动手学ros2第5章进阶篇-控制OLED-自定义消息接口

小鱼

@842145248 用示例工程的功能包试试：https://github.com/fishros/example_micoros_board

likesingjumprap

@小鱼示例也不行

 *  Executing task: platformio run 

Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
---------------------------------------------------------------------------------------------------------------------------------------------------
Library Manager: Installing git+https://gitee.com/ohhuo/micro_ros_platformio.git
git version 2.34.1
Cloning into '/home/nzb/.platformio/.cache/tmp/pkg-installing-mkfoxl4p'...
remote: Enumerating objects: 5773, done.
remote: Counting objects: 100% (5773/5773), done.
remote: Compressing objects: 100% (2618/2618), done.
remote: Total 5773 (delta 2905), reused 5732 (delta 2883), pack-reused 0
Receiving objects: 100% (5773/5773), 19.12 MiB | 5.79 MiB/s, done.
Resolving deltas: 100% (2905/2905), done.
Library Manager: micro_ros_platformio@0.0.1+sha.085c5dd has been installed!
Library Manager: Installing adafruit/Adafruit SSD1306 @ ^2.5.7
Unpacking  [####################################]  100%
Library Manager: Adafruit SSD1306@2.5.7 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing Adafruit GFX Library
Unpacking  [####################################]  100%
Library Manager: Adafruit GFX Library@1.11.8 has been installed!
Library Manager: Resolving dependencies...
Library Manager: Installing Adafruit BusIO
Unpacking  [####################################]  100%
Library Manager: Adafruit BusIO@1.14.4 has been installed!
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/nzb/.platformio/penv/bin/python -m pip install pyyaml
Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple
Requirement already satisfied: pyyaml in /home/nzb/.platformio/penv/lib/python3.10/site-packages (6.0)

[notice] A new release of pip available: 22.3.1 -> 23.2.1
[notice] To update, run: pip install --upgrade pip
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/nzb/.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/nzb/.platformio/penv/lib/python3.10/site-packages (2.0.1)

[notice] A new release of pip available: 22.3.1 -> 23.2.1
[notice] To update, run: pip install --upgrade pip
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
|-- Wire @ 2.0.0
|-- Adafruit GFX Library @ 1.11.8
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.
src/main.cpp:13:10: fatal error: fishbot_interfaces/srv/oled_control.h: No such file or directory
 #include <fishbot_interfaces/srv/oled_control.h> // 添加接口
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
Compiling .pio/build/featheresp32/lib61f/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o
Compiling .pio/build/featheresp32/lib61f/micro_ros_platformio/platform_code/arduino/serial/micro_ros_transport.cpp.o
Compiling .pio/build/featheresp32/lib31c/Wire/Wire.cpp.o
Compiling .pio/build/featheresp32/lib271/SPI/SPI.cpp.o
Compiling .pio/build/featheresp32/libaae/Adafruit BusIO/Adafruit_BusIO_Register.cpp.o
*** [.pio/build/featheresp32/src/main.cpp.o] Error 1
=========================================================== [FAILED] Took 16.30 seconds ===========================================================

 *  The terminal process "platformio 'run'" terminated with exit code: 1. 
 *  Terminal will be reused by tasks, press any key to close it.

小鱼

@842145248 需要重新构建microros库，按照你之前的流程，或者把extra_pkgs 替换下

likesingjumprap

@小鱼鱼哥，还是不行，libmicroros 删除了，重新编译，终端打印编译过程没报错，也通过了，但是中间报这种影响吗？

看 libmicroros 目录下也有那个fishbot_interfaces了

执行ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}" 报错还是之前这个：

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'

小鱼

@842145248 在动手学ros2第5章进阶篇-控制OLED-自定义消息接口中说：

ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"

真是奇怪了，你在extra_pkgs下依次运行下面的指令，把结果反馈出来看看

rm -rf build install log
colcon build
source install/setup.bash
ros2 serivice list
ros2 interface list | grep fishbot
ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'

likesingjumprap

@小鱼
rm -rf build install log && colcon build --packages-up-to fishbot_interfaces && source install/setup.bash

[0.467s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.468s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/nzb/vscode_project/cplus_demo/ros2_demo/chat13/example14_custom_interfaces/extra_packages/install/fishbot_interfaces' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> fishbot_interfaces
Finished <<< fishbot_interfaces [5.13s]                     

Summary: 1 package finished [5.37s]

ros2 service list && ros2 interface list | grep fish

/oled_control
fishbot_interfaces/srv/OledControl

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'

