动手学ros2第5章进阶篇-控制OLED-自定义消息接口

likesingjumprap

@小鱼
platformio.ini

[env:featheresp32]
platform = espressif32
board = featheresp32
framework = arduino
lib_deps = 
	https://gitee.com/ohhuo/micro_ros_platformio.git
	adafruit/Adafruit SSD1306@^2.5.7

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(fishbot_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)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/OledControl.srv"
 )

ament_package()

package.xml

<?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>fishbot_interfaces</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="root@todo.todo">root</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>

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

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

extra_package包

extra_packages/fishbot_interfaces/
├── CMakeLists.txt
├── include
│   └── fishbot_interfaces
├── package.xml
├── src
└── srv
    └── OledControl.srv

小鱼

@842145248 是 src/main.cpp ，你的错误在 main函数里不是自定义功能包造成的

likesingjumprap

@小鱼感谢大佬的的回复，我补充完整了main.cpp后可以编译了，我按照教程还没到编写main.cpp，我以为不用先写main.cpp ，编译看看是否有错

但是命令行调用服务时出现了类似这种导包问题：重新运行代码时出现：UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'village_interfaces'， CMakelist.txt 和 packages.xml，看着好像都没问题，麻烦大佬再帮我看看

$ source install/setup.bash  && ros2 service call  /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"
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 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'fishbot_interfaces.fishbot_interfaces_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/humble/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli==0.18.7', 'console_scripts', 'ros2')())
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 89, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/command/service.py", line 41, in main
    return extension.main(args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 58, in main
    return requester(
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 86, in requester
    cli = node.create_client(srv_module, service_name)
  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/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces/local/lib/python3.10/dist-packages/fishbot_interfaces/srv/_oled_control.py", line 303, in __import_type_support__
    module = import_type_support('fishbot_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 'fishbot_interfaces'

main.cpp

#include <Arduino.h>
#include <micro_ros_platformio.h>

#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <micro_ros_utilities/string_utilities.h>

#include "Wire.h"
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

#include <fishbot_interfaces/srv/oled_control.h>

rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;

rcl_service_t service;

fishbot_interfaces__srv__OledControl_Request req;
fishbot_interfaces__srv__OledControl_Response res;

Adafruit_SSD1306 display;

void service_cb(const void *req, void *res)
{
  fishbot_interfaces__srv__OledControl_Request *req_in = (fishbot_interfaces__srv__OledControl_Request *)req;
  fishbot_interfaces__srv__OledControl_Response *res_in = (fishbot_interfaces__srv__OledControl_Response *)res;
  display.clearDisplay();
  display.setCursor(req_in->px, req_in->py);
  display.println(req_in->data.data);
  display.display();
  res_in->result = 0;
}

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200);
  set_microros_serial_transports(Serial);
  delay(2000);
  allocator = rcl_get_default_allocator();
  rclc_support_init(&support, 0, NULL, &allocator);
  rclc_node_init_default(&node, "example14_interfaces", "", &support);
  rclc_service_init_default(&service, &node, ROSIDL_GET_SRV_TYPE_SUPPORT(fishbot_interfaces, srv, OledControl), "/oled_control");
  rclc_executor_init(&executor, &support.context, 1, &allocator);
  rclc_executor_add_service(&executor, &service, &req, &res, service_cb);
  req.data = micro_ros_string_utilities_init_with_size(100);

  Wire.begin(18, 19);
  display = Adafruit_SSD1306(128, 64, &Wire);
  display.begin(SSD1306_SWITCHCAPVCC, 0x3c);
  display.clearDisplay();
  display.setTextSize(1);
  display.setCursor(0, 0);
  display.setTextColor(SSD1306_WHITE);
  display.println("hello world!");
  display.display();
}

void loop()
{
  // put your main code here, to run repeatedly:
  delay(100);
  rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
}

小鱼

@842145248

$ source install/setup.bash && ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"

