jetson ros2-foxy 自定义消息

R.

求指教！
我在jetson上用一键安装的代码，安装了ros2-foxy版本，看起来环境没有问题。此时，我自定义了action文件，并用python搭建了一个action server和client。在我本地机器上（x86）上没有问题，但是在Jetson上运行报错（图片上传老是报错，复制的控制台日志）：
(py38) nvidia@nvidia-desktop:/mnt/work_dir/robot_ros/modules/grasp_det_action_client_node$ python grasp_action_client.py
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-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 "/home/nvidia/archiconda3/envs/py38/lib/python3.8/importlib/init.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
File "<frozen importlib._bootstrap>", line 991, in _find_and_load
File "<frozen importlib._bootstrap>", line 973, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'robot_interfaces.robot_interfaces_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "grasp_action_client.py", line 74, in <module>
main()
File "grasp_action_client.py", line 68, in main
action_client = GraspActionClient()
File "grasp_action_client.py", line 17, in init
self._action_client = ActionClient(self, GraspAction, 'grasp_det')
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/client.py", line 148, in init
check_for_type_support(action_type)
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
msg_type.class.import_type_support()
File "/mnt/work_dir/robot_ros/install/robot_interfaces/lib/python3.7/site-packages/robot_interfaces/action/_grasp_action.py", line 1186, in import_type_support
module = import_type_support('robot_interfaces')
File "/opt/ros/foxy/lib/python3.8/site-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 'robot_interfaces'
Exception ignored in: <function ActionClient.del at 0xffff9c26b280>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/client.py", line 605, in del
self.destroy()
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/client.py", line 596, in destroy
if self._client_handle is None:
AttributeError: 'ActionClient' object has no attribute '_client_handle'
测试python调用官方自带的 action_tutorials_interfaces.action.Fibonacci
没有问题，用C++调用自定义的action也没有问题，python调用自定义的action就报错。
求各位大佬解惑

R.

这是Cmakelist

cmake_minimum_required(VERSION 3.5)
project(robot_interfaces)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

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)

find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/ObjectDetMsg1.msg"
  "msg/ObjectDetMsg2.msg"
  "msg/GraspMsg.msg"
  "msg/SuperGlueMsg.msg"
  "action/SuperGlueAction.action"
  "action/ObjectAction.action"
  "action/GraspAction.action"
 )


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()

ament_package()

R.

这是package

<?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>robot_interfaces</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="zr@todo.todo">zr</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>

R.

在初始化的时候就报错了，但是colcon build没有报错，并且ros2 interface show也可以看到到action的内容

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from robot_interfaces.action import GraspAction


class GraspActionClient(Node):
    def __init__(self):
        super().__init__('Grasp_action_client')
        self._action_client = ActionClient(self, GraspAction, 'grasp_det')

R.

解决了，原因是python版本不匹配的问题
在colcon build的时候，不知道为什么调用的是python3.7（改了默认的系统python路径也不行），导致编译出的so都是py37的。而我运行程序的conda环境是python3.8的，加载so就报错了。所以在colcon build之前，在cmakelist中，set指定下python3.8路径，就可以了