ROS1 移植到ROS2：如何用ros2 中colcon build 编译 ros中 catkin的功能包

[andrew_liumuran]

虚拟机：Ubuntu20.04
ROS2: humble

在移植livox_ros_driver（ROS1）功能包到ros2环境时，出现编译错误如下：
[项目连接]( https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src)

andrew@ros2:~/ws_livox$ colcon build
Starting >>> livox_ros_driver
--- stderr: livox_ros_driver
CMake Error at CMakeLists.txt:25 (find_package):
  By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "catkin", but
  CMake did not find one.

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

    catkinConfig.cmake
    catkin-config.cmake

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


---
Failed   <<< livox_ros_driver [0.09s, exited with code 1]

Summary: 0 packages finished [0.29s]
  1 package failed: livox_ros_driver
  1 package had stderr output: livox_ros_driver

查看功能包编译信息

andrew@ros2:~$ colcon info
path: ws_livox/src/livox_ros_driver
  type: ros.catkin
  name: livox_ros_driver
  dependencies:
    build: apr catkin git message_generation pcl_ros rosbag roscpp rospy sensor_msgs std_msgs
    run: apr git message_runtime pcl_ros rosbag roscpp rospy sensor_msgs std_msgs
  metadata:
    maintainers: ['Livox Dev Team <dev@livoxtech.com>']
    version: 2.0.0

电脑中colcon工具版本信息：

andrew@ros2:~$ colcon version-check
/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 0.1.43ubuntu1 is an invalid version and will not be supported in a future release
  warnings.warn(
/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.1build1 is an invalid version and will not be supported in a future release
  warnings.warn(
colcon-argcomplete 0.3.3: up-to-date
colcon-bash 0.4.2: up-to-date
colcon-cd 0.1.1: up-to-date
colcon-cmake 0.2.27: up-to-date
colcon-core 0.12.0: newer version available (0.12.1)
colcon-defaults 0.2.8: up-to-date
colcon-devtools 0.2.3: up-to-date
colcon-installed-package-information 0.1.0: up-to-date
colcon-library-path 0.2.1: up-to-date
colcon-metadata 0.2.5: up-to-date
colcon-notification 0.2.15: up-to-date
colcon-output 0.2.12: up-to-date
colcon-override-check 0.0.1: up-to-date
colcon-package-information 0.3.3: up-to-date
colcon-package-selection 0.2.10: up-to-date
colcon-parallel-executor 0.2.4: up-to-date
colcon-pkg-config 0.1.0: up-to-date
colcon-powershell 0.3.7: up-to-date
colcon-python-setup-py 0.2.8: up-to-date
colcon-recursive-crawl 0.2.1: up-to-date
colcon-ros 0.3.23: up-to-date
colcon-test-result 0.3.8: up-to-date
colcon-zsh 0.4.0: up-to-date

相关文章：
Build catkin packages with colcon
ROS2编译器colcon是个啥，比catkin好用吗？
ROS 1 的迁移到ROS 2指南

[小鱼]

@andrew_liumuran 需要修改源码和cmakelists把catkin相关的更换成ament，,最好找厂家给个ros2的驱动

[andrew_liumuran]

@小鱼
哈哈哈哈还是找ros2版本的驱动吧，太难修改啦！