这句在哪一个目录下执行的

likesingjumprap

@小鱼 example14_custom_interfaces/extra_packages 目录下

小鱼

@842145248 删除掉build和install ，重新colcon build后测试，还报错就贴一下 CMakeLists.txt 和 srv文件

likesingjumprap

@小鱼删除重新编译后还不行

CMakelists.txt

cmake_minimum_required(VERSION 3.5)
project(fishbot_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)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/OledControl.srv"
 )

ament_package()

OledControl.srv

int32 px
int32 py
string data
---
int32 result

小鱼

@842145248 用示例工程的功能包试试：https://github.com/fishros/example_micoros_board

likesingjumprap

@小鱼示例也不行

 *  Executing task: platformio run 

Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
---------------------------------------------------------------------------------------------------------------------------------------------------
Library Manager: Installing git+https://gitee.com/ohhuo/micro_ros_platformio.git
git version 2.34.1
Cloning into '/home/nzb/.platformio/.cache/tmp/pkg-installing-mkfoxl4p'...
remote: Enumerating objects: 5773, done.
remote: Counting objects: 100% (5773/5773), done.
remote: Compressing objects: 100% (2618/2618), done.
remote: Total 5773 (delta 2905), reused 5732 (delta 2883), pack-reused 0
Receiving objects: 100% (5773/5773), 19.12 MiB | 5.79 MiB/s, done.
Resolving deltas: 100% (2905/2905), done.
Library Manager: micro_ros_platformio@0.0.1+sha.085c5dd has been installed!
Library Manager: Installing adafruit/Adafruit SSD1306 @ ^2.5.7
Unpacking  [####################################]  100%
Library Manager: Adafruit SSD1306@2.5.7 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing Adafruit GFX Library
Unpacking  [####################################]  100%
Library Manager: Adafruit GFX Library@1.11.8 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing Adafruit BusIO
Unpacking  [####################################]  100%
Library Manager: Adafruit BusIO@1.14.4 has been installed!
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
PLATFORM: Espressif 32 (5.2.0) > Adafruit ESP32 Feather
HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
PACKAGES: 
 - framework-arduinoespressif32 @ 3.20005.220925 (2.0.5) 
 - tool-esptoolpy @ 1.40201.0 (4.2.1) 
 - toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch3
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing pyyaml with pip at PlatformIO environment
/home/nzb/.platformio/penv/bin/python -m pip install pyyaml
Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple
Requirement already satisfied: pyyaml in /home/nzb/.platformio/penv/lib/python3.10/site-packages (6.0)

[notice] A new release of pip available: 22.3.1 -> 23.2.1
[notice] To update, run: pip install --upgrade pip
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/nzb/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple
Requirement already satisfied: markupsafe==2.0.1 in /home/nzb/.platformio/penv/lib/python3.10/site-packages (2.0.1)

[notice] A new release of pip available: 22.3.1 -> 23.2.1
[notice] To update, run: pip install --upgrade pip
Configuring featheresp32 with transport serial
micro-ROS already built
Found 36 compatible libraries
Scanning dependencies...
Dependency Graph
|-- micro_ros_platformio @ 0.0.1+sha.085c5dd
|-- Adafruit SSD1306 @ 2.5.7
|-- Wire @ 2.0.0
|-- Adafruit GFX Library @ 1.11.8
Building in release mode
Compiling .pio/build/featheresp32/src/main.cpp.o
Building .pio/build/featheresp32/bootloader.bin
Generating partitions .pio/build/featheresp32/partitions.bin
esptool.py v4.2.1
Creating esp32 image...
Merged 1 ELF section
Successfully created esp32 image.
src/main.cpp:13:10: fatal error: fishbot_interfaces/srv/oled_control.h: No such file or directory
 #include <fishbot_interfaces/srv/oled_control.h> // 添加接口
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
Compiling .pio/build/featheresp32/lib61f/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o
Compiling .pio/build/featheresp32/lib61f/micro_ros_platformio/platform_code/arduino/serial/micro_ros_transport.cpp.o
Compiling .pio/build/featheresp32/lib31c/Wire/Wire.cpp.o
Compiling .pio/build/featheresp32/lib271/SPI/SPI.cpp.o
Compiling .pio/build/featheresp32/libaae/Adafruit BusIO/Adafruit_BusIO_Register.cpp.o
*** [.pio/build/featheresp32/src/main.cpp.o] Error 1
=========================================================== [FAILED] Took 16.30 seconds ===========================================================

