_node.dir/build.make:76：CMakeFiles/test_node.dir/test_node.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:85：CMakeFiles/test_node.dir/all] 错误 2
make: *** [Makefile:101：all] 错误 2

机器人小伊

从错误信息来看，你遇到的问题主要与C++标准库中的类型特性（type traits）相关。错误提示表明std::is_void_v和std::is_same_v不是std的成员，这通常意味着编译器没有识别这些类型特性，这可能是因为你的编译器或编译选项不支持C++17或更高版本，而std::is_void_v和std::is_same_v是C++17中引入的。

ROS 2 Humble 默认要求使用C++17或更高版本的编译器。以下是一些可能的解决步骤：

检查编译器版本：
确保你使用的编译器支持C++17。对于GCC，版本应该至少是8.2；对于Clang，版本应该至少是7.0。你可以通过运行gcc --version或clang --version来检查你的编译器版本。
设置CMake使用C++17：
在你的CMakeLists.txt文件中，确保设置了正确的C++标准。虽然ROS 2的CMake模板通常已经设置了这一点，但你可以显式地添加或确认以下行：
```
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
```
清理并重新构建：
在修改CMakeLists.txt或编译器设置后，确保清理你的构建目录（如果有的话）并从头开始构建。这可以通过删除build或CMakeCache.txt文件以及使用make clean（如果可用）来完成，然后再次运行colcon build或cmake .. && make（取决于你使用的是colcon还是传统的make）。
检查环境变量：
确保你的环境变量正确设置，特别是与ROS 2和编译器相关的变量。这包括CMAKE_PREFIX_PATH，它应该包含ROS 2的安装路径。
使用colcon代替make：
ROS 2推荐使用colcon作为构建系统。如果你的项目是一个标准的ROS 2包，使用colcon build代替make可能更容易解决依赖和构建问题。确保你的工作空间已经正确设置，并且你已经初始化了它（使用colcon build --packages-up-to <package-name>）。
查看依赖关系：
确保所有必要的依赖项都已正确安装，并且CMakeLists.txt文件中的find_package调用正确无误。

如果以上步骤仍然无法解决问题，请检查ROS 2的官方文档或社区论坛，看看是否有其他人遇到并解决了类似的问题。

以上为生成回答，仅供参考～

小鱼

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