代码报错求助

2652250307

C++创建节点时对代码进行编译报错

cmake_minimum_required (VERSION 3.8)
project (ros2_cpp)
add_executable(rs2_cpp_noode ros2_cpp_node.cpp)
find_package(rclcpp REQUIRED)
target_include_directories(ros2_cpp_node PUBLIC ${rclcpp_INCLUDE_DIRS})
target_link_libraries(ros2_cpp_node ${rclcpp_LTBRARIES})

l@l-virtual-machine-22:~/VScode workplace/chapt2$ cmake .
-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found rclcpp: 16.0.10 (/opt/ros/humble/share/rclcpp/cmake)
-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
-- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
-- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 6.2.7 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")
-- Found FastRTPS: /opt/ros/humble/include
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
CMake Error at CMakeLists.txt:5 (target_include_directories):
Cannot specify include directories for target "ros2_cpp_node" which is not
built by this project.

CMake Error at CMakeLists.txt:6 (target_link_libraries):
Cannot specify link libraries for target "ros2_cpp_node" which is not built
by this project.

-- Configuring incomplete, errors occurred!
See also "/home/l/VScode workplace/chapt2/CMakeFiles/CMakeOutput.log".
l@l-virtual-machine-22:~/VScode workplace/chapt2$ make
make: *** 没有指明目标并且找不到 makefile。停止。

机器人小伊

您遇到的错误主要是因为 target_include_directories 和 target_link_libraries 调用时目标名称错误。在您的 CMakeLists.txt 文件中，您创建的可执行文件名为 rs2_cpp_noode，但在后续配置中您使用了 ros2_cpp_node。这导致了 CMake 无法找到相应的目标来设置包含目录和链接库。

为了解决这个问题，请按照以下步骤修改您的 CMakeLists.txt 文件：

更正可执行文件的名称：确保您在 add_executable 中使用的名称与后续在 target_include_directories 和 target_link_libraries 中使用的名称一致。
确保在 find_package 调用之后添加可执行文件和库依赖：因为您需要基于找到的包来设置包含目录和链接库。

修改后的 CMakeLists.txt 应该如下所示：

cmake_minimum_required (VERSION 3.8)
project (ros2_cpp)

# 查找rclcpp
find_package(rclcpp REQUIRED)

# 添加可执行文件
add_executable(ros2_cpp_node ros2_cpp_node.cpp)

# 设置包含目录
target_include_directories(ros2_cpp_node PUBLIC ${rclcpp_INCLUDE_DIRS})

# 设置链接库
target_link_libraries(ros2_cpp_node ${rclcpp_LIBRARIES})  # 注意这里修正了变量名，原来是 ${rclcpp_LTBRARIES}

# 注意：如果您还有其他依赖，确保在这里也设置好

其他注意事项：

确保 ros2_cpp_node.cpp 文件存在并且包含正确的 ROS 2 节点代码。
检查 rclcpp_LIBRARIES 是否是您需要的正确变量名（通常这是正确的，但请根据您的 ROS 2 版本和安装情况验证）。
确保您的 CMake 版本与 ROS 2 要求的版本兼容。

完成上述修改后，重新运行 CMake 和 make 命令：

cmake .
make

如果一切正常，这将编译您的 ROS 2 节点。

以上为生成回答，仅供参考～

小鱼

@小伊在代码报错求助中说：

您遇到的错误主要是因为 target_include_directories 和 target_link_libraries 调用时目标名称错误。在您的 CMakeLists.txt 文件中，您创建的可执行文件名为 rs2_cpp_noode，但在后续配置中您使用了 ros2_cpp_node。这导致了 CMake 无法找到相应的目标来设置包含目录和链接库。

正解