 *  The terminal process "platformio 'run'" terminated with exit code: 1. 
 *  Terminal will be reused by tasks, press any key to close it.

小鱼

@842145248 需要重新构建microros库，按照你之前的流程，或者把extra_pkgs 替换下

likesingjumprap

@小鱼鱼哥，还是不行，libmicroros 删除了，重新编译，终端打印编译过程没报错，也通过了，但是中间报这种影响吗？

看 libmicroros 目录下也有那个fishbot_interfaces了

执行ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}" 报错还是之前这个：

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 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'fishbot_interfaces.fishbot_interfaces_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/humble/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli==0.18.7', 'console_scripts', 'ros2')())
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 89, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/command/service.py", line 41, in main
    return extension.main(args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 58, in main
    return requester(
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 86, in requester
    cli = node.create_client(srv_module, service_name)
  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/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces/local/lib/python3.10/dist-packages/fishbot_interfaces/srv/_oled_control.py", line 303, in __import_type_support__
    module = import_type_support('fishbot_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 'fishbot_interfaces'

小鱼

@842145248 在动手学ros2第5章进阶篇-控制OLED-自定义消息接口中说：

ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"

真是奇怪了，你在extra_pkgs下依次运行下面的指令，把结果反馈出来看看

rm -rf build install log
colcon build
source install/setup.bash
ros2 serivice list
ros2 interface list | grep fishbot
ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'

likesingjumprap

@小鱼
rm -rf build install log && colcon build --packages-up-to fishbot_interfaces && source install/setup.bash

[0.467s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.468s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> fishbot_interfaces
Finished <<< fishbot_interfaces [5.13s]                     

Summary: 1 package finished [5.37s]

ros2 service list && ros2 interface list | grep fish

/oled_control
fishbot_interfaces/srv/OledControl

ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"

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 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'fishbot_interfaces.fishbot_interfaces_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/humble/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli==0.18.7', 'console_scripts', 'ros2')())
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 89, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/command/service.py", line 41, in main
    return extension.main(args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 58, in main
    return requester(
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 86, in requester
    cli = node.create_client(srv_module, service_name)
  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/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces/local/lib/python3.10/dist-packages/fishbot_interfaces/srv/_oled_control.py", line 303, in __import_type_support__
    module = import_type_support('fishbot_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 'fishbot_interfaces'

小鱼

@842145248 在动手学ros2第5章进阶篇-控制OLED-自定义消息接口中说：

--packages-up-to fishbot_interfaces

不要加这个

likesingjumprap

@小鱼一样的报错，那个是我测试加上的，刚刚我删了重新编译了下，还是上面报错，人都要麻了

likesingjumprap

@842145248 我环境跟教程一样的22.04，humble

小鱼

@842145248 我在我这里测试了一下，没有问题：

测试指令:

cd ~
git clone git@github.com:fishros/example_micoros_board.git
cd example_micoros_board/example14_custom_interface/extra_packages/
rm -rf build install log
colcon build
source install/setup.bash
ros2 serivice list
ros2 interface list | grep fishbot
ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"

likesingjumprap

@小鱼

likesingjumprap

@842145248 这demo也没啥什么环境变量影响啊，咋就不行了呢

小鱼

@842145248 代码一样你的系统是多少的，不幸就换个系统试试