重新运行代码时出现：UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'village_interfaces'

曼森的林佳树甜甜甜

小鱼

@andrew_liumuran 贴一下CmakeKList.txt 问题应该是没添加依赖造成的

BUG表现如下
自定义消息，编译不报错，运行就出错
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-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/python3.8/importlib/init.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
File "<frozen importlib._bootstrap>", line 991, in _find_and_load
File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
File "<frozen importlib._bootstrap>", line 556, in module_from_spec
File "<frozen importlib._bootstrap_external>", line 1166, in create_module
File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
ImportError: /home/ros2/code/town_ws/install/village_interfaces/lib/libvillage_interfaces__rosidl_generator_c.so: undefined symbol: sensor_msgs__msg__Image__init

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/ros2/code/town_ws/install/village_li/lib/village_li/li4_node", line 11, in <module>
load_entry_point('village-li==0.0.0', 'console_scripts', 'li4_node')()
File "/home/ros2/code/town_ws/install/village_li/lib/python3.8/site-packages/village_li/li4.py", line 46, in main
node = Li4Node() # 新建一个节点
File "/home/ros2/code/town_ws/install/village_li/lib/python3.8/site-packages/village_li/li4.py", line 23, in init
self.borrow_server = self.create_service(BorrowMoney,"borrow_money",self.borrow_money_callback)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1295, in create_service
check_for_type_support(srv_type)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
msg_type.class.import_type_support()
File "/home/ros2/code/town_ws/install/village_interfaces/lib/python3.8/site-packages/village_interfaces/srv/_borrow_money.py", line 316, in import_type_support
module = import_type_support('village_interfaces')
File "/opt/ros/foxy/lib/python3.8/site-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 'village_interfaces'

原因：
自定义消息未添加对其他消息的依赖

解决办法，添加依赖在CMakeists.txt中
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
#---msg---
"msg/Novel.msg"
#---srv---
"srv/BorrowMoney.srv"
"srv/SellNovel.srv"
DEPENDENCIES std_msgs sensor_msgs
)
————————————————
版权声明：本文为CSDN博主「鱼香ROS」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/qq_27865227/article/details/119651587

曼森的林佳树甜甜甜

@小鱼
小鱼您好，这是CmakeKList.txt，修改编译运行后仍有相同错误，还得麻烦您，谢谢！

# /home/andrew/town_ws/src/village_interfaces/CMakeLists.txt
cmake_minimum_required(VERSION 3.8)
project(village_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)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  #添加对sensor_msgs的
  find_package(sensor_msgs REQUIRED)
  find_package(rosidl_default_generators 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()
#添加消息文件和依赖
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Novel.msg"
  "srv/BorrowMoney.srv"
  "srv/SellNovel.srv"
   DEPENDENCIES std_msgs sensor_msgs 
 )
ament_package()

小鱼

@andrew_liumuran 在重新运行代码时出现：UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'village_interfaces' 中说：

#添加对sensor_msgs的
find_package(sensor_msgs REQUIRED)

把这个移到

@andrew_liumuran 在重新运行代码时出现：UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'village_interfaces' 中说：

if(BUILD_TESTING)

之前

曼森的林佳树甜甜甜

@小鱼

小鱼您好，修改之后，还是相同的报错谢谢您

project(village_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(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  #添加对sensor_msgs的
  find_package(sensor_msgs REQUIRED)
  find_package(rosidl_default_generators 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()
#添加消息文件和依赖
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Novel.msg"
  "srv/BorrowMoney.srv"
  "srv/SellNovel.srv"
   DEPENDENCIES std_msgs sensor_msgs 
 )
ament_package()

以下是报错

andrew@ros2:~/town_ws$ ros2 run village_li li3_node
[INFO] [1674031680.523058434] [li3]: 大家好，我是李三，李四他哥，我可以白嫖李四的小说！
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 1006, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 674, in _load_unlocked
  File "<frozen importlib._bootstrap>", line 571, in module_from_spec
  File "<frozen importlib._bootstrap_external>", line 1176, in create_module
  File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
ImportError: /home/andrew/town_ws/install/village_interfaces/lib/libvillage_interfaces__rosidl_generator_c.so: ELF file's phentsize not the expected size

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/andrew/town_ws/install/village_li/lib/village_li/li3_node", line 33, in <module>
    sys.exit(load_entry_point('village-li==0.0.0', 'console_scripts', 'li3_node')())
  File "/home/andrew/town_ws/install/village_li/lib/python3.10/site-packages/village_li/li3.py", line 60, in main
    node = Li3Node("li3")  # 新建一个节点
  File "/home/andrew/town_ws/install/village_li/lib/python3.10/site-packages/village_li/li3.py", line 18, in __init__
    self.borrow_client =self.create_client(BorrowMoney,"borrow_money")
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1413, in create_client
    check_is_valid_srv_type(srv_type)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 51, in check_is_valid_srv_type
    check_for_type_support(srv_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/andrew/town_ws/install/village_interfaces/local/lib/python3.10/dist-packages/village_interfaces/srv/_borrow_money.py", line 301, in __import_type_support__
    module = import_type_support('village_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 'village_interfaces'
[ros2run]: Process exited with failure 1

小鱼

@andrew_liumuran 把你的消息文件内容贴一下

曼森的林佳树甜甜甜

@小鱼

/home/andrew/town_ws/src/village_interfaces/msg/Novel.msg

# 直接使用ROS2原始的数据类型
string content
# 图像消息，调用sensor_msgs下的Image类型
sensor_msgs/Image image

小鱼

@andrew_liumuran 看起来没啥问题, 改成这样试试

project(village_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(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

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()

#添加消息文件和依赖
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Novel.msg"
  "srv/BorrowMoney.srv"
  "srv/SellNovel.srv"
   DEPENDENCIES std_msgs sensor_msgs 
 )
ament_package()

另外还不行可以直接去掉

@andrew_liumuran 在重新运行代码时出现：UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'village_interfaces' 中说：

sensor_msgs/Image image

小鱼

@andrew_liumuran 另外记得把build和install目录删除掉，重新colcon build试试

曼森的林佳树甜甜甜

@小鱼

謝謝小魚，刪除目錄有效，可以運行了！