navigation2 demo程序编译出差

vico1999

程序编译时，提示找不到部分hpp文件，不过我查看了一下，都是有点，这个问题困挠好久了。我用的是demo代码。我没有修改过
ico@wp:~/fishbot_ws$ colcon build --packages-up-to fishbot_navigation2
[0.594s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
'nav2_map_server' is in: /opt/ros/humble
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
--allow-overriding nav2_map_server

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> nav2_common
Starting >>> nav_2d_msgs
Finished <<< nav2_common [0.77s]
Starting >>> nav2_msgs
Starting >>> nav2_voxel_grid
Finished <<< nav2_voxel_grid [0.60s]
Finished <<< nav_2d_msgs [1.55s]
Starting >>> dwb_msgs
--- stderr: dwb_msgs
In file included from /home/vico/fishbot_ws/build/dwb_msgs/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/dds_fastrtps/critic_score__type_support.cpp:4:
/home/vico/fishbot_ws/build/dwb_msgs/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/critic_score__rosidl_typesupport_fastrtps_cpp.hpp:11:10: fatal error: dwb_msgs/msg/detail/critic_score__struct.hpp: 没有那个文件或目录
11 | #include "dwb_msgs/msg/detail/critic_score__struct.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/vico/fishbot_ws/build/dwb_msgs/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/dds_fastrtps/local_plan_evaluation__type_support.cpp:4:
/home/vico/fishbot_ws/build/dwb_msgs/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/local_plan_evaluation__rosidl_typesupport_fastrtps_cpp.hpp:11:10: fatal error: dwb_msgs/msg/detail/local_plan_evaluation__struct.hpp: 没有那个文件或目录
11 | #include "dwb_msgs/msg/detail/local_plan_evaluation__struct.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/dwb_msgs__rosidl_typesupport_fastrtps_cpp.dir/build.make:223：CMakeFiles/dwb_msgs__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/dds_fastrtps/critic_score__type_support.cpp.o] 错误 1
gmake[2]: *** 正在等待未完成的任务....
gmake[2]: *** [CMakeFiles/dwb_msgs__rosidl_typesupport_fastrtps_cpp.dir/build.make:237：CMakeFiles/dwb_msgs__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/dds_fastrtps/local_plan_evaluation__type_support.cpp.o] 错误 1
In file included from /home/vico/fishbot_ws/build/dwb_msgs/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/dds_fastrtps/trajectory2_d__type_support.cpp:4:
/home/vico/fishbot_ws/build/dwb_msgs/rosidl_typesupport_fastrtps_cpp/dwb_msgs/msg/detail/trajectory2_d__rosidl_typesupport_fastrtps_cpp.hpp:11:10: fatal error: dwb_msgs/msg/detail/trajectory2_d__struct.hpp: 没有那个文件或目录
11 | #include "dwb_msgs/msg/detail/trajectory2_d__struct.hpp"
选区_002.png

