动手学ros2第5章进阶篇-控制OLED-自定义消息接口
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@小鱼 22.04 ros_humble
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@847718956 搞定了，更新了代码，已有工程解决方案如下：
打开工程，删除目录.pio/libdeps/featheresp32/micro_ros_platformio
接着重新点击编译即可。
rocessing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino) ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ Verbose mode can be enabled via `-v, --verbose` option CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html PLATFORM: Espressif 32 (5.2.0) > Adafruit ESP32 Feather HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa) PACKAGES: - framework-arduinoespressif32 @ 3.20005.220925 (2.0.5) - tool-esptoolpy @ 1.40201.0 (4.2.1) - toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch3 LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf LDF Modes: Finder ~ chain, Compatibility ~ soft Installing pyyaml with pip at PlatformIO environment /home/fishros/.platformio/penv/bin/python -m pip install pyyaml Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple Requirement already satisfied: pyyaml in /home/fishros/.platformio/penv/lib/python3.10/site-packages (6.0) [notice] A new release of pip available: 22.3.1 -> 23.0 [notice] To update, run: pip install --upgrade pip Installing markupsafe==2.0.1 with pip at PlatformIO environment /home/fishros/.platformio/penv/bin/python -m pip install markupsafe==2.0.1 Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple Requirement already satisfied: markupsafe==2.0.1 in /home/fishros/.platformio/penv/lib/python3.10/site-packages (2.0.1) [notice] A new release of pip available: 22.3.1 -> 23.0 [notice] To update, run: pip install --upgrade pip Configuring featheresp32 with transport custom Downloading micro-ROS dev dependencies - Downloaded ament_cmake - Downloaded ament_lint - Downloaded ament_package - Downloaded googletest - Downloaded ament_cmake_ros - Downloaded ament_index Building micro-ROS dev dependencies Downloading micro-ROS library - Downloaded microcdr - Downloaded microxrcedds_client - Downloaded rcl - Downloaded rcl_action - Downloaded rcl_lifecycle - Downloaded rcl_yaml_param_parser (ignored) - Downloaded rclc_parameter - Downloaded rclc_examples (ignored) - Downloaded rclc - Downloaded rclc_lifecycle - Downloaded micro_ros_utilities - Downloaded rcutils - Downloaded micro_ros_msgs - Downloaded rmw_microxrcedds - Downloaded rosidl_typesupport_cpp (ignored) - Downloaded rosidl_typesupport_c - Downloaded rosidl_typesupport_microxrcedds_c - Downloaded rosidl_typesupport_microxrcedds_test_msg - Downloaded rosidl_typesupport_microxrcedds_cpp_tests - Downloaded rosidl_typesupport_microxrcedds_c_tests - Downloaded rosidl_typesupport_microxrcedds_cpp (ignored) - Downloaded rosidl_generator_c - Downloaded rosidl_runtime_cpp (ignored) - Downloaded rosidl_typesupport_introspection_cpp (ignored) - Downloaded rosidl_generator_cpp (ignored) - Downloaded rosidl_typesupport_introspection_tests - Downloaded rosidl_parser - Downloaded rosidl_cmake - Downloaded rosidl_adapter - Downloaded rosidl_typesupport_interface - Downloaded rosidl_typesupport_introspection_c - Downloaded rosidl_cli - Downloaded rosidl_runtime_c - Downloaded rmw_implementation_cmake - Downloaded rmw - Downloaded composition_interfaces - Downloaded test_msgs - Downloaded rosgraph_msgs - Downloaded rcl_interfaces - Downloaded action_msgs - Downloaded lifecycle_msgs - Downloaded builtin_interfaces - Downloaded statistics_msgs - Downloaded rosidl_default_generators - Downloaded rosidl_default_runtime - Downloaded unique_identifier_msgs - Downloaded actionlib_msgs - Downloaded visualization_msgs - Downloaded trajectory_msgs - Downloaded sensor_msgs_py - Downloaded stereo_msgs - Downloaded common_interfaces - Downloaded shape_msgs - Downloaded sensor_msgs - Downloaded geometry_msgs - Downloaded std_srvs - Downloaded diagnostic_msgs - Downloaded std_msgs - Downloaded nav_msgs - Downloaded test_interface_files - Downloaded test_rmw_implementation - Downloaded rmw_implementation - Downloaded rcl_logging_interface - Downloaded rcl_logging_spdlog (ignored) - Downloaded rcl_logging_noop - Downloaded test_tracetools - Downloaded ros2trace - Downloaded tracetools_launch - Downloaded test_tracetools_launch - Downloaded tracetools - Downloaded tracetools_trace - Downloaded tracetools_read - Downloaded tracetools_test - Downloaded example_interfaces Checking extra packages - Adding fishbot_interfaces Checking extra packages - Adding fishbot_interfaces Building micro-ROS library Found 46 compatible libraries Scanning dependencies... Dependency Graph |-- micro_ros_platformio @ 0.0.1+sha.a2f9de7 |-- Esp32McpwmMotor @ 0.1.0+sha.48fcf81 |-- Esp32PcntEncoder @ 0.1.0+sha.43dbbb7 |-- Adafruit SSD1306 @ 2.5.7 | |-- Adafruit GFX Library @ 1.11.3 | | |-- Adafruit BusIO @ 1.14.1 | | | |-- Wire @ 2.0.0 | | | |-- SPI @ 2.0.0 | | |-- Wire @ 2.0.0 | | |-- SPI @ 2.0.0 | |-- Adafruit BusIO @ 1.14.1 | | |-- Wire @ 