4.2.1自定义服务接口编译chapt4_interfaces报错

739223875

问题描述：

跟随视频学习4.2.1自定义服务接口时，编译chapt4_interfaces时报错

报错信息如下：

xothschild@LAPTOP-LNO5LL2V:~/YuXiangROS2/chapt4/chatp4_ws$ colcon build
Starting >>> chapt4_interfaces
--- stderr: chapt4_interfaces                         
CMake Error at /opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message):
  execute_process(/usr/bin/python3 -m rosidl_adapter --package-name
  chapt4_interfaces --arguments-file
  /home/xothschild/YuXiangROS2/chapt4/chatp4_ws/build/chapt4_interfaces/rosidl_adapter__arguments__chapt4_interfaces.json
  --output-dir
  /home/xothschild/YuXiangROS2/chapt4/chatp4_ws/build/chapt4_interfaces/rosidl_adapter/chapt4_interfaces
  --output-file
  /home/xothschild/YuXiangROS2/chapt4/chatp4_ws/build/chapt4_interfaces/rosidl_adapter/chapt4_interfaces.idls)
  returned error code 1:

  Traceback (most recent call last):

    File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main
      return _run_code(code, main_globals, None,
    File "/usr/lib/python3.10/runpy.py", line 86, in _run_code
      exec(code, run_globals)
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__main__.py", line 19, in <module>
      sys.exit(main())
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/main.py", line 53, in main
      abs_idl_file = convert_to_idl(
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__init__.py", line 24, in convert_to_idl
      return convert_srv_to_idl(
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/srv/__init__.py", line 28, in convert_srv_to_idl
      srv = parse_service_string(package_name, input_file.stem, content)
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/parser.py", line 850, in parse_service_string
      raise InvalidServiceSpecification(

  rosidl_adapter.parser.InvalidServiceSpecification: Could not find separator
  '---' between request and response

Call Stack (most recent call first):
  /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
  CMakeLists.txt:13 (rosidl_generate_interfaces)


---
Failed   <<< chapt4_interfaces [1.30s, exited with code 1]
                                
Summary: 0 packages finished [1.46s]
  1 package failed: chapt4_interfaces
  1 package had stderr output: chapt4_interfaces

查了一下论坛，路径中没有中文，代码也没有写错，想问一下这个怎么改？

谢谢！

机器人小伊

从您提供的错误信息来看，问题出现在 rosidl_adapter 试图解析服务定义文件时，因为它没有找到分隔请求和响应部分的 --- 标记。这通常意味着您的服务定义文件（.srv 文件）格式可能不正确。

在 ROS 2 中，服务定义文件（.srv 文件）必须严格遵循以下格式：

# 请求部分
int64 seq
string data
---
# 响应部分
bool success
string message

这里的 --- 是必需的，它将请求参数和响应参数分隔开。

解决步骤

检查服务定义文件：
打开您的服务定义文件（通常在 chapt4_interfaces/srv/ 目录下），确保它包含正确的 --- 分隔符，并且格式正确。例如：
```
# MyService.srv
int64 seq
string data
---
bool success
string message
```
检查文件名和路径：
确保文件名和路径中没有特殊字符或不必要的空格，这可能会影响解析。
清理和重新构建：
在您的工作空间中运行以下命令来清理旧的构建文件并重新构建：
```
colcon build --packages-select chapt4_interfaces --packages-up-to chapt4_interfaces --cmake-clean-first
```
这个命令会仅构建 chapt4_interfaces 包，并在构建前清理旧的 CMake 文件。
检查 ROS 2 环境：
确保您的 ROS 2 环境设置正确，所有依赖项都已正确安装。
查看详细日志：
如果问题仍然存在，尝试运行构建命令时添加更多的调试输出，以获取更多关于错误的信息：
```
colcon build --packages-select chapt4_interfaces --packages-up-to chapt4_interfaces --cmake-verbose
```

按照这些步骤操作后，您应该能够解决编译时遇到的问题。如果问题仍然存在，请仔细检查 .srv 文件的内容，确保没有语法错误或格式问题。

以上为生成回答，仅供参考～

小鱼

@739223875 完整代码贴出来看看

739223875

@小鱼

FaceDetector.srv

sensor_msgs/Image Image # 人脸图像
--- # 横杠分割，上面是请求部分，下面是结果
int16 number
float32 use_time
int32[] top
int32[] right
int32[] bottom
int32[] left

CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(chapt4_interfaces)

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(sensor_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/FaceDetector.srv"
  DEPENDENCIES sensor_msgs
)

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

<?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>chapt4_interfaces</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="Jiahao.X@outlook.com">xothschild</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <member_of_group>rosidl_interface_packages</member_of_group>

  <depend>sensor_msgs</depend>
  <depend>rosidl_default_generators</depend>

  <test_depend>ament_lint_auto</test_depend>   
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

小鱼

@739223875 在 4.2.1自定义服务接口编译chapt4_interfaces报错中说：

rosidl_adapter.parser.InvalidServiceSpecification: Could not find separator
'---' between request and response

@739223875 在 4.2.1自定义服务接口编译chapt4_interfaces报错中说：

--- # 横杠分割，上面是请求部分，下面是结果

后面注释删掉

4.2.1自定义服务接口 编译chapt4_interfaces报错

解决步骤

4.2.1自定义服务接口编译chapt4_interfaces报错