小鱼

@vico1999 如非必要请使用二进制安装，将源码中navigation2相关包删掉即可。如果需要源码编译请保证

将系统中的navigation2 删掉

sudo apt remove ros-<你的ROS版本>-nav2*

下载对应版本的源码

天问

@小鱼我今天也遇到了类似问题，按照鱼哥的方法，卸载后重新安装源码，现在这个重复的问题已经解决了。但是又有新的问题出现，如下：
设备：Ubuntu20.04 foxy
编译程序：“基于ROS2实现的Fishbot机器人仿真及实体机器人”的源码
执行了如下命令：
命令1：git clone https://github.com/fishros/fishbot.git -b foxy
成功克隆
命令2：cd fishbot
进入到工作空间
命令3：rosdep install --from-paths src -y
结果：#All required rosdeps installed successfully是成功的
命令4：colcon build
出现错误：
287 | auto* p = CreateMaybeMessage<::cartographer::mapping::constraints::proto::ConstraintBuilderOptions>(GetArenaNoVirtual());
| ^~~~~~~~
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h:287:103: error: expected primary-expression before ‘>’ token
287 | auto* p = CreateMaybeMessage<::cartographer::mapping::constraints::proto::ConstraintBuilderOptions>(GetArenaNoVirtual());
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h: In member function ‘void cartographer::mapping::proto::PoseGraphOptions::set_allocated_constraint_builder_options(cartographer::mapping::constraints::proto::ConstraintBuilderOptions)’:
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h:301:66: error: ‘GetOwnedMessage’ is not a member of ‘google::protobuf::internal’
301 | constraint_builder_options = ::google::protobuf::internal::GetOwnedMessage(
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h: In member function ‘cartographer::mapping::optimization::proto::OptimizationProblemOptions cartographer::mapping::proto::PoseGraphOptions::mutable_optimization_problem_options()’:
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h:363:15: error: ‘CreateMaybeMessage’ was not declared in this scope
363 | auto* p = CreateMaybeMessage<::cartographer::mapping::optimization::proto::OptimizationProblemOptions>(GetArenaNoVirtual());
| ^~
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h:363:106: error: expected primary-expression before ‘>’ token
363 | auto* p = CreateMaybeMessage<::cartographer::mapping::optimization::proto::OptimizationProblemOptions>(GetArenaNoVirtual());
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h: In member function ‘void cartographer::mapping::proto::PoseGraphOptions::set_allocated_optimization_problem_options(cartographer::mapping::optimization::proto::OptimizationProblemOptions)’:
/opt/ros/foxy/include/cartographer/mapping/proto/pose_graph_options.pb.h:377:68: error: ‘GetOwnedMessage’ is not a member of ‘google::protobuf::internal’
377 | optimization_problem_options = ::google::protobuf::internal::GetOwnedMessage(
| ^~~
In file included from /home/aq/Documents/ROS_2/fishbot/src/cartographer_core/cartographer_ros/cartographer_ros/./cartographer_ros/node_options.h:25,
from /home/aq/Documents/ROS_2/fishbot/src/cartographer_core/cartographer_ros/cartographer_ros/./cartographer_ros/map_builder_bridge.h:29,
from /home/aq/Documents/ROS_2/fishbot/src/cartographer_core/cartographer_ros/cartographer_ros/./cartographer_ros/node.h:31,
from /home/aq/Documents/ROS_2/fishbot/src/cartographer_core/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:17:
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h: At global scope:
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:201:41: error: ‘CachedSize’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘ToCachedSize’?
201 | mutable ::google::protobuf::internal::CachedSize cached_size;
| ^~
| ToCachedSize
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h: In member function ‘virtual cartographer::mapping::proto::MapBuilderOptions cartographer::mapping::proto::MapBuilderOptions::New() const’:
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:114:12: error: ‘CreateMaybeMessage’ was not declared in this scope
114 | return CreateMaybeMessage<MapBuilderOptions>(NULL);
| ^~~~~~
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:114:48: error: expected primary-expression before ‘>’ token
114 | return CreateMaybeMessage<MapBuilderOptions>(NULL);
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h: In member function ‘virtual cartographer::mapping::proto::MapBuilderOptions* cartographer::mapping::proto::MapBuilderOptions::New(google::protobuf::Arena) const’:
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:118:12: error: ‘CreateMaybeMessage’ was not declared in this scope
118 | return CreateMaybeMessage<MapBuilderOptions>(arena);
| ^~
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:118:48: error: expected primary-expression before ‘>’ token
118 | return CreateMaybeMessage<MapBuilderOptions>(arena);
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h: In member function ‘virtual int cartographer::mapping::proto::MapBuilderOptions::GetCachedSize() const’:
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:134:44: error: ‘cached_size’ was not declared in this scope
134 | int GetCachedSize() const final { return cached_size.Get(); }
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h: In member function ‘cartographer::mapping::proto::PoseGraphOptions cartographer::mapping::proto::MapBuilderOptions::mutable_pose_graph_options()’:
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:280:15: error: ‘CreateMaybeMessage’ was not declared in this scope
280 | auto* p = CreateMaybeMessage<::cartographer::mapping::proto::PoseGraphOptions>(GetArenaNoVirtual());
| ^~
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:280:82: error: expected primary-expression before ‘>’ token
280 | auto* p = CreateMaybeMessage<::cartographer::mapping::proto::PoseGraphOptions>(GetArenaNoVirtual());
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h: In member function ‘void cartographer::mapping::proto::MapBuilderOptions::set_allocated_pose_graph_options(cartographer::mapping::proto::PoseGraphOptions)’:
/opt/ros/foxy/include/cartographer/mapping/proto/map_builder_options.pb.h:294:58: error: ‘GetOwnedMessage’ is not a member of ‘google::protobuf::internal’
294 | pose_graph_options = ::google::protobuf::internal::GetOwnedMessage(
| ^~~~~~~
make[2]: [CMakeFiles/cartographer_ros.dir/build.make:76：CMakeFiles/cartographer_ros.dir/cartographer_ros/msg_conversion.cc.o] 错误 1
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:63：CMakeFiles/cartographer_ros.dir/cartographer_ros/map_builder_bridge.cc.o] 错误 1
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:89：CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o] 错误 1
make[1]: * [CMakeFiles/Makefile2:104：CMakeFiles/cartographer_ros.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2

Failed <<< cartographer_ros [18.1s, exited with code 2]

Summary: 36 packages finished [21.5s]
1 package failed: cartographer_ros
1 package had stderr output: cartographer_ros
1 package not processed

我应该如何解决，已经困在这两三天了

小鱼

@2918095496 建议切换 humble 版本，真机导航源码 foxy没适配

天问

好的，那我对应的Ubuntu版本也需要换是吧？

小鱼

@2918095496 是的