2.0.0 | | |-- SPI @ 2.0.0 | |-- Wire @ 2.0.0 | |-- SPI @ 2.0.0 |-- OneButton @ 2.0.3 |-- Time @ 1.6.1 |-- Displays | |-- Adafruit GFX Library @ 1.11.3 | | |-- Adafruit BusIO @ 1.14.1 | | | |-- Wire @ 2.0.0 | | | |-- SPI @ 2.0.0 | | |-- Wire @ 2.0.0 | | |-- SPI @ 2.0.0 | |-- Adafruit SSD1306 @ 2.5.7 | | |-- Adafruit GFX Library @ 1.11.3 | | | |-- Adafruit BusIO @ 1.14.1 | | | | |-- Wire @ 2.0.0 | | | | |-- SPI @ 2.0.0 | | | |-- Wire @ 2.0.0 | | | |-- SPI @ 2.0.0 | | |-- Adafruit BusIO @ 1.14.1 | | | |-- Wire @ 2.0.0 | | | |-- SPI @ 2.0.0 | | |-- Wire @ 2.0.0 | | |-- SPI @ 2.0.0 | |-- Time @ 1.6.1 | |-- Wire @ 2.0.0 |-- FishbotUtils |-- MicroRosRwm | |-- micro_ros_platformio @ 0.0.1+sha.a2f9de7 | |-- WiFi @ 2.0.0 |-- BluetoothSerial @ 2.0.0 |-- Kinematics |-- PidController |-- WiFi @ 2.0.0 |-- Preferences @ 2.0.0 Building in release mode Compiling .pio/build/featheresp32/src/fishbot.cpp.o Compiling .pio/build/featheresp32/src/fishbot_config.cpp.o Compiling .pio/build/featheresp32/src/main.cpp.o Building .pio/build/featheresp32/bootloader.bin Generating partitions .pio/build/featheresp32/partitions.bin esptool.py v4.2.1 Creating esp32 image... Merged 1 ELF section Successfully created esp32 image. Compiling .pio/build/featheresp32/lib233/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o Compiling .pio/build/featheresp32/lib72b/Esp32McpwmMotor/Esp32McpwmMotor.cpp.o Compiling .pio/build/featheresp32/libdd7/Esp32PcntEncoder/Esp32PcntEncoder.cpp.o Compiling .pio/build/featheresp32/libc6b/Wire/Wire.cpp.o Compiling .pio/build/featheresp32/libe29/SPI/SPI.cpp.o Compiling .pio/build/featheresp32/libe08/Adafruit BusIO/Adafruit_BusIO_Register.cpp.o Compiling .pio/build/featheresp32/libe08/Adafruit BusIO/Adafruit_I2CDevice.cpp.o Compiling .pio/build/featheresp32/libe08/Adafruit BusIO/Adafruit_SPIDevice.cpp.o Compiling .pio/build/featheresp32/lib609/Adafruit GFX Library/Adafruit_GFX.cpp.o Compiling .pio/build/featheresp32/lib609/Adafruit GFX Library/Adafruit_GrayOLED.cpp.o Compiling .pio/build/featheresp32/lib609/Adafruit GFX Library/Adafruit_SPITFT.cpp.o Compiling .pio/build/featheresp32/lib609/Adafruit GFX Library/glcdfont.c.o Compiling .pio/build/featheresp32/lib1ec/Adafruit SSD1306/Adafruit_SSD1306.cpp.o Compiling .pio/build/featheresp32/libe07/OneButton/OneButton.cpp.o Compiling .pio/build/featheresp32/lib928/Time/DateStrings.cpp.o Archiving .pio/build/featheresp32/libe08/libAdafruit BusIO.a Archiving .pio/build/featheresp32/libc6b/libWire.a Archiving .pio/build/featheresp32/libe29/libSPI.a Archiving .pio/build/featheresp32/libdd7/libEsp32PcntEncoder.a Indexing .pio/build/featheresp32/libe08/libAdafruit BusIO.a Archiving .pio/build/featheresp32/lib72b/libEsp32McpwmMotor.a Archiving .pio/build/featheresp32/lib233/libmicro_ros_platformio.a Indexing .pio/build/featheresp32/libc6b/libWire.a Indexing .pio/build/featheresp32/libe29/libSPI.a Indexing .pio/build/featheresp32/libdd7/libEsp32PcntEncoder.a Indexing .pio/build/featheresp32/lib72b/libEsp32McpwmMotor.a Indexing .pio/build/featheresp32/lib233/libmicro_ros_platformio.a Compiling .pio/build/featheresp32/lib928/Time/Time.cpp.o Compiling .pio/build/featheresp32/lib726/Displays/fishbot_display.cpp.o Compiling .pio/build/featheresp32/libed7/FishbotUtils/fishbot_utils.cpp.o Compiling .pio/build/featheresp32/lib146/WiFi/WiFi.cpp.o Compiling .pio/build/featheresp32/lib146/WiFi/WiFiAP.cpp.o Compiling .pio/build/featheresp32/lib146/WiFi/WiFiClient.cpp.o Compiling .pio/build/featheresp32/lib146/WiFi/WiFiGeneric.cpp.o Compiling .pio/build/featheresp32/lib146/WiFi/WiFiMulti.cpp.o Compiling .pio/build/featheresp32/lib146/WiFi/WiFiSTA.cpp.o Compiling .pio/build/featheresp32/lib146/WiFi/WiFiScan.cpp.o Archiving .pio/build/featheresp32/lib928/libTime.a Archiving .pio/build/featheresp32/lib609/libAdafruit GFX Library.a Indexing .pio/build/featheresp32/lib928/libTime.a Archiving .pio/build/featheresp32/lib1ec/libAdafruit SSD1306.a Indexing .pio/build/featheresp32/lib609/libAdafruit GFX Library.a Archiving .pio/build/featheresp32/libe07/libOneButton.a Compiling .pio/build/featheresp32/lib146/WiFi/WiFiServer.cpp.o Indexing .pio/build/featheresp32/lib1ec/libAdafruit SSD1306.a Compiling .pio/build/featheresp32/lib146/WiFi/WiFiUdp.cpp.o Indexing .pio/build/featheresp32/libe07/libOneButton.a Compiling .pio/build/featheresp32/liba1b/MicroRosRwm/micro_ros_transport_serial.cpp.o Compiling .pio/build/featheresp32/liba1b/MicroRosRwm/micro_ros_transport_wifi_udp.cpp.o Compiling .pio/build/featheresp32/liba10/BluetoothSerial/BTAddress.cpp.o Compiling .pio/build/featheresp32/liba10/BluetoothSerial/BTAdvertisedDeviceSet.cpp.o Compiling .pio/build/featheresp32/liba10/BluetoothSerial/BTScanResultsSet.cpp.o Archiving .pio/build/featheresp32/libed7/libFishbotUtils.a Archiving .pio/build/featheresp32/lib726/libDisplays.a Indexing .pio/build/featheresp32/libed7/libFishbotUtils.a Indexing .pio/build/featheresp32/lib726/libDisplays.a Compiling .pio/build/featheresp32/liba10/BluetoothSerial/BluetoothSerial.cpp.o Compiling .pio/build/featheresp32/lib92b/Kinematics/Kinematics.cpp.o Compiling .pio/build/featheresp32/lib47c/PidController/PidController.cpp.o Compiling .pio/build/featheresp32/lib10d/Preferences/Preferences.