如果您在使用 CLion（JetBrains 的 C/C++ 集成开发环境）时，能够正常地包含和使用 Point Cloud Library（PCL）库，而没有遇到任何编译或运行时错误，这通常意味着您的项目配置是正确的，并且所有必要的依赖项都已正确安装和链接。

以下是一些关键点，确保您的项目能够顺利使用 PCL：

CMakeLists.txt 配置：
确保您的 CMakeLists.txt 文件中包含了 PCL 的查找和链接指令。通常，这包括 find_package(PCL REQUIRED) 以及在 target_link_libraries 中添加相应的 PCL 组件。例如：

cmake_minimum_required(VERSION 3.10) project(PCL_Example) find_package(PCL 1.8 REQUIRED) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) add_executable(pcl_example main.cpp) target_link_libraries(pcl_example ${PCL_LIBRARIES})

PCL 安装：
确保 PCL 库已经正确安装在您的系统上，并且 pcl_config.cmake 文件（或其他相关的 CMake 配置文件）可以被 CMake 找到。这通常意味着 PCL 是通过标准的包管理器（如 apt-get, brew, vcpkg 等）安装的，或者通过源代码编译并安装了正确的 CMake 配置。

环境变量：
确保相关的环境变量（如 PCL_ROOT，如果设置的话）指向了正确的 PCL 安装目录。此外，LD_LIBRARY_PATH（Linux）或 DYLD_LIBRARY_PATH（macOS）可能需要包含 PCL 库文件的路径，以确保运行时可以找到这些库。

CLion 配置：
在 CLion 中，确保您选择了正确的 CMake 构建配置（如 Debug 或 Release），并且 CMake 缓存是最新的。有时候，清理 CMake 缓存（通过 CLion 的“File” -> “Invalidate Caches / Restart...”）可以解决一些看似无关的问题。

编译器和依赖：
确保您的编译器（如 GCC, Clang, MSVC）和所有依赖项（如 Boost, Eigen, VTK 等，这些通常是 PCL 的依赖）都是最新的，或者至少是与 PCL 兼容的版本。

如果您已经检查了以上所有点，并且一切看起来都是正确的，那么您应该能够顺利地在 CLion 中使用 PCL 库进行开发。如果遇到具体的错误或问题，请提供详细的错误信息，以便进行更具体的故障排除。

以上为生成回答，仅供参考～

出现这些错误信息通常意味着RViz2在尝试处理消息时，其内部的消息队列已满，因此无法接收更多的消息，并被迫丢弃这些消息。这可能是由于RViz2处理消息的速度跟不上发布消息的速度，或者是因为RViz2的配置参数（如消息队列大小）设置得太小。

在ROS 2中，RViz2是用于可视化传感器数据、机器人状态和其他ROS 2消息的工具。如果你使用的是vins-fusion，那么它可能正在发布大量的传感器数据，如相机图像、IMU数据等，而RViz2可能无法及时处理这些数据。

