视频2.3

yfm

cmake时候报错：
yfm@yfm-virtual-machine:~/ros_learn/chapter2/C++/demo_cpp-pkg/build$ cmake ../
-- Found ament_cmake: 1.3.10 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.10 (/opt/ros/humble/share/rclcpp/cmake)
-- 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)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found ament_lint_auto: 0.12.11 (/opt/ros/humble/share/ament_lint_auto/cmake)
-- Added test 'cppcheck' to perform static code analysis on C / C++ code
RegularExpression::compile(): Nested ?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:73 (string):
string sub-command REGEX, mode MATCH failed to compile regex
"^/home/yfm/ros_learn/chapter2/C++/demo_cpp-pkg/.".
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
CMakeLists.txt:30 (ament_package)

RegularExpression::compile(): Nested ?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:75 (string):
string sub-command REGEX, mode MATCH failed to compile regex
"^$<.:/home/yfm/ros_learn/chapter2/C++/demo_cpp-pkg/.*>$".
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
CMakeLists.txt:30 (ament_package)

RegularExpression::compile(): Nested ?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:73 (string):
string sub-command REGEX, mode MATCH failed to compile regex
"^/home/yfm/ros_learn/chapter2/C++/demo_cpp-pkg/.".
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
CMakeLists.txt:30 (ament_package)

RegularExpression::compile(): Nested ?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:75 (string):
string sub-command REGEX, mode MATCH failed to compile regex
"^$<.:/home/yfm/ros_learn/chapter2/C++/demo_cpp-pkg/.*>$".
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
CMakeLists.txt:30 (ament_package)

RegularExpression::compile(): Nested ?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:73 (string):
string sub-command REGEX, mode MATCH failed to compile regex
"^/home/yfm/ros_learn/chapter2/C++/demo_cpp-pkg/.".
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
CMakeLists.txt:30 (ament_package)

RegularExpression::compile(): Nested ?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:75 (string):
string sub-command REGEX, mode MATCH failed to compile regex
"^$<.:/home/yfm/ros_learn/chapter2/C++/demo_cpp-pkg/.*>$".
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
CMakeLists.txt:30 (ament_package)

-- Configured cppcheck include dirs:
-- Configured cppcheck exclude dirs and/or files:
-- Added test 'lint_cmake' to check CMake code style
-- Added test 'uncrustify' to check C / C++ code style
-- Configured uncrustify additional arguments:
-- Added test 'xmllint' to check XML markup files
-- Configuring incomplete, errors occurred!
See also "/home/yfm/ros_learn/chapter2/C++/demo_cpp-pkg/build/CMakeFiles/CMakeOutput.log".

机器人小伊

错误消息显示，在 CMake 构建过程中遇到了一个问题：ament_find_dependencies 是一个未知的 CMake 命令。这通常意味着你的 CMakeLists.txt 文件中尝试调用了一个不存在的命令，或者相关的 CMake 模块没有被正确包含或安装。

在 ROS 2 环境中，ament_find_dependencies 是 ament_cmake 包的一部分，用于处理依赖关系。这个错误可能由以下几个原因引起：

ament_cmake 没有被正确安装：虽然错误日志显示找到了 ament_cmake（版本 1.3.10），但可能某些组件没有正确安装或配置。
CMakeLists.txt 文件中的错误：可能是 CMakeLists.txt 文件中的语法错误，或者 ament_find_dependencies 命令的使用方式不正确。
环境配置问题：可能是因为环境变量没有正确设置，导致 CMake 无法找到 ament_cmake 的相关组件。

为了解决这个问题，你可以尝试以下几个步骤：

1. 确认 ament_cmake 已正确安装

确保你的 ROS 2 环境已经正确安装，并且 ament_cmake 也在其中。你可以通过运行 ros2 pkg list | grep ament_cmake 来检查 ament_cmake 是否已安装。

2. 检查 CMakeLists.txt

确保你的 CMakeLists.txt 文件顶部包含了 find_package(ament_cmake REQUIRED)。
检查 ament_find_dependencies 的使用是否正确，它通常应该像这样使用：ament_find_dependencies(DEPENDENCIES <dependency1> <dependency2> ...)。