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/Esp.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/FirmwareMSC.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/FunctionalInterrupt.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/HWCDC.cpp.o Archiving .pio/build/featheresp32/lib92b/libKinematics.a Archiving .pio/build/featheresp32/lib47c/libPidController.a Archiving .pio/build/featheresp32/lib146/libWiFi.a Indexing .pio/build/featheresp32/lib92b/libKinematics.a Archiving .pio/build/featheresp32/liba1b/libMicroRosRwm.a Indexing .pio/build/featheresp32/lib47c/libPidController.a Indexing .pio/build/featheresp32/lib146/libWiFi.a Indexing .pio/build/featheresp32/liba1b/libMicroRosRwm.a Compiling .pio/build/featheresp32/FrameworkArduino/HardwareSerial.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/IPAddress.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/IPv6Address.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/MD5Builder.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/Print.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/Stream.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/StreamString.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/Tone.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/USB.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/USBCDC.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/USBMSC.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/WMath.cpp.o Archiving .pio/build/featheresp32/lib10d/libPreferences.a Indexing .pio/build/featheresp32/lib10d/libPreferences.a Compiling .pio/build/featheresp32/FrameworkArduino/WString.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/base64.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/cbuf.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-adc.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-bt.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-cpu.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-dac.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-gpio.c.o Archiving .pio/build/featheresp32/liba10/libBluetoothSerial.a Indexing .pio/build/featheresp32/liba10/libBluetoothSerial.a Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-i2c-slave.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-i2c.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-ledc.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-matrix.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-misc.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-psram.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-rgb-led.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-rmt.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-sigmadelta.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-spi.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-time.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-timer.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-tinyusb.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-touch.c.o Compiling .pio/build/featheresp32/FrameworkArduino/esp32-hal-uart.c.o Compiling .pio/build/featheresp32/FrameworkArduino/firmware_msc_fat.c.o Compiling .pio/build/featheresp32/FrameworkArduino/libb64/cdecode.c.o Compiling .pio/build/featheresp32/FrameworkArduino/libb64/cencode.c.o Compiling .pio/build/featheresp32/FrameworkArduino/main.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/stdlib_noniso.c.o Compiling .pio/build/featheresp32/FrameworkArduino/wiring_pulse.c.o Compiling .pio/build/featheresp32/FrameworkArduino/wiring_shift.c.o Archiving .pio/build/featheresp32/libFrameworkArduino.a Indexing .pio/build/featheresp32/libFrameworkArduino.a Linking .pio/build/featheresp32/firmware.elf Retrieving maximum program size .pio/build/featheresp32/firmware.elf Checking size .pio/build/featheresp32/firmware.elf Advanced Memory Usage is available via "PlatformIO Home > Project Inspect" RAM: [=== ] 27.7% (used 90760 bytes from 327680 bytes) Flash: [===== ] 50.1% (used 1577545 bytes from 3145728 bytes) Building .pio/build/featheresp32/firmware.bin esptool.py v4.2.1 Creating esp32 image... Merged 25 ELF sections Successfully created esp32 image. ======================================================================================================================================================================= [SUCCESS] Took 362.75 seconds ======================================================================================================================================================================= * 终端将被任务重用，按任意键关闭。 -
小 小鱼 将这个主题标记为已解决，在
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@小鱼 我删除那个文件后，他又自动下载了一个，然后报错Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
