如何使用roslaunch 调用不同工作空间的功能包？

[小鱼]

@空白 目前我所知道比较好的办法就是你提到的这两个，当然还有其他办法，比如讲某个常用但是不需要更改的功能包安装到系统的目录——/opt/ros。

使用指令

sudo colcon build --merge-install --install-base /opt/ros/humble/

• 加sudo增加管理员权限
• --merge-install 用于合并安装，不让一个包在一个单独目录
• --install-base /opt/ros/humble/ 将安装地址从install修改到系统的ros目录下

测试步骤

fishros@DESKTOP-5RDMRLE:/mnt/d/Code/GitHub/yolov5_ws$ sudo colcon build --merge-install --install-base /opt/ros/humble/
Starting >>> yolov5_ros2
[0.339s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'yolov5_ros2' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
--- stderr: yolov5_ros2                   
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
---
Finished <<< yolov5_ros2 [0.92s]

Summary: 1 package finished [1.03s]
  1 package had stderr output: yolov5_ros2
fishros@DESKTOP-5RDMRLE:/mnt/d/Code/GitHub/yolov5_ws$ ros2 pkg list | grep yolo
yolov5_ros2
fishros@DESKTOP-5RDMRLE:/mnt/d/Code/GitHub/yolov5_ws$ ros2 pkg prefix yolov5_ros2
/opt/ros/humble
fishros@DESKTOP-5RDMRLE:/mnt/d/Code/GitHub/yolov

[空白]

@小鱼 我在想用第一个方法如果安装的功能包太多，放在bashrc里面，要是多的功能包都安装了同一个附属功能包，那会不会出问题？感觉很多时候像是下载的功能包需要用rosdepc安装依赖时，可能会安装相同的？

[空白]

@小鱼 刚刚尝试这样安装在/opt/ros/humble/下，然后又出现了一个新的问题

not found: "/opt/ros/humble/share/moveit_common/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_fanuc_description/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_fanuc_moveit_config/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_panda_description/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_panda_moveit_config/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_pr2_description/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_prbt_support/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_task_constructor_msgs/local_setup.bash"
not found: "/opt/ros/humble/share/rosparam_shortcuts/local_setup.bash"
not found: "/opt/ros/humble/share/rviz_marker_tools/local_setup.bash"
not found: "/opt/ros/humble/share/srdfdom/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_core/local_setup.bash"
not found: "/opt/ros/humble/share/chomp_motion_planner/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_chomp_optimizer_adapter/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_kinematics/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_planners_chomp/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_prbt_ikfast_manipulator_plugin/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_occupancy_map_monitor/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_planning/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_planners_ompl/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_move_group/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_prbt_moveit_config/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_resources_prbt_pg70_support/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_perception/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_robot_interaction/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_warehouse/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_benchmarks/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_planning_interface/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_hybrid_planning/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_visualization/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_servo/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_setup_framework/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_setup_app_plugins/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_setup_controllers/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_setup_core_plugins/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_setup_srdf_plugins/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_setup_assistant/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_simple_controller_manager/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_plugins/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_ros_control_interface/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_task_constructor_core/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_task_constructor_capabilities/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_task_constructor_demo/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_task_constructor_visualization/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_visual_tools/local_setup.bash"
not found: "/opt/ros/humble/share/hello_moveit/local_setup.bash"
not found: "/opt/ros/humble/share/pilz_industrial_motion_planner/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_planners/local_setup.bash"
not found: "/opt/ros/humble/share/moveit/local_setup.bash"
not found: "/opt/ros/humble/share/moveit2_tutorials/local_setup.bash"
not found: "/opt/ros/humble/share/moveit_runtime/local_setup.bash"
not found: "/opt/ros/humble/share/pilz_industrial_motion_planner_testutils/local_setup.bash"

它的setup文件好像没有附带安装过去，应该怎么办

[小鱼]

@空白 是在什么情况下出现的，我确认了下，这样安装确实会导致没有local_setup.bash，但是依然可以正常在其他空间运行
eg：ros2 run yolov5_ros2 yolo_detect_2d

[Lorry]

@空白 不同工作空间相互调用直接将各自工作空间的激活命令放到~/.bashrc文件中，这样打开terminal后，直接激活了多个工作空间，就能找到对应的包了

[空白]

@Lorry 这个方法我尝试过，也成功了，当时觉得可能会出现功能包冲突（比如说命名重复啥的）就试了下小鱼的方法，然后环境好像出问题了

[Lorry]

@空白 命名重复的话智能修改包名称了

[空白]

@Lorry 嗯嗯，目前来看这个方法算比较简单的

[空白]

