10.1.4章节cmakelists.txt错误

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构建功能包错误日志：

tingbo@tingbo-i7:~/chapt10/chapt10_ws$ colcon build
Starting >>> learn_qos_cpp
Starting >>> learn_qos_py
--- stderr: learn_qos_cpp            
CMake Error at /opt/ros/humble/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):
  ament_target_dependencies() the first argument must be a valid target name
Call Stack (most recent call first):
  CMakeLists.txt:25 (ament_target_dependencies)


gmake: *** [Makefile:267：cmake_check_build_system] 错误 1
---
Failed   <<< learn_qos_cpp [2.66s, exited with code 2]
Aborted  <<< learn_qos_py [3.33s]                     

Summary: 0 packages finished [3.99s]
  1 package failed: learn_qos_cpp
  1 package aborted: learn_qos_py
  1 package had stderr output: learn_qos_cpp

cmakelists.txt代码：

cmake_minimum_required(VERSION 3.8)
project(learn_qos_cpp)

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(nav_msgs REQUIRED)
find_package(rclcpp 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(learn_qos_cpp src/reliability_test.cpp)
ament_target_dependencies(reliability_test rclcpp nav_msgs)

install(DIRECTORY
reliability_test
DESTINATION share/${PROJECT_NAME})

ament_package()

reliability_test代码：

#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>

class OdomPublsherSubscriber : public rclcpp::Node {
    public:
        OdomPublsherSubscriber() : Node("odom_publisher_subscriber") {
            // 创建发布者并设置 qos为sensor
            odom_publisher_ = this->create_publisher<nav_msgs::msg::Odometry>(
                "odom", rclcpp::SensorDataQoS());

            //创建订阅者（默认Qos配置）队列设深度设置为5
            odom_subscription_ = this->create_subscription<nav_msgs::msg::Odometry>(
                "odom", rclcpp::SensorDataQoS(), [this] (const nav_msgs::msg::Odometry::SharedPtr msg) {
                    (void)msg;
                    RCLCPP_INFO(this->get_logger(), "收到里程计消息");
                });
            //创建一个1秒的定时器，并指定回调函数
            timer_ = this->create_wall_timer(std::chrono::seconds(1), [this](){
                odom_publisher_->publish(nav_msgs::msg::Odometry());
            });

        }
    private:
        rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_publisher_;
        rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscription_;
        rclcpp::TimerBase::SharedPtr timer_;
};

int main(int argc, char *argv[]) {
    rclcpp::init(argc, argv);
    auto odom_node = std::make_shared<OdomPublsherSubscriber>();
    rclcpp::spin(odom_node);
    rclcpp::shutdown();
    return 0;
}

小鱼

@43996173 在你的 CMakeLists.txt 文件中，你使用了错误的目标名称。在 ament_target_dependencies() 中，第一个参数应该是你的可执行文件名，而不是源文件名。因此，你需要将 ament_target_dependencies() 中的目标名称修改为 learn_qos_cpp，而不是 reliability_test。修改后的 CMakeLists.txt 文件应该如下所示：

cmake_minimum_required(VERSION 3.8)
project(learn_qos_cpp)

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(nav_msgs REQUIRED)
find_package(rclcpp 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(learn_qos_cpp src/reliability_test.cpp)
ament_target_dependencies(learn_qos_cpp rclcpp nav_msgs)  # 修改此处目标名称

install(TARGETS
  learn_qos_cpp
  DESTINATION lib/${PROJECT_NAME})

ament_package()

请尝试这样修改，并重新构建你的软件包，看看是否解决了问题。

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@小鱼，小鱼老师