Verbose mode can be enabled via
-v, --verboseoption
CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
PLATFORM: Espressif 32 (5.2.0) > Adafruit ESP32 Feather
HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
PACKAGES:- framework-arduinoespressif32 @ 3.20005.220925 (2.0.5)
- tool-esptoolpy @ 1.40201.0 (4.2.1)
- toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch3
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing pyyaml with pip at PlatformIO environment
/home/liyanshen/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /home/liyanshen/.platformio/penv/lib/python3.10/site-packages (6.0)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/liyanshen/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /home/liyanshen/.platformio/penv/lib/python3.10/site-packages (2.0.1)
Configuring featheresp32 with transport serial
micro-ROS already built
Found 36 compatible libraries
Scanning dependencies...
Dependency Graph
|-- micro_ros_platformio @ 0.0.1+sha.085c5dd
|-- Adafruit SSD1306 @ 2.5.7
Building in release mode
Compiling .pio/build/featheresp32/libfab/Adafruit SSD1306/Adafruit_SSD1306.cpp.o
In file included from .pio/libdeps/featheresp32/Adafruit SSD1306/Adafruit_SSD1306.cpp:53:
.pio/libdeps/featheresp32/Adafruit SSD1306/Adafruit_SSD1306.h:42:10: fatal error: Adafruit_GFX.h: No such file or directory
- Looking for Adafruit_GFX.h dependency? Check our library registry!
- CLI > platformio lib
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从你的报错信息来看，应该是你没有安装 Adafruit_GFX.h 的依赖。你可以使用 platformio lib 命令来查找并安装这个依赖，然后重新编译你的代码，就可以解决问题了。
以上为生成回答，仅供参考～
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@小伊 报错#include <Adafruit_I2CDevice.h>
^~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
Compiling .pio/build/featheresp32/libfab/Adafruit SSD1306/Adafruit_SSD1306.cpp.o
In file included from .pio/libdeps/featheresp32/Adafruit SSD1306/Adafruit_SSD1306.h:42,
from .pio/libdeps/featheresp32/Adafruit SSD1306/Adafruit_SSD1306.cpp:53:
.pio/libdeps/featheresp32/Adafruit GFX Library/Adafruit_GFX.h:12:10: fatal error: Adafruit_I2CDevice.h: No such file or directory
- Looking for Adafruit_I2CDevice.h dependency? Check our library registry!
- CLI > platformio lib search "header:Adafruit_I2CDevice.h"
- Web > https://registry.platformio.org/search?q=header:Adafruit_I2CDevice.h
#include <Adafruit_I2CDevice.h>
^~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
Compiling .pio/build/featheresp32/libf0a/GFX Library for Arduino/Arduino_DataBus.cpp.o
Compiling .pio/build/featheresp32/libf0a/GFX Library for Arduino/Arduino_G.cpp.o
*** [.pio/build/featheresp32/liba41/Adafruit GFX Library/Adafruit_GFX.cpp.o] Error 1
*** [.pio/build/featheresp32/liba41/Adafruit GFX Library/Adafruit_GrayOLED.cpp.o] Error 1
*** [.pio/build/featheresp32/liba41/Adafruit GFX Library/Adafruit_SPITFT.cpp.o] Error 1
*** [.pio/build/featheresp32/libfab/Adafruit SSD1306/Adafruit_SSD1306.cpp.o] Error 1
=============== [FAILED] Took 6.50 seconds ===============- 终端进程“platformio 'run'”已终止，退出代码: 1。
- 终端将被任务重用，按任意键关闭。
-
从上面的报错信息可以看出，缺少Adafruit_I2CDevice.h文件，可以在PlatformIO库中搜索，然后下载安装对应的库文件，或者在Github上找到对应的文件，然后添加到项目中即可。
以上为生成回答，仅供参考～
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@小鱼 我根据这篇CSDN的步骤添加Adafruit BusIO依赖库
lib_deps = https://gitee.com/ohhuo/micro_ros_platformio.git adafruit/Adafruit SSD1306@^2.5.7 adafruit/Adafruit BusIO@^1.14.1```删除.pio/libdeps/featheresp32/micro_ros_platformio/libmicroros文件夹
不是pio/libdeps/featheresp32/micro_ros_platformio文件夹，这样文件会在重新编译后重新生成该文件
重新编译出现下面问题
Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino) ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ Verbose mode can be enabled via `-v, --verbose` option CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html PLATFORM: Espressif 32 (5.2.0) > Adafruit ESP32 Feather HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa) PACKAGES: - framework-arduinoespressif32 @ 3.20005.220925 (2.0.5) - tool-esptoolpy @ 1.40201.0 (4.2.1) - toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch3 LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf LDF Modes: Finder ~ chain, Compatibility ~ soft Installing pyyaml with pip at PlatformIO environment /home/xhy/.platformio/penv/bin/python -m pip install pyyaml Requirement already satisfied: pyyaml in /home/xhy/.platformio/penv/lib/python3.10/site-packages (6.0) [notice] A new release of pip is available: 23.0 -> 23.0.1 [notice] To update, run: pip install --upgrade pip Installing markupsafe==2.0.1 with pip at PlatformIO environment /home/xhy/.platformio/penv/bin/python -m pip install markupsafe==2.0.1 Requirement already satisfied: markupsafe==2.0.1 in /home/xhy/.platformio/penv/lib/python3.10/site-packages (2.0.1) [notice] A new release of pip is available: 23.0 -> 23.0.1 [notice] To update, run: pip install --upgrade pip Configuring featheresp32 with transport serial Downloading micro-ROS dev dependencies - Downloaded