3.4.3系统信息获取与发布ros2 run status_publisher sys_status_pub报错ModuleNotFoundError: No module named 'status_interfaces.status_interfaces_s__rosidl_typesupport_c'

[1044746741]

colcon build不报错，但是ros2 run status_publisher sys_status_pub就报错，报错内容为

(base) jack@jack-HP-ZBook-Power-15-6-inch-G10-Mobile-Workstation-PC:~/ros2/learning/chapter3/topic_practice_ws$ ros2 run status_publisher sys_status_pub 
[INFO] [1738679500.556775450] [sys_status_pub]: sys_status_pub, start!
Traceback (most recent call last):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
    return importlib.import_module(module_name, package=pkg_name)
  File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'status_interfaces.status_interfaces_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/jack/ros2/learning/chapter3/topic_practice_ws/install/status_publisher/lib/status_publisher/sys_status_pub", line 33, in <module>
    sys.exit(load_entry_point('status-publisher==0.0.0', 'console_scripts', 'sys_status_pub')())
  File "/home/jack/ros2/learning/chapter3/topic_practice_ws/install/status_publisher/lib/python3.10/site-packages/status_publisher/sys_status_pub.py", line 31, in main
    node = SysStatusPub("sys_status_pub")
  File "/home/jack/ros2/learning/chapter3/topic_practice_ws/install/status_publisher/lib/python3.10/site-packages/status_publisher/sys_status_pub.py", line 11, in __init__
    self.sys_status_publisher_ = self.create_publisher(SystemStatus, "sys_status", 10)      # 创建发布者
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1290, in create_publisher
    check_is_valid_msg_type(msg_type)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 35, in check_is_valid_msg_type
    check_for_type_support(msg_type)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 29, in check_for_type_support
    msg_or_srv_type.__class__.__import_type_support__()
  File "/home/jack/ros2/learning/chapter3/topic_practice_ws/install/status_interfaces/lib/python3.12/site-packages/status_interfaces/msg/_system_status.py", line 31, in __import_type_support__
    module = import_type_support('status_interfaces')
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
    raise UnsupportedTypeSupport(pkg_name)
rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'status_interfaces'
[ros2run]: Process exited with failure 1

sys_status_pub.py的代码的内容为

import rclpy
from status_interfaces.msg import SystemStatus
from rclpy.node import Node
import psutil
import platform

class SysStatusPub(Node):
    def __init__(self, node_name):
        super().__init__(node_name)
        self.get_logger().info(f"{node_name}, start!")
        self.sys_status_publisher_ = self.create_publisher(SystemStatus, "sys_status", 10)      # 创建发布者
        self.create_timer(1, self.timer_callback)

    def timer_callback(self):
        msg = SystemStatus()
        msg.stamp = self.get_clock().now().to_msg()                                 # 获取当前时间
        msg.host_name = platform.node()                                             # 主机名
        msg.cpu_percent = psutil.cpu_percent()                                      # CPU使用率
        msg.mem_percent = psutil.virtual_memory().percent                        # 内存使用率
        msg.mem_total = psutil.virtual_memory().total / 1024 / 1024              # 内存使用率
        msg.mem_available = psutil.virtual_memory().available / 1024 / 1024      # 内存使用率
        msg.net_sent = psutil.net_io_counters().bytes_sent / 1024 / 1024            # 网络发送量，字节B(/1024/1024) -> MB
        msg.net_recv = psutil.net_io_counters().bytes_recv / 1024 / 1024            # 网络接收量，字节B(/1024/1024) -> MB

        self.sys_status_publisher_.publish(msg)                                     # 发布消息
        self.get_logger().info(f"发布了{str(msg)}")


def main():
    rclpy.init()
    node = SysStatusPub("sys_status_pub")
    rclpy.spin(node)
    rclpy.shutdown()

工程结构为

尝试很多方法没能解决，求助！！！

[小伊]

从你提供的错误信息来看，主要问题是 ROS 2 无法找到名为 status_interfaces.status_interfaces_s__rosidl_typesupport_c 的模块。这通常是因为消息类型支持（type support）没有正确生成或者没有正确安装。以下是一些可能的解决步骤：

1. 确保消息接口和类型支持正确生成：

   • 首先，确保你的 status_interfaces 包中的 .idl 文件已经正确描述了消息类型。
   • 使用 colcon build 命令重新构建你的工作区。在构建过程中，ROS 2 会生成 C++ 和 Python 的类型支持代码。

2. 检查 setup.py 和 package.xml：

   • 确保 status_interfaces 包的 setup.py 文件中包含了正确的 rosidl_generate_interfaces 调用，这通常看起来像这样：

     from setuptools import setup
     
     setup(
         # 其他参数...
         packages=find_packages(exclude=['test']),
         package_dir={'': 'src'},
         generate_ros_interface_targets=True,
         depend_ency_links=[
             # 依赖链接（如果有）
         ],
         install_requires=[
             # 依赖包
         ],
         entry_points={
             # 入口点（如果有）
         },
         include_package_data=True,
         zip_safe=False,
         maintainer='your_name',
         maintainer_email='your_email@example.com',
         description='TODO: Package description',
         license='TODO: License declaration',
         tests_require=['pytest'],
         classifiers=[
             'Programming Language :: Python',
             'License :: OSI Approved :: Apache Software License',
             'Operating System :: OS Independent',
         ],
         python_requires='>=3.6',
     )
     

   • 确保 package.xml 中包含了所有必要的依赖项和构建工具。

3. 清理和重建：

   • 有时候，旧的构建文件可能会导致问题。尝试清理你的工作区：

     rm -rf build/ install/ log/
     colcon build --packages-up-to status_interfaces
     

   • 确保 status_interfaces 包被成功构建。

4. 检查 ROS 2 环境：

   • 确保你的 source 命令正确指向了你的 ROS 2 安装和工作区：

     source /opt/ros/humble/setup.bash
     source ~/ros2/learning/chapter3/topic_practice_ws/install/setup.bash
     

5. 运行节点：

   • 在执行 ros2 run status_publisher sys_status_pub 之前，确保所有的依赖和环境都已正确设置。

如果上述步骤都不能解决问题，可能需要更详细地检查 status_interfaces 包的内容，特别是 .idl 文件和相关的 CMake 配置。确保所有必要的类型支持都被正确生成和安装。

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以上为生成回答，仅供参考～