以下是一些可能的解决方案：

检查时间同步：确保所有节点都使用相同的时间源，并且时间同步正确。时间戳不匹配可能会导致消息被丢弃。

调整RViz2的更新频率：你可以尝试减少RViz2的更新频率，以减轻其处理负担。这可以通过在RViz2中调整固定帧率来实现。

增加消息队列大小：你可以尝试增加RViz2或相关节点的消息队列大小。这通常涉及到修改ROS 2的订阅者配置，但请注意，这可能会增加内存使用。

优化vins-fusion的发布频率：如果可能的话，尝试减少vins-fusion发布消息的频率，或者只发布RViz2真正需要的消息。

检查网络带宽和延迟：如果你的系统是通过网络连接的，确保网络带宽足够，并且延迟较低。高延迟可能导致消息堆积。

查看系统资源：检查你的系统资源（如CPU和内存）是否充足。如果资源不足，可能需要升级硬件或优化软件。

查看RViz2配置：确保RViz2正确配置了所有必要的显示项，并且它们与vins-fusion发布的消息类型相匹配。

查看ROS 2日志：查看ROS 2的详细日志，可能会提供更多关于为什么消息被丢弃的线索。

最后，由于你提到的是ros2-humble，确保你使用的RViz2版本与ROS 2 Humble版本兼容，并且所有相关依赖都已正确安装和配置。

如果以上方法都不能解决问题，你可能需要更深入地调查vins-fusion和RViz2的交互方式，或者寻求来自vins-fusion或ROS 2社区的更多帮助。

以上为生成回答，仅供参考～

@214747281 在 wsl2一键安装ros2，显示安装成功后 运行demo报错 中说：

[-]Result:success

请各位佬帮帮看看吧，感激感激

@小鱼 你好我从动手学ros2中按照流程将nav2的源码下载到本地记性编译。在编译的过程中出现终端报错的问题。我的系统是ubuntu22.04，ros2humble。
(base) xiaoche@xiaoche:~/catkin_ws$ colcon build
Starting >>> nav2_common
Starting >>> nav_2d_msgs
Starting >>> cartographer
Starting >>> cartographer_ros_msgs
Finished <<< nav2_common [1.40s]
Starting >>> nav2_msgs
Finished <<< nav_2d_msgs [3.23s]
Starting >>> nav2_voxel_grid
Finished <<< nav2_voxel_grid [0.42s]
Starting >>> dwb_msgs
Finished <<< cartographer_ros_msgs [4.96s]
Starting >>> ascend_slam
Finished <<< ascend_slam [0.31s]
Starting >>> ls01b_v2
Finished <<< ls01b_v2 [0.33s]
Starting >>> xiaoguo
Finished <<< dwb_msgs [2.29s]
Starting >>> xiaoguo_cartographer
Finished <<< xiaoguo_cartographer [0.23s]
Starting >>> ydlidar
Finished <<< nav2_msgs [5.08s]
Starting >>> nav2_util
Finished <<< ydlidar [0.53s]
Starting >>> nav2_simple_commander
Finished <<< cartographer [7.11s]
Starting >>> cartographer_ros
Finished <<< nav2_util [0.85s]
Starting >>> nav_2d_utils
Finished <<< xiaoguo [2.39s]
Starting >>> nav2_behavior_tree
Finished <<< nav_2d_utils [0.74s]
Starting >>> nav2_lifecycle_manager
Finished <<< cartographer_ros [1.57s]
Starting >>> nav2_map_server
Finished <<< nav2_lifecycle_manager [0.86s]
Starting >>> nav2_amcl
Finished <<< nav2_simple_commander [2.72s]
Starting >>> nav2_velocity_smoother
Finished <<< nav2_amcl [1.91s]
Starting >>> nav2_rviz_plugins
Finished <<< nav2_velocity_smoother [1.42s]
Starting >>> cartographer_rviz
Finished <<< nav2_rviz_plugins [0.56s]
Finished <<< cartographer_rviz [0.66s]
--- stderr: nav2_behavior_tree
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
collect2: error: ld returned 1 exit status
gmake[2]: *** [test/CMakeFiles/test_bt_conversions.dir/build.make:337：test/test_bt_conversions] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1735：test/CMakeFiles/test_bt_conversions.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
collect2: error: ld returned 1 exit status
gmake[2]: *** [test/plugins/condition/CMakeFiles/test_condition_distance_traveled.dir/build.make:338：test/plugins/condition/test_condition_distance_traveled] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1815：test/plugins/condition/CMakeFiles/test_condition_distance_traveled.dir/all] 错误 2
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so/usr/bin/ld: : undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
/opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to curs_set@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wgetch@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_off@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wattr_on@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to wrefresh@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to noecho@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to endwin@NCURSES6_5.0.19991023' collect2: error: ld returned 1 exit status /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to initscr@NCURSES6_5.0.19991023'
gmake[2]: *** [test/plugins/condition/CMakeFiles/test_condition_time_expired.dir/build.make:430：test/plugins/condition/test_condition_time_expired] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1843：test/plugins/condition/CMakeFiles/test_condition_time_expired.dir/all] 错误 2
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to werase@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to mvwprintw@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to delwin@NCURSES6_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to newwin@NCURSES6_5.0.19991023'
/usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to cbreak@NCURSES6_TINFO_5.0.19991023' /usr/bin/ld: /opt/ros/humble/lib/libbehaviortree_cpp_v3.so: undefined reference to keypad@NCURSES6_TINFO_5.0.19991023'
collect2: error: ld returned 1 exit status
gmake[2]: *** [test/plugins/condition/CMakeFiles/test_condition_path_expiring_timer.dir/build.make:337：test/plugins/condition/test_condition_path_expiring_timer] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:1871：test/plugins/condition/CMakeFiles/test_condition_path_expiring_timer.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2

Failed <<< nav2_behavior_tree [3.58s, exited with code 2]
Aborted <<< nav2_map_server [7.75s]

Summary: 21 packages finished [16.7s]
1 package failed: nav2_behavior_tree
1 package aborted: nav2_map_server
2 packages had stderr output: nav2_behavior_tree nav2_map_server
25 packages not processed

@54997824 截图 2024-05-03 14-46-11.png

@1787593592 整个过程中缺少spin

@3054163659 你好，你解决了吗，我也有这个问题

@2747283266 ROS2去中心化设计，没有core了😢 2e8bdb9c-0bc2-4243-83c1-a5c3b9259706-image.png

@2312224620qq-com 就是输入你家的wifi名字和密码，电脑主机也要连接这个路由器，电脑ip是虚拟机的不是主机的，为了确保虚拟机也是同一个网段需要设置为桥接模式，这样就和主机一个网段了。最后你的虚拟机ip应该前三位都和主机一致，自然也和fishbot一致了

同样的问题，会不会跟虚拟机显卡驱动有关

这里应该使用do_transform_pose_stamped。在opt/ros/humble/local/lib/python3.10/dist-packages/tf2_geometry_msgs/tf2_geometry_msgs.py可以看到源代码。

@982464714 提问前看了没～ 电脑没空间了，想复制粘贴给你，结果是图片😢

@小鱼 在 提问前必看！一定要看！必须看一下！ 中说：

一个好的提问不仅能够帮助自己理清楚问题，还有助于别人快速帮助到你。——提问的智慧

问题一定要描述清楚，终端打印一定复制粘贴，方便回答者检索和引用（你可以在linux系统上打开浏览器进社区）
基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟
提问时一定要提供尽可能多的信息(系统版本，ROS版本，前后操作，终端日志)，包括你的目的，比如你其实想装装某个库遇到问题，不要只说这个问题，因为可能有更好的替代方案
先搜索再提问，很多问题其实都有解决方案，确保你自己对自己的问题有一定了解再提问
尽量一句话说完，不要把社区当微信聊天一样用，每一个回复都尽量提供更多的的信息。

大家提问的时候一定需要注意以下几点：

@415808688 请阅读并按照模板单独发帖提问，这属于另外一个问题了

https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

@2448959659 可以手动退出，到vscode里搜索remote container 手动安装

@小鱼 解决了鱼哥，还是用的是你提供的源码，鱼哥yyds

同问 解决了嘛？

@2761607729 https://fishros.org.cn/forum/topic/111/ros-ros2功能包在线索引网站 先到这里检索是否发布，发布了的就是

sudo apt install ros-版本名称（如 humble）-xxx-xxx

EG:

sudo apt install ros-humble-ros-humble-cartographer

@2761607729 你需要学一个动手学ROS2,从仿真建模开始或者从头开始都可以