CMake编译错误

[271658536]

前置操作
安装carotgrapher

sudo apt install ros-foxy-cartographer
sudo apt install ros-foxy-cartographer-ros

然后在fishbot_ws工作空间创建fishbot_cartographer功能包

ros2 pkg create fishbot_cartographer

执行编译命令

colcon build --packages-select fishbot_cartographer

CMakeLists.txt文件内容如下

cmake_minimum_required(VERSION 3.5)
project(fishbot_cartographer)

install(
  DIRECTORY config launch rviz
  DESTINATION share/${PROJECT_NAME}
)

# 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)

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()

编译错误内容如下

Starting >>> fishbot_cartographer
--- stderr: fishbot_cartographer                         
Traceback (most recent call last):
  File "/opt/ros/foxy/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 21, in <module>
    from catkin_pkg.package import parse_package_string
ModuleNotFoundError: No module named 'catkin_pkg'
CMake Error at /opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:94 (message):
  execute_process(/home/ros2/miniconda3/bin/python3
  /opt/ros/foxy/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  /home/ros2/fishbot_ws/src/fishbot_cartographer/package.xml
  /home/ros2/fishbot_ws/build/fishbot_cartographer/ament_cmake_core/package.cmake)
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  /opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:31 (ament_package_xml)
  CMakeLists.txt:37 (ament_lint_auto_find_test_dependencies)


---
Failed   <<< fishbot_cartographer [0.63s, exited with code 1]

Summary: 0 packages finished [0.85s]
  1 package failed: fishbot_cartographer
  1 package had stderr output: fishbot_cartographer

新建功能包无任何操作，编译也是这个错误。

[271658536]

@271658536 在 CMake编译错误 中说：

ModuleNotFoundError: No module named 'catkin_pkg'

已经解决，解决方法原文如下：
https://blog.csdn.net/qq_27865227/article/details/122609055