3. 重新配置环境

确保你的 shell 环境已经加载了 ROS 2 的 setup.bash。你可以通过在你的 shell 中运行 source /opt/ros/humble/setup.bash 来手动加载。
重新启动你的终端或重新加载你的 shell 配置文件（如 .bashrc 或 .zshrc），以确保所有环境变量都是最新的。

4. 清理并重新构建

在你的构建目录（例如 build）中，运行 make clean（如果可用）来清理旧的构建文件。
从你的源代码目录重新运行 cmake .. 和 make。

如果上述步骤仍然无法解决问题，可能需要更详细地检查你的 ROS 2 安装或寻求社区的帮助。

以上为生成回答，仅供参考～

小鱼

@yfm CMAKELISTS贴一下

yfm

此回复已被删除！

yfm

@小鱼

cmake_minimum_required(VERSION 3.8)
project(demo_cpp-pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

add_executable(cpp_node src/cpp_node.cpp)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
ament_target_dependencies(cpp_node rclcpp)

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()

ament_package()

小鱼

@yfm 在视频2.3 中说：

add_executable(cpp_node src/cpp_node.cpp)

这句话写错位置了，放到if上面

@yfm 在视频2.3 中说：

if(BUILD_TESTING)

yfm

@小鱼下面是我又重头开始创建的workspace然后写的CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(demo_cpp_node_pkg)

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(rclcpp REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)



#target_include_directories(cpp_node_test PUBLIC ${rclcpp_INCLUDE_DIRS})

#target_link_libraries(cpp_node_test ${rclcpp_LIBRARIES})



add_executable(cpp_node_test src/cpp_node_test.cpp)
ament_target_dependencies(cpp_node_test rclcpp)


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()

ament_package()

然后报错如下：

yfm@yfm-virtual-machine:~/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/build$ cmake ../
-- Found ament_cmake: 1.3.10 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found rclcpp: 16.0.10 (/opt/ros/humble/share/rclcpp/cmake)
-- 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)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found ament_lint_auto: 0.12.11 (/opt/ros/humble/share/ament_lint_auto/cmake)
-- Added test 'cppcheck' to perform static code analysis on C / C++ code
RegularExpression::compile(): Nested *?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:73 (string):
  string sub-command REGEX, mode MATCH failed to compile regex
  "^/home/yfm/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/.*".
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
  CMakeLists.txt:38 (ament_package)


RegularExpression::compile(): Nested *?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:75 (string):
  string sub-command REGEX, mode MATCH failed to compile regex
  "^\$<.*:/home/yfm/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/.*>$".
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
  CMakeLists.txt:38 (ament_package)


RegularExpression::compile(): Nested *?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:73 (string):
  string sub-command REGEX, mode MATCH failed to compile regex
  "^/home/yfm/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/.*".
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
  CMakeLists.txt:38 (ament_package)


RegularExpression::compile(): Nested *?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:75 (string):
  string sub-command REGEX, mode MATCH failed to compile regex
  "^\$<.*:/home/yfm/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/.*>$".
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
  CMakeLists.txt:38 (ament_package)


RegularExpression::compile(): Nested *?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:73 (string):
  string sub-command REGEX, mode MATCH failed to compile regex
  "^/home/yfm/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/.*".
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
  CMakeLists.txt:38 (ament_package)


RegularExpression::compile(): Nested *?+.
RegularExpression::compile(): Error in compile.
CMake Error at /opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake:75 (string):
  string sub-command REGEX, mode MATCH failed to compile regex
  "^\$<.*:/home/yfm/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/.*>$".
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake:21 (ament_execute_extensions)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package.cmake:66 (ament_execute_extensions)
  CMakeLists.txt:38 (ament_package)


-- Configured cppcheck include dirs: 
-- Configured cppcheck exclude dirs and/or files: 
-- Added test 'lint_cmake' to check CMake code style
-- Added test 'uncrustify' to check C / C++ code style
-- Configured uncrustify additional arguments: 
-- Added test 'xmllint' to check XML markup files
-- Configuring incomplete, errors occurred!
See also "/home/yfm/ros_learn/C++/chapter_ws/demo_cpp_node_pkg/build/CMakeFiles/CMakeOutput.log".