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@2208735873 已解决，需在依赖中添加geometry_msgs add_executable(turtle_circle src/turtle_circle.cpp) ament_target_dependencies(turtle_circle rclcpp geometry_msgs) a8918bf5-65c4-47e1-a079-c72942a4134a-图片.png
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@wltsql 小鱼的所给链接的代码就是有问题的，主要在micro_ros_platformio.h文件它在// #include <micro_ros_transport.h>时无法找到对应的platform_code/arduino/wifi/micro_ros_transport.h，因此我的解决方法事用wifi链接的话要修改micro_ros_platformio.h中对应头文件应用，如下： d63d5e83-ba87-4a61-8b9e-aa0f5d3384d8-image.png