ament_cmake - Downloaded ament_lint - Downloaded ament_package - Downloaded googletest - Downloaded ament_cmake_ros - Downloaded ament_index Building micro-ROS dev dependencies Downloading micro-ROS library - Downloaded microcdr - Downloaded microxrcedds_client - Downloaded rcl - Downloaded rcl_yaml_param_parser (ignored) - Downloaded rcl_lifecycle - Downloaded rcl_action - Downloaded rclc - Downloaded rclc_parameter - Downloaded rclc_examples (ignored) - Downloaded rclc_lifecycle - Downloaded micro_ros_utilities - Downloaded rcutils - Downloaded micro_ros_msgs - Downloaded rmw_microxrcedds - Downloaded rosidl_typesupport_cpp (ignored) - Downloaded rosidl_typesupport_c - Downloaded rosidl_typesupport_microxrcedds_cpp_tests - Downloaded rosidl_typesupport_microxrcedds_test_msg - Downloaded rosidl_typesupport_microxrcedds_c_tests - Downloaded rosidl_typesupport_microxrcedds_cpp (ignored) - Downloaded rosidl_typesupport_microxrcedds_c - Downloaded rosidl_parser - Downloaded rosidl_generator_cpp (ignored) - Downloaded rosidl_cmake - Downloaded rosidl_generator_c - Downloaded rosidl_adapter - Downloaded rosidl_typesupport_introspection_cpp (ignored) - Downloaded rosidl_runtime_c - Downloaded rosidl_typesupport_introspection_c - Downloaded rosidl_typesupport_interface - Downloaded rosidl_typesupport_introspection_tests - Downloaded rosidl_cli - Downloaded rosidl_runtime_cpp (ignored) - Downloaded rmw_implementation_cmake - Downloaded rmw - Downloaded rcl_interfaces - Downloaded action_msgs - Downloaded test_msgs - Downloaded lifecycle_msgs - Downloaded rosgraph_msgs - Downloaded builtin_interfaces - Downloaded composition_interfaces - Downloaded statistics_msgs - Downloaded rosidl_default_generators - Downloaded rosidl_default_runtime - Downloaded unique_identifier_msgs - Downloaded std_msgs - Downloaded std_srvs - Downloaded diagnostic_msgs - Downloaded actionlib_msgs - Downloaded nav_msgs - Downloaded sensor_msgs_py - Downloaded sensor_msgs - Downloaded shape_msgs - Downloaded trajectory_msgs - Downloaded stereo_msgs - Downloaded common_interfaces - Downloaded visualization_msgs - Downloaded geometry_msgs - Downloaded test_interface_files - Downloaded rmw_implementation - Downloaded test_rmw_implementation - Downloaded rcl_logging_interface - Downloaded rcl_logging_noop - Downloaded rcl_logging_spdlog (ignored) - Downloaded tracetools_trace - Downloaded test_tracetools - Downloaded test_tracetools_launch - Downloaded tracetools - Downloaded tracetools_launch - Downloaded tracetools_test - Downloaded tracetools_read - Downloaded ros2trace - Downloaded example_interfaces Checking extra packages - Adding fishbot_interfaces Checking extra packages - Adding fishbot_interfaces Building micro-ROS library Build mcu micro-ROS environment failed: --- stderr: rosidl_typesupport_interface CMake Warning: Manually-specified variables were not used by the project: CMAKE_POSITION_INDEPENDENT_CODE THIRDPARTY --- --- stderr: rosidl_cli /home/xhy/.platformio/penv/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( --- --- stderr: rmw_implementation_cmake CMake Warning: Manually-specified variables were not used by the project: BUILD_SHARED_LIBS CMAKE_POSITION_INDEPENDENT_CODE THIRDPARTY --- --- stderr: microcdr CMake Warning: Manually-specified variables were not used by the project: BUILD_TESTING THIRDPARTY --- --- stderr: rosidl_adapter CMake Warning: Manually-specified variables were not used by the project: BUILD_SHARED_LIBS CMAKE_POSITION_INDEPENDENT_CODE THIRDPARTY --- --- stderr: tracetools CMake Warning: Manually-specified variables were not used by the project: THIRDPARTY --- --- stderr: rcutils CMake Warning: Manually-specified variables were not used by the project: ENABLE_TESTING THIRDPARTY In function 'rcutils_char_array_strncat', inlined from 'rcutils_char_array_strcat' at /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/char_array.c:239:10: /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/char_array.c:224:3: warning: 'strncat' output truncated before terminating nul copying as many bytes from a string as its length [-Wstringop-truncation] strncat(char_array->buffer, src, n); ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/char_array.c: In function 'rcutils_char_array_strcat': /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/char_array.c:239:10: note: length computed here return rcutils_char_array_strncat(char_array, src, strlen(src)); ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c: In function 'rcutils_get_error_string': /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c:240:38: warning: initializer-string for array of chars is too long return (rcutils_error_string_t) {"error not set"}; // NOLINT(readability/braces) ^~~~~~~~~~~~~~~ /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c:240:38: note: (near initialization for '(anonymous).str') In file included from /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c:35: At