colcon编译carto时报错

[841521791]

背景：

按照动手学ros2的教程，源码编译carto

问题描述：

我在按照步骤走到colcon build的时候，出现了报错

具体细节和上下文：

fishros@fishros-linux:/home/fishbot_ws$ sudo colcon build --packages-up-to cartographer_ros
Starting >>> cartographer
Starting >>> cartographer_ros_msgs
--- stderr: cartographer_ros_msgs
CMake Error at CMakeLists.txt:30 (find_package):
By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"ament_cmake", but CMake did not find one.

Could not find a package configuration file provided by "ament_cmake" with
any of the following names:

ament_cmakeConfig.cmake
ament_cmake-config.cmake

Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
"ament_cmake_DIR" to a directory containing one of the above files. If
"ament_cmake" provides a separate development package or SDK, be sure it
has been installed.

---

Failed <<< cartographer_ros_msgs [0.02s, exited with code 1]
Aborted <<< cartographer [35.5s]

Summary: 0 packages finished [35.6s]
1 package failed: cartographer_ros_msgs
1 package aborted: cartographer
1 package had stderr output: cartographer_ros_msgs
1 package not processed

尝试过的解决方法：

在工作空间中source了，还是这个错误

[841521791]

已经找到了解决办法，我做了2个操作：
1.在工作空间
sudo chmod 777 -R .
2.su认证root账户重新colcon

然后就成功了，我并没有测试是那一个操作使得成功编译了，解决方案源头在这里：https://github.com/ros2/ros2/issues/1236

同时这个帖子也给出了解决办法，看起来像是和我一模一样的问题，但是他的方法无效，不知道是不是我使用错误：https://blog.csdn.net/huachizi/article/details/133274365