第十章carto介绍与安装执行colcon build --packages-up-to cartographer_ros报错，求助！！！

[441755535]

报错如下：
(base) hdm@hdm-virtual-machine:~/d2lros2/nav2_ws$ colcon build --packages-up-to cartographer_ros
Starting >>> cartographer
Starting >>> cartographer_ros_msgs
--- stderr: cartographer_ros_msgs
Traceback (most recent call last):
File "/opt/ros/humble/share/rosidl_generator_py/cmake/../../../lib/rosidl_generator_py/rosidl_generator_py", line 8, in <module>
from rosidl_generator_py import generate_py
ImportError: cannot import name 'generate_py' from 'rosidl_generator_py' (/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/init.py)
gmake[2]: *** [cartographer_ros_msgs__py/CMakeFiles/cartographer_ros_msgs__py.dir/build.make:210：rosidl_generator_py/cartographer_ros_msgs/_cartographer_ros_msgs_s.ep.rosidl_typesupport_fastrtps_c.c] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:590：cartographer_ros_msgs__py/CMakeFiles/cartographer_ros_msgs__py.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2

再继续编译的画终端就会闪退

[441755535]

ubuntu版本22.04 ros2版本humble

[441755535]

已经对源码何依赖进行了安装，按照教程一步一步来的

[小鱼]

@441755535 确定下cartographer的版本

[441755535]

@小鱼 请问源码安装如何确定版本？

[小鱼]

@441755535 https://fishros.org.cn/forum/topic/111/ros-ros2功能包在线索引网站，搜对应功能包，就可以看到对应的github和分支