top level: /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:109:1: warning: '__rcutils_convert_uint64_t_into_c_str' defined but not used [-Wunused-function] __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size) ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:91:1: warning: '__rcutils_reverse_str' defined but not used [-Wunused-function] __rcutils_reverse_str(char * string_in, size_t string_len) ^~~~~~~~~~~~~~~~~~~~~ --- --- stderr: rosidl_parser CMake Warning: Manually-specified variables were not used by the project: BUILD_SHARED_LIBS CMAKE_POSITION_INDEPENDENT_CODE THIRDPARTY --- --- stderr: tracetools_trace /home/xhy/.platformio/penv/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( --- --- stderr: rosidl_cmake CMake Warning: Manually-specified variables were not used by the project: BUILD_SHARED_LIBS CMAKE_POSITION_INDEPENDENT_CODE THIRDPARTY --- --- stderr: rosidl_runtime_c CMake Warning at /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message): Package 'rcutils' exports library 'dl' which couldn't be found Call Stack (most recent call first): /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include) CMakeLists.txt:15 (find_package) CMake Warning: Manually-specified variables were not used by the project: THIRDPARTY --- --- stderr: rcl_logging_interface CMake Warning at /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message): Package 'rcutils' exports library 'dl' which couldn't be found Call Stack (most recent call first): /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include) CMakeLists.txt:19 (find_package) CMake Warning: Manually-specified variables were not used by the project: THIRDPARTY --- --- stderr: microxrcedds_client CMake Warning: Manually-specified variables were not used by the project: BUILD_TESTING THIRDPARTY --- --- stderr: test_interface_files CMake Warning: Manually-specified variables were not used by the project: BUILD_SHARED_LIBS CMAKE_POSITION_INDEPENDENT_CODE THIRDPARTY --- --- stderr: rcl_logging_noop CMake Warning at /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message): Package 'rcutils' exports library 'dl' which couldn't be found Call Stack (most recent call first): /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include) /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package) /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/rcl_logging_interfaceConfig.cmake:41 (include) CMakeLists.txt:15 (find_package) CMake Warning: Manually-specified variables were not used by the project: THIRDPARTY --- --- stderr: rosidl_typesupport_introspection_c CMake Warning: Manually-specified variables were not used by the project: THIRDPARTY --- --- stderr: rosidl_generator_c CMake Warning: Manually-specified variables were not used by the project: THIRDPARTY --- --- stderr: rmw CMake Warning at /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message): Package 'rcutils' exports library 'dl' which couldn't be found Call Stack (most recent call first): /home/xhy/Documents/PlatformIO/Projects/oled_interface/.pio/libdeps/featheresp32/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include) CMakeLists.txt:21 (find_package) CMake Warning: Manually-specified variables were not used by the project: THIRDPARTY --- --- stderr: tracetools_launch /home/xhy/.platformio/penv/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( --- --- stderr: tracetools_read /home/xhy/.platformio/penv/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( --- --- stderr: fishbot_interfaces CMake Error at CMakeLists.txt:26 (find_package): By not providing "Findrosidl_default_generators.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "rosidl_default_generators", but CMake did not find one. Could not find a package configuration file provided by "rosidl_default_generators" with any of the following names: rosidl_default_generatorsConfig.cmake rosidl_default_generators-config.cmake Add the installation prefix of "rosidl_default_generators" to CMAKE_PREFIX_PATH or set "rosidl_default_generators_DIR" to a directory containing one of the above files. If "rosidl_default_generators" provides a separate development package or SDK, be sure it has been installed. --- Failed <<< fishbot_interfaces [3.79s, exited with code 1] =========================================================================== [FAILED] Took 271.51 seconds =========================================================================== * 终端进程“platformio 'run'”已终止，退出代码: 1。 * 终端将被任务重用，按任意键关闭。 -
8 847718956 将这个主题标记为未解决，在
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@847718956 这个错误好解决了
@847718956 在 动手学ros2第5章进阶篇-控制OLED-自定义消息接口 中说：
CMake Error at CMakeLists.txt:26 (find_package):
By not providing "Findrosidl_default_generators.cmake" in CMAKE_MODULE_PATH
this project has asked CMake to find a package configuration file provided
by "rosidl_default_generators", but CMake did not find one.Could not find a package configuration file provided by
