@972032232 修改下Cmake即可

cmake_minimum_required(VERSION 3.5) project(ros2pcl_test) # Default to C99 if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) endif() # Default to C++14 if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() 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) find_package(sensor_msgs REQUIRED) find_package(rclcpp REQUIRED) find_package(PCL REQUIRED COMPONENTS common io) 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() link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable(ros2pcl_test_sub src/subscription_pcl.cpp ) ament_target_dependencies(ros2pcl_test_sub rclcpp sensor_msgs ) target_link_libraries(ros2pcl_test_sub ${PCL_LIBRARIES}) ament_package()

@541477150 不知道你这个库是哪个依赖的，你不是误删过，大概应该知道删了什么，补回来