ROS2入门篇第3章-自定义接口RCLCPP实战colcon build失败，找不到功能包

1597195629

一直按着鱼哥的教材走的，这是colcon build之后终端显示的错误，好像是找不到example_ros2_interfaces这个功能包，希望大佬帮解决一下

gaozhihao@gaozhihao-virtual-machine:~/Desktop/d2lros2/chapt3/chapt3_ws$ colcon build --packages-up-to example_interfaces_rclcpp
Starting >>> example_interfaces_rclcpp
--- stderr: example_interfaces_rclcpp                         
CMake Error at CMakeLists.txt:11 (find_package):
  By not providing "Findexample_ros2_interfaces.cmake" in CMAKE_MODULE_PATH
  this project has asked CMake to find a package configuration file provided
  by "example_ros2_interfaces", but CMake did not find one.

  Could not find a package configuration file provided by
  "example_ros2_interfaces" with any of the following names:

    example_ros2_interfacesConfig.cmake
    example_ros2_interfaces-config.cmake

  Add the installation prefix of "example_ros2_interfaces" to
  CMAKE_PREFIX_PATH or set "example_ros2_interfaces_DIR" to a directory
  containing one of the above files.  If "example_ros2_interfaces" provides a
  separate development package or SDK, be sure it has been installed.


gmake: *** [Makefile:308：cmake_check_build_system] 错误 1
---
Failed   <<< example_interfaces_rclcpp [0.85s, exited with code 2]

Summary: 0 packages finished [1.20s]
  1 package failed: example_interfaces_rclcpp
  1 package had stderr output: example_interfaces_rclcpp

杜守钰

你能提供以下你的cmake 文件吗？

1597195629

@杜守钰

cmake_minimum_required(VERSION 3.8)
project(example_interfaces_rclcpp)

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)
find_package(rclcpp REQUIRED)
find_package(example_ros2_interfaces REQUIRED)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

add_executable(example_interfaces_robot_01 src/example_interfaces_robot_01.cpp)
target_include_directories(example_interfaces_robot_01 PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(example_interfaces_robot_01 PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
ament_target_dependencies(
  example_interfaces_robot_01
  "rclcpp"
  "example_ros2_interfaces"
)

install(TARGETS example_interfaces_robot_01
  DESTINATION lib/${PROJECT_NAME})

add_executable(example_interfaces_control_01 src/example_interfaces_control_01.cpp)
target_include_directories(example_interfaces_control_01 PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(example_interfaces_control_01 PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
ament_target_dependencies(
  example_interfaces_control_01
  "rclcpp"
  "example_ros2_interfaces"
)
  
install(TARGETS example_interfaces_control_01
  DESTINATION lib/${PROJECT_NAME})

小鱼

@1597195629 在 ROS2入门篇第3章-自定义接口RCLCPP实战colcon build失败，找不到功能包中说：

ament_package()

这句话放到最后，这句话前的指令才会被ros2认可

2937817639

@杜守钰 uu你解决了嘛我也是同样的问题鱼哥说的

ament_package()

放在cmake文件的最后我依旧有同样的报错而且我看视频里面是在该行代码之后编写的需要添加的代码依旧colcon build成功了TT

HeyMad

@2937817639 可以试试用SET({对应接口}_DIR /yourpath/)的方式试试，原因应该是找不到接口包的路径

等待修复

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