小鱼

@842145248 在动手学ros2第5章进阶篇-控制OLED-自定义消息接口中说：

--packages-up-to fishbot_interfaces

不要加这个

likesingjumprap

@小鱼一样的报错，那个是我测试加上的，刚刚我删了重新编译了下，还是上面报错，人都要麻了

likesingjumprap

@842145248 我环境跟教程一样的22.04，humble

小鱼

@842145248 我在我这里测试了一下，没有问题：

测试指令:

cd ~
git clone git@github.com:fishros/example_micoros_board.git
cd example_micoros_board/example14_custom_interface/extra_packages/
rm -rf build install log
colcon build
source install/setup.bash
ros2 serivice list
ros2 interface list | grep fishbot
ros2 service call /oled_control fishbot_interfaces/srv/OledControl "{px: 0, py: 0, data: 'nihao'}"

likesingjumprap

@小鱼

likesingjumprap

@842145248 这demo也没啥什么环境变量影响啊，咋就不行了呢

小鱼

@842145248 代码一样你的系统是多少的，不幸就换个系统试试

likesingjumprap

@小鱼
嗯嗯，我再找找看，非常感谢大佬的支持

No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 22.04.3 LTS
Release:	22.04
Codename:	jammy


Linux lenovo 5.15.0-82-generic #91-Ubuntu SMP Mon Aug 14 14:14:14 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

likesingjumprap

@小鱼
大佬，你电脑编完后的这个目录下的文件能截个图给我吗
extra_packages/install/fishbot_interfaces/local/lib/python3.10/dist-packages/fishbot_interfaces

小鱼

@842145248

fishros@fishros-linux:~/example_micoros_board/example14_custom_interface/extra_packages/install/fishbot_interfaces/local/lib/python3.10/dist-packages/fishbot_interfaces$ ll
---
总计 136
drwxr-xr-x 4 fishros fishros  4096 10月 14 16:44 ./
drwxrwxr-x 4 fishros fishros  4096 10月 14 16:44 ../
-rw-r--r-- 1 fishros fishros 11776 10月 14 16:44 _fishbot_interfaces_s.ep.rosidl_typesupport_c.c
-rw-r--r-- 1 fishros fishros 11785 10月 14 16:44 _fishbot_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c
-rw-r--r-- 1 fishros fishros 11790 10月 14 16:44 _fishbot_interfaces_s.ep.rosidl_typesupport_introspection_c.c
-rw-r--r-- 1 fishros fishros 17632 10月 14 16:44 fishbot_interfaces_s__rosidl_typesupport_c.cpython-310-x86_64-linux-gnu.so
-rw-r--r-- 1 fishros fishros 17648 10月 14 16:44 fishbot_interfaces_s__rosidl_typesupport_fastrtps_c.cpython-310-x86_64-linux-gnu.so
-rw-r--r-- 1 fishros fishros 17664 10月 14 16:44 fishbot_interfaces_s__rosidl_typesupport_introspection_c.cpython-310-x86_64-linux-gnu.so
-rw-r--r-- 1 fishros fishros     0 10月 14 16:44 __init__.py
-rw-r--r-- 1 fishros fishros 21392 10月 14 16:44 libfishbot_interfaces__rosidl_generator_py.so
drwxrwxr-x 2 fishros fishros  4096 10月 14 16:44 __pycache__/
drwxr-xr-x 3 fishros fishros  4096 10月 14 16:44 srv/

likesingjumprap

@小鱼

果然，我编译出来的是*cpython-36m-x86_64-*.so
大佬，你系统里面还有python3.6吗，我尝试卸载，卸不干净 ,为什么会编python3.6啊，humble明明自带的python3.10

total 136
drwxr-xr-x 4 nzb nzb  4096 10月 15 13:40 ./
drwxrwxr-x 4 nzb nzb  4096 10月 15 13:40 ../
-rw-r--r-- 1 nzb nzb 11776 10月 15 13:40 _fishbot_interfaces_s.ep.rosidl_typesupport_c.c
-rw-r--r-- 1 nzb nzb 11785 10月 15 13:40 _fishbot_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c
-rw-r--r-- 1 nzb nzb 11790 10月 15 13:40 _fishbot_interfaces_s.ep.rosidl_typesupport_introspection_c.c
-rw-r--r-- 1 nzb nzb 17632 10月 15 13:40 fishbot_interfaces_s__rosidl_typesupport_c.cpython-36m-x86_64-linux-gnu.so
-rw-r--r-- 1 nzb nzb 17648 10月 15 13:40 fishbot_interfaces_s__rosidl_typesupport_fastrtps_c.cpython-36m-x86_64-linux-gnu.so
-rw-r--r-- 1 nzb nzb 17664 10月 15 13:40 fishbot_interfaces_s__rosidl_typesupport_introspection_c.cpython-36m-x86_64-linux-gnu.so
-rw-r--r-- 1 nzb nzb     0 10月 15 13:40 __init__.py
-rw-r--r-- 1 nzb nzb 21392 10月 15 13:40 libfishbot_interfaces__rosidl_generator_py.so
drwxrwxr-x 2 nzb nzb  4096 10月 15 13:40 __pycache__/
drwxr-xr-x 3 nzb nzb  4096 10月 15 13:40 srv/

小鱼

@842145248 python --verion 你的显示什么

python3 --version

likesingjumprap

@小鱼
显示的python3.10

刚刚我又卸载了一遍，卸载成功了，之前还剩个python3.6-minimal没卸载掉，显示的可执行文件是/usr/bin/python3.6m, 疑惑我半天，卸载的时候没用通配符，我还以为系统自带的卸载不了。

终于可以正常编译了跑起来了，非常感谢大佬的支持

小鱼

@842145248