ros2 create_subscription出错

Labor

在一个节点中添加了一个subscriber时，使用create_subscription初始化失败，前后反复确认，发现该代码注释后可正常运行，由此锁定问题就在订阅初始化处。此外，通过ros2 topic list命令已经确认话题已正常发布并存在，仅仅是在此节点订阅出错误。

Screenshot from 2023-08-19 22-49-48.png

由上图知，报错信息为
"what(): this specialization of rclcpp::get_message_type_support_handle() should never be called"

cpp文件涉及代码为

serial_receive_data_sub_ = this->create_subscription<rm_interfaces::msg::SerialReceiveData>(
  "/serial/receive", rclcpp::SensorDataQoS(), 
  std::bind(&ArmorDetectorNode::serialdataCallback, this, std::placeholders::_1));

void ArmorDetectorNode::serialdataCallback(const rm_interfaces::msg::SerialReceiveData::ConstSharedPtr receive_data_)
{
  float pitch = static_cast<float>(-receive_data_->pitch * M_PI / 180.0);
  float yaw = static_cast<float>(receive_data_->yaw * M_PI / 180.0);
  angle[1] = pitch;
  angle[2] = yaw;
}

hpp文件涉及代码为

void serialdataCallback(const rm_interfaces::msg::SerialReceiveData::ConstSharedPtr receive_data_);  

rclcpp::Subscription<rm_interfaces::msg::SerialReceiveData>::SharedPtr serial_receive_data_sub_;

float angle[3];

其中rm_interface为我自己定义的消息类型

注：
ubuntu版本为22.04.01
ros版本为ros2-humble

Labor

此问题已经解决，发现是由于未包含对应消息的头文件所致，无法识别消息类型，从而无法创建相应对象。
此外，我使用clangd并开启了自动添加头文件功能，但由于其本身局限性，添加了错误路径(install下生成的文件)，因此编译顺利通过，运行中才抛出错误

小鱼

@3110379921 可能是依赖问题，你自定义的接口没有正确link上依赖，再次依赖就会出错。

Labor

@小鱼 具体应该如何解决呢?在package.xml文件中我已添加自定义的rm_interface依赖以及一些必要的依赖

下面是我的package.xml和CMakeLists.txt文件

<?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>armor_detector</name>
  <version>0.1.0</version>
  <description>A template for ROS packages.</description>
  <maintainer email="chen.junn@outlook.com">Chen Jun</maintainer>
  <license>BSD</license>
  <url type="website">https://github.com/chenjunnn/rm_auto_aim</url>
  <url type="bugtracker">https://github.com/chenjunnn/rm_auto_aim/issues</url>
  <author email="chen.junn@outlook.com">Chen Jun</author>

  <!-- buildtool_depend: dependencies of the build process -->
  <buildtool_depend>ament_cmake</buildtool_depend>

  <!-- depend: build, export, and execution dependency -->
  <depend>rclcpp</depend>
  <depend>rclcpp_components</depend>
  <depend>sensor_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>std_srvs</depend>
  <depend>visualization_msgs</depend>
  <depend>message_filters</depend>
  <depend>cv_bridge</depend>
  <depend>image_transport</depend>
  <depend>image_transport_plugins</depend>
  <depend>rm_interfaces</depend>
  <depend>vision_opencv</depend>
  <depend>tf2</depend>
  <depend>eigen</depend>
  <depend>fmt</depend>
  <depend>tf2_ros</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
  <test_depend>ament_cmake_clang_format</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

cmake_minimum_required(VERSION 3.10)
project(armor_detector)

## Use C++14
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
## enforcing cleaner code.
add_definitions(-Wall -Werror)

## Export compile commands for clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

#######################
## Find dependencies ##
#######################


find_package(ament_cmake_auto REQUIRED)
find_package(OpenCV REQUIRED)
find_package(g2o REQUIRED)
find_package(fmt REQUIRED)
find_package(Sophus REQUIRED)
ament_auto_find_build_dependencies()




###########
## Build ##
###########

ament_auto_add_library(${PROJECT_NAME} SHARED
  DIRECTORY src
)

target_include_directories(${PROJECT_NAME} PUBLIC 
${OpenCV_INCLUDE_DIRS} 
${G2O_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME} 
${catkin_LIBRARIES}
${OpenCV_LIBS}
g2o_core 
g2o_types_slam3d 
g2o_solver_csparse 
g2o_stuff 
g2o_csparse_extension
g2o_solver_dense
fmt::fmt
)

 


rclcpp_components_register_node(${PROJECT_NAME}
  PLUGIN rm_auto_aim::ArmorDetectorNode
  EXECUTABLE armor_detector_node
)

#############
## Testing ##
#############

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  list(APPEND AMENT_LINT_AUTO_EXCLUDE
    ament_cmake_copyright
    ament_cmake_uncrustify
    ament_cmake_cpplint
  )
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_gtest)
  ament_add_gtest(test_node_startup test/test_node_startup.cpp)
  target_link_libraries(test_node_startup ${PROJECT_NAME})

  ament_add_gtest(test_number_cls test/test_number_cls.cpp)
  target_link_libraries(test_number_cls ${PROJECT_NAME})



endif()

#############
## Install ##
#############

ament_auto_package(
  INSTALL_TO_SHARE
  model
)

rm_interface中包含自定义消息和服务，且确定消息与服务已正常生成，且在该发生错误节点下，可正常发起服务请求，并可订阅其他类型的话题，例如:

Screenshot from 2023-08-20 14-26-52.png

只有serial_receive_data_sub_处请求失败

Labor

此回复已被删除！

Labor

@小鱼 能否看一下呢，还是没解决这个问题

小鱼

@3110379921 在 ros2 create_subscription出错中说：

ament_auto_find_build_dependencies()

###########

Build

###########

ament_auto_add_library(${PROJECT_NAME} SHARED
DIRECTORY src
)

试试不用auto，用正常的指令

Labor

此问题已经解决，发现是由于未包含对应消息的头文件所致，无法识别消息类型，从而无法创建相应对象。
此外，我使用clangd并开启了自动添加头文件功能，但由于其本身局限性，添加了错误路径(install下生成的文件)，因此编译顺利通过，运行中才抛出错误

〇

此回复已被删除！