"rosidl_default_generators" with any of the following names:rosidl_default_generatorsConfig.cmake rosidl_default_generators-config.cmakeAdd the installation prefix of "rosidl_default_generators" to
CMAKE_PREFIX_PATH or set "rosidl_default_generators_DIR" to a directory
containing one of the above files. If "rosidl_default_generators" provides
a separate development package or SDK, be sure it has been installed.确认下CMakeList.txt
cmake_minimum_required(VERSION 3.5) project(fishbot_interfaces) 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) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) 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() find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "srv/OledControl.srv" ) ament_package()packages.xml
<?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>fishbot_interfaces</name> <version>0.0.0</version> <description>TODO: Package description</description> <maintainer email="root@todo.todo">root</maintainer> <license>TODO: License declaration</license> <buildtool_depend>ament_cmake</buildtool_depend> <build_depend>rosidl_default_generators</build_depend> <exec_depend>rosidl_default_runtime</exec_depend> <member_of_group>rosidl_interface_packages</member_of_group> <test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_common</test_depend> <export> <build_type>ament_cmake</build_type> </export> </package> -
小 小鱼 在 中 引用了 这个主题
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@小鱼 这里下载太慢了。挂梯子也一样
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有一个问题，用git 克隆代码，编译出现错误：
，请问是什么问题 -
@1991623683 有重新编译过吗，删掉libmicroros
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该贴中的方法都试过了还是不行，有兄弟们解决了的吗，
platformio.ini，因为报错，根据提示也加了很多依赖，还是不行lib_deps = https://gitee.com/ohhuo/micro_ros_platformio.git adafruit/Adafruit SSD1306@^2.5.7 ; adafruit/Adafruit GFX Library@^1.11.8 ; adafruit/Adafruit BusIO@^1.14.4 ; ; fabiobatsilva/ArduinoFake@^0.4.0 -
@842145248 你的报错是什么
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@小鱼 刚刚重新编译了下，好慢，麻烦大佬帮我看看
Building micro-ROS library Found 36 compatible libraries Scanning dependencies... Dependency Graph |-- micro_ros_platformio @ 0.0.1+sha.085c5dd |-- Adafruit SSD1306 @ 2.5.7 Building in release mode Compiling .pio/build/featheresp32/src/main.cpp.o Building .pio/build/featheresp32/bootloader.bin Generating partitions .pio/build/featheresp32/partitions.bin esptool.py v4.2.1 Creating esp32 image... Merged 1 ELF section Successfully created esp32 image. Compiling .pio/build/featheresp32/lib1a4/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o Compiling .pio/build/featheresp32/lib1a4/micro_ros_platformio/platform_code/arduino/serial/micro_ros_transport.cpp.o Compiling .pio/build/featheresp32/lib2c3/Adafruit SSD1306/Adafruit_SSD1306.cpp.o In file included from .pio/libdeps/featheresp32/Adafruit SSD1306/Adafruit_SSD1306.cpp:53: .pio/libdeps/featheresp32/Adafruit SSD1306/Adafruit_SSD1306.h:42:10: fatal error: Adafruit_GFX.h: No such file or directory ********************************************************************** * Looking for Adafruit_GFX.h dependency? Check our library registry! * * CLI > platformio lib search "header:Adafruit_GFX.h" * Web > https://registry.platformio.org/search?q=header:Adafruit_GFX.h * ********************************************************************** #include <Adafruit_GFX.h> ^~~~~~~~~~~~~~~~ compilation terminated. Compiling .pio/build/featheresp32/FrameworkArduino/Esp.cpp.o Compiling .pio/build/featheresp32/FrameworkArduino/FirmwareMSC.cpp.o *** [.pio/build/featheresp32/lib2c3/Adafruit SSD1306/Adafruit_SSD1306.cpp.o] Error 1 ======================================== [FAILED] Took 658.83 seconds ======================================== * The terminal process "platformio 'run'" terminated with exit code: 1. * Terminal will be reused by tasks, press any key to close it. -
@842145248 再贴一下完整的代码
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@小鱼
platformio.ini[env:featheresp32] platform = espressif32 board = featheresp32 framework = arduino lib_deps = https://gitee.com/ohhuo/micro_ros_platformio.git adafruit/Adafruit SSD1306@^2.5.7CMakeLists.txt
cmake_minimum_required(VERSION 3.5) project(fishbot_interfaces) 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) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) 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() find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "srv/OledControl.srv" ) ament_package()package.xml
<?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>fishbot_interfaces</name> <version>0.0.0</version> <description>TODO: Package description</description> <maintainer email="root@todo.todo">root</maintainer> <license>TODO: License declaration</license> <buildtool_depend>ament_cmake</buildtool_depend> <build_depend>rosidl_default_generators</build_depend> <exec_depend>rosidl_default_runtime</exec_depend> <member_of_group>rosidl_interface_packages</member_of_group> <test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_common</test_depend> <export> <build_type>ament_cmake</build_type> </export> </package>extra_package包
