编译cartographer源码时报错

三七

在使用colcon build --packages-up-to cartographer_ros编译cartographer源码时报错，报错内容如下：CMake Error at /opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message):
execute_process(/home/satio/miniconda3/bin/python3 -m rosidl_adapter
--package-name cartographer_ros_msgs --arguments-file
/home/satio/d2lros2/chapt5/urdf_ws/build/cartographer_ros_msgs/rosidl_adapter__arguments__cartographer_ros_msgs.json
--output-dir
/home/satio/d2lros2/chapt5/urdf_ws/build/cartographer_ros_msgs/rosidl_adapter/cartographer_ros_msgs
--output-file
/home/satio/d2lros2/chapt5/urdf_ws/build/cartographer_ros_msgs/rosidl_adapter/cartographer_ros_msgs.idls)
returned error code 1:

AttributeError processing template 'msg.idl.em'

Traceback (most recent call last):

File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 51, in evaluate_template
  em.BUFFERED_OPT: True,

AttributeError: module 'em' has no attribute 'BUFFERED_OPT'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):

File "/home/satio/miniconda3/lib/python3.10/runpy.py", line 196, in _run_module_as_main
  return _run_code(code, main_globals, None,
File "/home/satio/miniconda3/lib/python3.10/runpy.py", line 86, in _run_code
  exec(code, run_globals)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__main__.py", line 19, in <module>
  sys.exit(main())
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/main.py", line 53, in main
  abs_idl_file = convert_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__init__.py", line 19, in convert_to_idl
  return convert_msg_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl
  expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1')
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template
  content = evaluate_template(template_name, data)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template
  _interpreter.shutdown()

AttributeError: 'NoneType' object has no attribute 'shutdown'

Call Stack (most recent call first):
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
CMakeLists.txt:63 (rosidl_generate_interfaces)