在编译navigation2及其依赖的时候，产生- The generic dependency on 'nav2_bringup' is redundant with: exec_depend错误，一直无法解决

[小鱼]

@2425004936 在 在编译navigation2及其依赖的时候，产生- The generic dependency on 'nav2_bringup' is redundant with: exec_depend错误，一直无法解决 中说：

exec_depend

检查下对应的 packages.xml ，另外给出上下文

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[2425004936]

@小鱼 好的，谢谢你

[2425004936]

@小鱼 解决了nav2_bringup错误。确实是packages.xml写错了。目前编译nav2包及其依赖项时一直提示"1 package failed: nav2_mppi_controller
"系统是ubuntu22.04，humble版本。我源码下载的是humble版本。

如下是错误信息：
--- stderr: nav2_mppi_controller
/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp: In member function ‘virtual void NoiseGeneratorTest_NoiseGeneratorLifecycle_Test::TestBody()’:
/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:32: error: ‘rclcpp_lifecycle’ was not declared in this scope
45 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:20: error: parse error in template argument list
45 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:64: error: no matching function for call to ‘make_shared<<expression error> >(const char [5])’
45 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

In file included from /usr/include/c++/11/memory:77,
from /opt/ros/humble/src/gtest_vendor/include/gtest/gtest.h:57,
from /home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:18:
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’
875 | make_shared(_Args&&... __args)

/usr/include/c++/11/bits/shared_ptr.h:875:5: note: template argument deduction/substitution failed:
/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:64: error: template argument 1 is invalid
45 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:47:3: error: ‘ParametersHandler’ was not declared in this scope
47 | ParametersHandler handler(node);

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:49:55: error: ‘handler’ was not declared in this scope
49 | generator.initialize(settings, false, "test_name", &handler);

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp: In member function ‘virtual void NoiseGeneratorTest_NoiseGeneratorMain_Test::TestBody()’:
/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:32: error: ‘rclcpp_lifecycle’ was not declared in this scope
57 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:20: error: parse error in template argument list
57 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:64: error: no matching function for call to ‘make_shared<<expression error> >(const char [5])’
57 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

In file included from /usr/include/c++/11/memory:77,
from /opt/ros/humble/src/gtest_vendor/include/gtest/gtest.h:57,
from /home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:18:
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’
875 | make_shared(_Args&&... __args)

/usr/include/c++/11/bits/shared_ptr.h:875:5: note: template argument deduction/substitution failed:
/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:64: error: template argument 1 is invalid
57 | auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:59:3: error: ‘ParametersHandler’ was not declared in this scope
59 | ParametersHandler handler(node);

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:59:3: error: ‘ParametersHandler’ was not declared in this scope
59 | ParametersHandler handler(node);

/home/lhx/lhx_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:81:55: error: ‘handler’ was not declared in this scope
81 | generator.initialize(settings, false, "test_name", &handler);

gmake[2]: *** [test/CMakeFiles/noise_generator_test.dir/build.make:76：test/CMakeFiles/noise_generator_test.dir/noise_generator_test.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:334：test/CMakeFiles/noise_generator_test.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2

Failed <<< nav2_mppi_controller [13.6s, exited with code 2]

[1367426346]

@2425004936 又一个出现这个问题的。

[小鱼]

@1367426346 我来check下

这样操作

git clone https://github.com/ros-planning/navigation2.git -b humble
git reset 1.1.9

回退下版本后测试

---

[2425004936]

此回复已被删除！

[2425004936]

@小鱼 在 在编译navigation2及其依赖的时候，产生- The generic dependency on 'nav2_bringup' is redundant with: exec_depend错误，一直无法解决 中说：

git reset 1.1.9

试了一下，回退版本还是无法编译成功。错误提示还是和上面一样

[2693226252]

@2425004936 你好，你怎么改的package.xml文件啊

[1548792408]

我在编译的时候也遇到了同样的问题，求解答。

对应教程地址：
https://fishros.com/d2lros2/#/humble/chapt11/get_started/3.使用FishBot进行自主导航

具体错误：

colcon build --packages-up-to fishbot_navigation2

[0.420s] WARNING:colcon.colcon_core.package_identification:Failed to parse ROS package manifest in 'src/fishbot_navigation2': Error(s) in package 'src/fishbot_navigation2/package.xml':
Error(s):
- The generic dependency on 'nav2_bringup' is redundant with: exec_depend
Starting >>> fishbot_navigation2
--- stderr: fishbot_navigation2                         
CMake Error at CMakeLists.txt:10 (find_package):
  By not providing "Findnav2_bringup.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "nav2_bringup", but CMake did not find one.

  Could not find a package configuration file provided by "nav2_bringup" with
  any of the following names:

    nav2_bringupConfig.cmake
    nav2_bringup-config.cmake

  Add the installation prefix of "nav2_bringup" to CMAKE_PREFIX_PATH or set
  "nav2_bringup_DIR" to a directory containing one of the above files.  If
  "nav2_bringup" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< fishbot_navigation2 [0.53s, exited with code 1]

Summary: 0 packages finished [0.70s]
  1 package failed: fishbot_navigation2
  1 package had stderr output: fishbot_navigation2

[1548792408]

@1548792408 补充：

1. 下载 nav2 时采用的是源码方式（依赖也按照教程用rosdepc install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y下载了）
2. 并且在终端也将 nav2 source到工作空间了

[1548792408]

@1548792408
已解决！
不知道什么原因，如果只用下面这条语句，在源码编译的时候没有编译 包nav2_bringup

colcon build --packages-up-to navigation2

至于我是怎么发现没有编译 包nav2_bringup的：在工作空间目录（即fishbot_ws）下的 install 文件夹中你会发现没有 包nav2_bringup 对应的文件夹。

我采用的解决方法（单独对缺失的 包nav2_bringup 进行编译）:

cd fishbot_ws
colcon build --packages-up-to nav2_bringup