Fishbot-humble源码编译错误

赤诚

编译到cartographer_ros时报错

小鱼

@2761607729 注意版本，另外最好复制粘贴提问

赤诚

@小鱼就fishbot的代码https://github.com/fishros/fishbot/tree/humble，humble版本的

小鱼

@2761607729 在 Fishbot-humble源码编译错误中说：

https://github.com/fishros/fishbot/tree/humble

请手动下载各个仓库源码，指定humble相关分支：

[submodule "src/navigation"]
path = src/navigation
url = http://github.fishros.org/https://github.com/fishros/navigation2.git
branch = main
[submodule "src/cartographer_code/cartographer"]
path = src/cartographer_code/cartographer
url = http://github.fishros.org/https://github.com/ros2/cartographer.git
[submodule "src/cartographer_code/cartographer_ros"]
path = src/cartographer_code/cartographer_ros
url = http://github.fishros.org/https://github.com/ros2/cartographer_ros.git

赤诚

@小鱼我又重新安装了一遍，先是git clone --recursive https://github.com/fishros/fishbot.git -b humble
然后按照你的提示将.gitmodules文件改成
[submodule "src/navigation"]
path = src/navigation
url = http://github.fishros.org/https://github.com/fishros/navigation2.git
branch = humble

[submodule "src/cartographer_code/cartographer"]
path = src/cartographer_code/cartographer
url = http://github.fishros.org/https://github.com/ros2/cartographer.git
branch = humble

[submodule "src/cartographer_code/cartographer_ros"]
path = src/cartographer_code/cartographer_ros
url = http://github.fishros.org/https://github.com/ros2/cartographer_ros.git
branch = humble
接着在工作空间运行git summodule init 和 git submodule update --recursive更新子模块的内容，在conlcon build编译还是报错，还是同样的情况，但是在colcon build编译前我运行那个rosdep install --from-paths src -y
也是报错报ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
fishbot_description: Cannot locate rosdep definition for [ament_python]
我就直接跳过了，不知道有没有影响

小鱼

@2761607729 rosdep这步过不去还是有影响的，另外你要到对应的github仓库去看看有没有humble分支

赤诚

@小鱼我试了好多次都没解决，那个rosdep提示缺少ament_python的依赖项，我也给安装上了，但是还是报错。我根据这个报错的原因，将cartographer_ros包下面的ros_log_sink.cpp文件中的
const std::string message_string = ::google::LogSink::ToString(
severity, GetBasename(filename), line, tm_time, message, message_len);
中的tm_time改成*tm_time后编译通过了

小鱼

@2761607729 ok,看样子还是源码bug,我以为是下错版本导致的，源码最好切换到一个release的版本

赤诚

@小鱼那意思是这个humble版本还是有问题的吗，我编译后运行第一个指令显示机器人模型ros2 launch fishbot_description display_rviz2.launch.py，看不见机器人，但是添加tf坐标系有显示。

小鱼

@2761607729 你需要学一个动手学ROS2,从仿真建模开始或者从头开始都可以