自定义通信接口例子中 SystemStatus.msg构建功能包时报错 CMakeLists.txt:16 (rosidl_generate_interfaces)，哪位i大神能否指点下？非常感谢

[davidliu77]

自定义通信接口例子，SystemStatus.msg 构建功能包时，命令行
colcon build --packages-select status_interfaces

报错信息如下：

Starting >>> status_interfaces
--- stderr: status_interfaces
CMake Error at /opt/ros/jazzy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:234 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:16 (rosidl_generate_interfaces)

CMake Error at /opt/ros/jazzy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:234 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:16 (rosidl_generate_interfaces)

CMake Error at /opt/ros/jazzy/share/rosidl_generator_type_description/cmake/rosidl_generator_type_description_generate_interfaces.cmake:68 (message):
Target dependency
'/ROS2/pkg_ws/build/status_interfaces/rosidl_adapter/status_interfaces/msg/SystemStatus.idl'
does not exist
Call Stack (most recent call first):
/opt/ros/jazzy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/jazzy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:280 (ament_execute_extensions)
CMakeLists.txt:16 (rosidl_generate_interfaces)

操作步骤如下：
1.使用下面命令创建工作区间后
ros2 pkg create status_interfaces --build-type ament_cmake --dependencies rosidl_default_generators builtin_interfaces --license Apache-2.0

2.建立文件 status_interfaces/msg/SystemStatus.msg

3.CMLists.txt内容如下
cmake_minimum_required(VERSION 3.8)
project(status_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(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

find_package(builtin_interfaces REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/SystemStatus.msg"
DEPENDENCIES builtin_interfaces
)

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()

4.package.xml内容如下
<?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>status_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="d@todo.todo">d</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rclcpp</depend>
<depend>std_msgs</depend>
<build_depend>rosidl_default_generators</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<depend>builtin_interfaces</depend>

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

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

[小伊]

从你提供的错误信息和构建步骤来看，这里有几个潜在的问题和改进点：

1. CMakeLists.txt 中的依赖项：

   • 你在 CMakeLists.txt 中包含了 find_package(rclcpp REQUIRED) 和 find_package(std_msgs REQUIRED)，但这两个包在生成消息接口时并不是必需的。rclcpp 是用于 ROS 2 客户端库的，而 std_msgs 包含了标准消息类型。对于你的自定义消息包，这些依赖是不必要的。

2. 错误的依赖声明：

   • 在 rosidl_generate_interfaces 调用中，你指定了 DEPENDENCIES builtin_interfaces。这通常是正确的，但错误可能源于其他配置问题或版本不兼容。

3. CMake 和 ROS 2 版本兼容性：

   • 错误信息中提到了列表索引超出范围，这可能是由于 ROS 2 的某个版本与你的 CMakeLists.txt 配置不兼容。确保你的 ROS 2 环境是最新的，或者至少是与你的教程或示例代码兼容的版本。

4. 清理和重建：

   • 有时候，旧的构建文件可能会导致问题。尝试完全清理你的工作空间（删除 build 和 install 文件夹），然后重新构建。

5. 检查 SystemStatus.msg 文件：

   • 确保 SystemStatus.msg 文件格式正确，没有语法错误。

6. 更新 package.xml：

   • 你的 package.xml 中包含了不必要的依赖，如 rclcpp 和 std_msgs。这些应该只在需要使用这些库的功能时才包含。

下面是一个简化和更新的 CMakeLists.txt 和 package.xml 示例：

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(status_interfaces)

# 默认设置编译选项
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# 查找必需的包
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(builtin_interfaces REQUIRED)

# 生成接口
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/SystemStatus.msg"
  DEPENDENCIES builtin_interfaces
)

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

ament_package()

package.xml

<package format="3">
  <name>status_interfaces</name>
  <version>0.0.0</version>
  <description>The status_interfaces package</description>
  <maintainer email="your_email@todo.todo">your_name</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <depend>builtin_interfaces</depend>

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

请确保你的 ROS 2 环境设置正确，并且所有依赖项都已正确安装。然后尝试再次构建你的包。如果问题仍然存在，请检查 ROS 2 的版本和任何已知的兼容性问题。

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以上为生成回答，仅供参考～