@harebert 看看https://fishros.org.cn/forum/topic/1027/%E5%8A%A8%E6%89%8B%E5%AD%A6ros2%E7%AC%AC5%E7%AB%A0%E8%BF%9B%E9%98%B6%E7%AF%87-%E6%8E%A7%E5%88%B6oled-%E8%87%AA%E5%AE%9A%E4%B9%89%E6%B6%88%E6%81%AF%E6%8E%A5%E5%8F%A3/10，确认下package.xml配置中是不是添加了rosidl依赖。不行再试试看https://github.com/micro-ROS/micro_ros_platformio/issues/115#issuecomment-1704675014。去掉ros2的环境变量source。