4.3.3 C++ 客户端代码实现rclcpp/rclcpp.hpp: 没有那个文件或目录

[43996173]

patrol_client.cpp代码（无报错）

#include <chrono>
#include <cstdlib>
#include <ctime>
#include "rclcpp/rclcpp.hpp"
#include "chapt4_interfaces/srv/patrol.hpp"

using namespace std::chrono_literals;
using Patrol = chapt4_interfaces::srv::Patrol;

class PatrolClient : public rclcpp::Node
{
    public:
     PatrolClient() : Node("patrol_client") {
        patrol_client_ = this->create_client<Patrol>("patrol");
        timer_ = this->create_wall_timer(10s,
        std::bind(&PatrolClient::timer_callback, this));
        srand(time(NULL));
     }
    void timer_callback() {
        while (!patrol_client_->wait_for_service(std::chrono::seconds(1)))
        {
            if(!rclcpp::ok()) {
                RCLCPP_ERROR(this->get_logger(),"等待服务端过程中被打断...");
                return;
            }
            RCLCPP_INFO(this->get_logger(),"等待服务端上线中");
        }
        
        auto request = std::make_shared<Patrol::Request>();
        request->target_x = rand() % 15;
        request->target_y = rand() % 15;
        RCLCPP_INFO(this->get_logger(), "请求巡逻：(%f,%f)",request->target_x,
        request->target_y);
        patrol_client_->async_send_request(
            request,
            [&](rclcpp::Client<Patrol>::SharedFuture result_future) -> void {
                auto response = result_future.get();
                if (response->result == Patrol::Response::SUCCESS) {
                    RCLCPP_INFO(this->get_logger(), "目标点处理成功");
                } else if (response->result == Patrol::Response::FALL) {
                    RCLCPP_INFO(this->get_logger(), "目标点处理失败");
                }
            });

    }

    private:
     rclcpp::TimerBase::SharedPtr timer_;
     rclcpp::Client<Patrol>::SharedPtr patrol_client_;


};

int main(int argc, char **argv) {
    rclcpp::init(argc, argv);
    auto node = std::make_shared<PatrolClient>();
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;

}

Cmakelists.txt文件：

cmake_minimum_required(VERSION 3.8)
project(demo_cpp_service)

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)
find_package(chapt4_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(turtlesim REQUIRED)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
add_executable(turtle_control src/turtle_control.cpp)
add_executable(patrol_client src/patrol_client.cpp)
ament_target_dependencies(turtle_control rclcpp geometry_msgs turtlesim chapt4_interfaces)


install(
      TARGETS
      turtle_control
      patrol_client 
      DESTINATION lib/${PROJECT_NAME}
)

ament_package()

colcon build报错：

tarting >>> chapt4_interfaces
Finished <<< chapt4_interfaces [0.42s]                     
Starting >>> demo_cpp_service
Starting >>> demo_python_service
Finished <<< demo_python_service [0.82s]                                                      
--- stderr: demo_cpp_service                         
/home/tingbo/chapt4/chapt4_ws/src/demo_cpp_service/src/patrol_client.cpp:4:10: fatal error: rclcpp/rclcpp.hpp: 没有那个文件或目录
    4 | #include "rclcpp/rclcpp.hpp"
      |          ^~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/patrol_client.dir/build.make:76：CMakeFiles/patrol_client.dir/src/patrol_client.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:165：CMakeFiles/patrol_client.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2
---
Failed   <<< demo_cpp_service [5.95s, exited with code 2]

Summary: 2 packages finished [6.59s]
  1 package failed: demo_cpp_service
  1 package had stderr output: demo_cpp_service

目录配置文件

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/${ROS_DISTRO}/include/**",
                "/opt/ros/humble/include"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c17",
            "cppStandard": "gnu++17",
            "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}

[小鱼]

@43996173 如何你在代码中引用了某个库，那么你应该像给turtle_control链接库一样，给patrol_client练级相应的依赖库。

add_executable(turtle_control src/turtle_control.cpp)
add_executable(patrol_client src/patrol_client.cpp)
ament_target_dependencies(turtle_control rclcpp geometry_msgs turtlesim chapt4_interfaces)
# 添加该条命令
ament_target_dependencies(patrol_client rclcpp geometry_msgs turtlesim chapt4_interfaces)

以后请按照模板提问： https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

[43996173]

@小鱼 ok，谢谢老师！