4.2.1自定义服务接口构建功能包出错

因却斯丁

0b69fcd4-5d42-4264-963d-b7e5cac81090-图片.png ```
code_text

sensor_msgs/Image image 
---
int16 number
float32 use_time
int32[] top
int32[] right
int32[] bottom
int32[] left

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()

<?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="redfish@foxmail.com">yhy</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>

求解，一步步跟着教程来的，为什么会出现构建失败的情况

因却斯丁

奇怪的是，我将xml文件中的<member_of_group>rosidl_interface_packages</member_of_group>改为<member_of_group>rosidl_interfaces_packages</member_of_group>后就能构建成功了，我使用的ROS2版本为humble,这就很奇怪

wsxq2

@因却斯丁我这边是正常的，/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:229的上下文如下（可以看到__group_name的值是rosidl_interface_packages）：

224       set(_group_name "rosidl_interface_packages")
225       if(NOT _AMENT_PACKAGE_NAME)
226         ament_package_xml()
227       endif()
228       if(NOT _group_name IN_LIST ${_AMENT_PACKAGE_NAME}_MEMBER_OF_GROUPS)
229         message(FATAL_ERROR
230           "Packages installing interfaces must include \
231           '<member_of_group>${_group_name}</member_of_group>' \
232           in their package.xml"
233         )

你这个确实有点奇怪。是不是没有执行 sudo apt upgrade 之类的导致的？

我这个文件来自 apt 中的 ros-humble-rosidl-cmake，其版本为 3.1.7-1jammy.20250718.233348，如下所示：

wsxq2@ubuntu-pc:ros2_ws$ dpkg -S /opt/ros/humble/share/rosidl_cmake
ros-humble-rosidl-cmake: /opt/ros/humble/share/rosidl_cmake
wsxq2@ubuntu-pc:ros2_ws$ apt show ros-humble-rosidl-cmake
Package: ros-humble-rosidl-cmake
Version: 3.1.7-1jammy.20250718.233348
Priority: optional
Section: misc
Maintainer: Michel Hidalgo <michel@ekumenlabs.com>
Installed-Size: 104 kB
Depends: python3-empy, ros-humble-ament-cmake, ros-humble-rosidl-adapter, ros-humble-rosidl-parser, ros-humble-ros-workspace
Download-Size: 15.7 kB
APT-Manual-Installed: no
APT-Sources: https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 Packages
Description: The CMake functionality to invoke code generation for ROS interface files.
wsxq2@ubuntu-pc:ros2_ws$ dpkg -l |grep ros-humble-rosidl-cmake
ii  ros-humble-rosidl-cmake                            3.1.7-1jammy.20250718.233348            amd64        The CMake functionality to invoke code generation for ROS interface files.
wsxq2@ubuntu-pc:ros2_ws$