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    动手学ros2第5章进阶篇-控制OLED-自定义消息接口

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    ROS 2相关问题
    ros2 humble ros2 添加接口
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    • 小鱼小
      小鱼 技术大佬 @842145248
      最后由 编辑

      @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

      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

      8421452488 1 条回复 最后回复 回复 引用 0
      • 8421452488
        likesingjumprap @小鱼
        最后由 842145248 编辑

        @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？

        17e49679-1fb1-470c-9c0c-c0092bfdb7eb-image.png

        c1fd2f5f-b8d3-4dcb-ba2e-58c8e41f4eb9-image.png

        看 libmicroros 目录下也有那个fishbot_interfaces了
        026f6e6c-f8bd-4017-9d44-7ea835beffdc-image.png

        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'
        小鱼小 1 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @842145248
          最后由 编辑

          @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'

          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

          8421452488 1 条回复 最后回复 回复 引用 0
          • 8421452488
            likesingjumprap @小鱼
            最后由 编辑

            @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'
            小鱼小 1 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @842145248
              最后由 编辑

              @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

              新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

              8421452488 1 条回复 最后回复 回复 引用 0
              • 8421452488
                likesingjumprap @小鱼
                最后由 编辑

                @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

                8421452488 1 条回复 最后回复 回复 引用 0
                • 8421452488
                  likesingjumprap @842145248
                  最后由 编辑

                  @842145248 我环境跟教程一样的22.04，humble

                  小鱼小 1 条回复 最后回复 回复 引用 0
                  • 小鱼小
                    小鱼 技术大佬 @842145248
                    最后由 编辑

                    @842145248 我在我这里测试了一下，没有问题：
                    2b58af41-fd69-451d-955f-078f3c3392c5-image.png

                    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'}"

                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                    8421452488 2 条回复 最后回复 回复 引用 0
                    • 8421452488
                      likesingjumprap @小鱼
                      最后由 编辑

                      @小鱼

                      b97b2ca0-c8f5-4624-9b28-7a5293830beb-image.png

                      8421452488 1 条回复 最后回复 回复 引用 0
                      • 8421452488
                        likesingjumprap @842145248
                        最后由 编辑

                        @842145248 这demo也没啥什么环境变量影响啊，咋就不行了呢😢

                        小鱼小 1 条回复 最后回复 回复 引用 0
                        • 小鱼小
                          小鱼 技术大佬 @842145248
                          最后由 编辑

                          @842145248 代码一样你的系统是多少的，不幸就换个系统试试

                          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                          8421452488 1 条回复 最后回复 回复 引用 0
                          • 8421452488
                            likesingjumprap @小鱼
                            最后由 编辑

                            @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
                            1 条回复 最后回复 回复 引用 0
                            • 8421452488
                              likesingjumprap @小鱼
                              最后由 编辑

                              @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

                              小鱼小 1 条回复 最后回复 回复 引用 0
                              • 小鱼小
                                小鱼 技术大佬 @842145248
                                最后由 编辑

                                @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/

                                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                8421452488 1 条回复 最后回复 回复 引用 0
                                • 8421452488
                                  likesingjumprap @小鱼
                                  最后由 编辑

                                  @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/
                                  小鱼小 1 条回复 最后回复 回复 引用 0
                                  • 小鱼小
                                    小鱼 技术大佬 @842145248
                                    最后由 小鱼 编辑

                                    @842145248 python --verion 你的显示什么

                                    python3 --version

                                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                    8421452488 1 条回复 最后回复 回复 引用 0
                                    • 8421452488
                                      likesingjumprap @小鱼
                                      最后由 编辑

                                      @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🌷 🌷 🌷

                                      小鱼小 1 条回复 最后回复 回复 引用 0
                                      • 小鱼小
                                        小鱼 技术大佬 @842145248
                                        最后由 编辑

                                        @842145248 👍

                                        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                        12818578961 1 条回复 最后回复 回复 引用 0
                                        • 12818578961
                                          1281857896 @小鱼
                                          最后由 编辑

                                          @小鱼 dfc47842-4cb9-4fd3-b710-e80c59f7db0a-image.png
                                          编译一直是这个问题，不知道怎么解决

                                          小鱼小 1 条回复 最后回复 回复 引用 0
                                          • 小鱼小
                                            小鱼 技术大佬 @1281857896
                                            最后由 编辑

                                            @1281857896 我抽空修改下库，ghproxy挂掉了

                                            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                            12818578961 20493681212 2 条回复 最后回复 回复 引用 0
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