@小鱼 我在我包含moveit的工作空间

~/ws_moveit2$ sudo colcon build --merge-install --install-base /opt/ros/humble/

然后编译通过了，在/opt/ros/humble/share 里面也可以找到相应的名字
内容和/home/xxx/ws_moveit2/install/moveit_configs_utils/share里面内容一样
（本来share里面好像就没有local_setup.bash），只在/home/xxx/ws_moveit2/install
里面看到了
然后出现的现象如上图所示，尝试有：
1.在原ws_moveit2空间使用

sudo colcon build --merge-install --install-base /opt/ros/humble/

可以继续编译成功，但是使用colcon build会出现

[0.605s] ERROR:colcon.colcon_core.environment:Exception in shell extension 'dsv': [Errno 13] Permission denied: '/home/pan/ws_moveit2/install/moveit_resources_panda_description/share/moveit_resources_panda_description/package.dsv'
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/colcon_core/environment/__init__.py", line 131, in create_environment_scripts_only
    retval = extension.create_package_script(
  File "/usr/lib/python3/dist-packages/colcon_core/shell/dsv.py", line 30, in create_package_script
    expand_template(
  File "/usr/lib/python3/dist-packages/colcon_core/shell/template/__init__.py", line 54, in expand_template
    with destination_path.open('w') as h:
  File "/usr/lib/python3.10/pathlib.py", line 1119, in open
    return self._accessor.open(self, mode, buffering, encoding, errors,
PermissionError: [Errno 13] Permission denied: '/home/pan/ws_moveit2/install/moveit_resources_panda_description/share/moveit_resources_panda_description/package.dsv'

--- stderr: moveit_resources_panda_description
CMake Error at cmake_install.cmake:86 (file):
  file INSTALL cannot set permissions on
  "/home/pan/ws_moveit2/install/moveit_resources_panda_description/share/moveit_resources_panda_description/package.dsv":
  Operation not permitted.


---
Failed   <<< moveit_resources_panda_description [0.24s, exited with code 1]
Aborted  <<< moveit_resources_pr2_description [0.22s]
Aborted  <<< moveit_resources_prbt_support [0.22s]
Aborted  <<< moveit_common [0.24s]
Aborted  <<< moveit_resources_fanuc_description [0.23s]
Aborted  <<< srdfdom [0.24s]
Aborted  <<< rviz_marker_tools [0.22s]
Aborted  <<< rosparam_shortcuts [0.22s]
Aborted  <<< moveit_task_constructor_msgs [0.34s]                              
Aborted  <<< launch_param_builder [0.35s]

Summary: 0 packages finished [0.61s]
  1 package failed: moveit_resources_panda_description
  9 packages aborted: launch_param_builder moveit_common moveit_resources_fanuc_description moveit_resources_pr2_description moveit_resources_prbt_support moveit_task_constructor_msgs rosparam_shortcuts rviz_marker_tools srdfdom
  5 packages had stderr output: moveit_common moveit_resources_fanuc_description moveit_resources_panda_description moveit_resources_pr2_description moveit_resources_prbt_support
  46 packages not processed

2.除直接通过Ctrl+Alt+T会出现上述现象外，在其他没有改动的工作空间下面采用

source install/setup.bash

也会出现相同的错误

目前想到的尝试方法有：
1.是否可以通过在/opt/ros/humble/ 里面colcon build 尝试会不会改变这个底层空间的setup.bash从而解决办法
2.如果实在不行应该如何还原？是直接像二进制那样autoremove moveit相关就可，还是只能把这些全删掉重新搞？

[小鱼]

@空白 这个是因为之前安装用了sudo导致权限变了的原因，你可以后续编译都用sudo来进行，或者将原有编译出来的文件删除重新编译即可。

另外就是你之前是否有加到.bashrc下的关于功能包的配置，有的话可以删掉。

[空白]

@小鱼 原有编译删掉是指将/opt/ros/humble/share里面多出来的功能包删掉即可吗？

[小鱼]

@空白 是你工作空间下的，因为采用sudo编译，导致build和log文件夹权限被修改成root用户了，后续直接使用colcon会没有权限。

[空白]

@小鱼 .bashrc里面没有其他工作空间配置，只有source /opt/ros/humble/setup.bash

[空白]

@小鱼 刚刚试了下，在ws_moveit工作空间采用colcon build 和source install/setup.bash没有问题了，但是打开终端还是会显示
not found: "/opt/ros/humble/share/moveit_planners_chomp/local_setup.bash"
这类错误

[小鱼]

@空白 直接删掉工作空间下install即可，如果不需要将这些功能包安装到系统，也可以直接删掉系统/opt/目录下的相关功能包文件。

[小鱼]

@空白 不确定moveit功能包和我这边测试的是否有什么不同之处导致这一问题，你可以先把系统的功能包删掉，我抽空再次测试一下比较复杂的工程安装到系统的方法。

[空白]

@小鱼 嗯嗯，为将系统的share里面功能包删除后就不会出问题了，然后用第一种方法完成了，效果来看目前没有问题