extra_packages/fishbot_interfaces/ ├── CMakeLists.txt ├── include │ └── fishbot_interfaces ├── package.xml ├── src └── srv └── OledControl.srv -
@842145248 是 src/main.cpp ，你的错误在 main函数里不是自定义功能包造成的
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@小鱼 感谢大佬的的回复，我补充完整了
main.cpp后可以编译了，我按照教程还没到编写main.cpp，我以为不用先写main.cpp
，编译看看是否有错但是命令行调用服务时出现了类似这种导包问题：重新运行代码时出现：UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'village_interfaces'，
CMakelist.txt和packages.xml，看着好像都没问题，麻烦大佬再帮我看看$ source install/setup.bash && ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}" Traceback (most recent call last): File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support return importlib.import_module(module_name, package=pkg_name) File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "<frozen importlib._bootstrap>", line 1050, in _gcd_import File "<frozen importlib._bootstrap>", line 1027, in _find_and_load File "<frozen importlib._bootstrap>", line 1004, in _find_and_load_unlocked ModuleNotFoundError: No module named 'fishbot_interfaces.fishbot_interfaces_s__rosidl_typesupport_c' During handling of the above exception, another exception occurred: Traceback (most recent call last): File "/opt/ros/humble/bin/ros2", line 33, in <module> sys.exit(load_entry_point('ros2cli==0.18.7', 'console_scripts', 'ros2')()) File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 89, in main rc = extension.main(parser=parser, args=args) File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/command/service.py", line 41, in main return extension.main(args=args) File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 58, in main return requester( File "/opt/ros/humble/lib/python3.10/site-packages/ros2service/verb/call.py", line 86, in requester cli = node.create_client(srv_module, service_name) File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1413, in create_client check_is_valid_srv_type(srv_type) File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 51, in check_is_valid_srv_type check_for_type_support(srv_type) File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 29, in check_for_type_support msg_or_srv_type.__class__.__import_type_support__() File "/home/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces/local/lib/python3.10/dist-packages/fishbot_interfaces/srv/_oled_control.py", line 303, in __import_type_support__ module = import_type_support('fishbot_interfaces') File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support raise UnsupportedTypeSupport(pkg_name) rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'fishbot_interfaces'main.cpp
#include <Arduino.h> #include <micro_ros_platformio.h> #include <rcl/rcl.h> #include <rclc/rclc.h> #include <rclc/executor.h> #include <micro_ros_utilities/string_utilities.h> #include "Wire.h" #include <Adafruit_GFX.h> #include <Adafruit_SSD1306.h> #include <fishbot_interfaces/srv/oled_control.h> rclc_executor_t executor; rclc_support_t support; rcl_allocator_t allocator; rcl_node_t node; rcl_service_t service; fishbot_interfaces__srv__OledControl_Request req; fishbot_interfaces__srv__OledControl_Response res; Adafruit_SSD1306 display; void service_cb(const void *req, void *res) { fishbot_interfaces__srv__OledControl_Request *req_in = (fishbot_interfaces__srv__OledControl_Request *)req; fishbot_interfaces__srv__OledControl_Response *res_in = (fishbot_interfaces__srv__OledControl_Response *)res; display.clearDisplay(); display.setCursor(req_in->px, req_in->py); display.println(req_in->data.data); display.display(); res_in->result = 0; } void setup() { // put your setup code here, to run once: Serial.begin(115200); set_microros_serial_transports(Serial); delay(2000); allocator = rcl_get_default_allocator(); rclc_support_init(&support, 0, NULL, &allocator); rclc_node_init_default(&node, "example14_interfaces", "", &support); rclc_service_init_default(&service, &node, ROSIDL_GET_SRV_TYPE_SUPPORT(fishbot_interfaces, srv, OledControl), "/oled_control"); rclc_executor_init(&executor, &support.context, 1, &allocator); rclc_executor_add_service(&executor, &service, &req, &res, service_cb); req.data = micro_ros_string_utilities_init_with_size(100); Wire.begin(18, 19); display = Adafruit_SSD1306(128, 64, &Wire); display.begin(SSD1306_SWITCHCAPVCC, 0x3c); display.clearDisplay(); display.setTextSize(1); display.setCursor(0, 0); display.setTextColor(SSD1306_WHITE); display.println("hello world!"); display.display(); } void loop() { // put your main code here, to run repeatedly: delay(100); rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)); } -
$ source install/setup.bash && ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"
这句在哪一个目录下执行的
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@小鱼
example14_custom_interfaces/extra_packages目录下
