找不到roscpp

红鲤鱼与绿鲤鱼与驴

已经安装roscpp但编译后出现
Could not find a package configuration file provided by "rospp" with any of the following names: rosppConfig.cmake rospp-config.cmake

cmakelists.txt如下：
cmake_minimum_required(VERSION 3.0.2)
project(IMUpose)

set(CMAKE_BUILD_TYPE "Debug")

Compile as C++11, supported in ROS Kinetic and newer

add_compile_options(-std=c++11)

Find catkin macros and libraries

if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS
rospp
sensor_msgs
std_msgs
)

find_package(Sophus REQUIRED)
find_package(Eigen3 REQUIRED)

System dependencies are found with CMake's conventions

find_package(Boost REQUIRED COMPONENTS system)

Uncomment this if the package has a setup.py. This macro ensures

modules and global scripts declared therein get installed

See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html

catkin_python_setup()

################################################

Declare ROS messages, services and actions

################################################

To declare and build messages, services or actions from within this

package, follow these steps:

* Let MSG_DEP_SET be the set of packages whose message types you use in

your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).

* In the file package.xml:

* add a build_depend tag for "message_generation"

* add a build_depend and a exec_depend tag for each package in MSG_DEP_SET

* If MSG_DEP_SET isn't empty the following dependency has been pulled in

but can be declared for certainty nonetheless:

* add a exec_depend tag for "message_runtime"

* In this file (CMakeLists.txt):

* add "message_generation" and every package in MSG_DEP_SET to

find_package(catkin REQUIRED COMPONENTS ...)

* add "message_runtime" and every package in MSG_DEP_SET to

catkin_package(CATKIN_DEPENDS ...)

* uncomment the add_*_files sections below as needed

and list every .msg/.srv/.action file to be processed

* uncomment the generate_messages entry below

* add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

Generate messages in the 'msg' folder

add_message_files(

FILES

Message1.msg

Message2.msg

)

Generate services in the 'srv' folder

add_service_files(

FILES

Service1.srv

Service2.srv

)

Generate actions in the 'action' folder

add_action_files(

FILES

Action1.action

Action2.action

)

Generate added messages and services with any dependencies listed here

generate_messages(

DEPENDENCIES

sensor_msgs# std_msgs

)

################################################

Declare ROS dynamic reconfigure parameters

################################################

To declare and build dynamic reconfigure parameters within this

package, follow these steps:

* In the file package.xml:

* add a build_depend and a exec_depend tag for "dynamic_reconfigure"

* In this file (CMakeLists.txt):

* add "dynamic_reconfigure" to

find_package(catkin REQUIRED COMPONENTS ...)

* uncomment the "generate_dynamic_reconfigure_options" section below

and list every .cfg file to be processed

Generate dynamic reconfigure parameters in the 'cfg' folder

generate_dynamic_reconfigure_options(

cfg/DynReconf1.cfg

cfg/DynReconf2.cfg

)

###################################

catkin specific configuration

###################################

The catkin_package macro generates cmake config files for your package

Declare things to be passed to dependent projects

INCLUDE_DIRS: uncomment this if your package contains header files

LIBRARIES: libraries you create in this project that dependent projects also need

CATKIN_DEPENDS: catkin_packages dependent projects also need

DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(

INCLUDE_DIRS include

LIBRARIES IMUpose

CATKIN_DEPENDS rospp sensor_msgs std_msgs

# DEPENDS system_lib

)

###########

Build

###########

Specify additional locations of header files

Your package locations should be listed before other locations

include_directories(

include

${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}

)

Declare a C++ library

add_library(${PROJECT_NAME}

src/${PROJECT_NAME}/IMUpose.cpp

)

Add cmake target dependencies of the library

as an example, code may need to be generated before libraries

either from message generation or dynamic reconfigure

add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

Declare a C++ executable

With catkin_make all packages are built within a single CMake context

The recommended prefix ensures that target names across packages don't collide

add_executable(IMU_node IMUpose.cpp)

Rename C++ executable without prefix

The above recommended prefix causes long target names, the following renames the

target back to the shorter version for ease of user use

e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"

set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

Add cmake target dependencies of the executable

same as for the library above

add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

Specify libraries to link a library or executable target against

target_link_libraries(IMU_node
${catkin_LIBRARIES}
${Sophus_INCLUDE_DIRS}

)

catkin_LIBRARIES CATKIN_LIBRARIES

#############

Install

#############

all install targets should use catkin DESTINATION variables

See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

Mark executable scripts (Python etc.) for installation

in contrast to setup.py, you can choose the destination

catkin_install_python(PROGRAMS

scripts/my_python_script

DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

Mark executables for installation

See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html

install(TARGETS ${PROJECT_NAME}_node

RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

Mark libraries for installation

See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html

install(TARGETS ${PROJECT_NAME}

ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}

)

Mark cpp header files for installation

install(DIRECTORY include/${PROJECT_NAME}/

DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

FILES_MATCHING PATTERN "*.h"

PATTERN ".svn" EXCLUDE

)

Mark other files for installation (e.g. launch and bag files, etc.)

install(FILES

# myfile1

# myfile2

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)

#############

Testing

#############

Add gtest based cpp test target and link libraries

catkin_add_gtest(${PROJECT_NAME}-test test/test_IMUpose.cpp)

if(TARGET ${PROJECT_NAME}-test)

target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})

endif()

Add folders to be run by python nosetests

catkin_add_nosetests(test)

机器人小伊

在你的 CMakeLists.txt 文件中，错误出现在你试图找到并依赖一个名为 rospp 的包，但 ROS 中实际上并没有名为 rospp 的包。通常，与 ROS C++ 相关的包是 roscpp。

为了解决这个问题，你应该将 CMakeLists.txt 文件中所有提到 rospp 的地方替换为 roscpp。下面是修改后的关键部分：

在 find_package 调用中，将 rospp 改为 roscpp：

find_package(catkin REQUIRED COMPONENTS
roscpp  # 修改这里
sensor_msgs
std_msgs
)

在 catkin_package 调用中，同样将 rospp 改为 roscpp：

catkin_package(
INCLUDE_DIRS include
LIBRARIES IMUpose
CATKIN_DEPENDS roscpp sensor_msgs std_msgs  # 修改这里
#  DEPENDS system_lib
)

确保其他部分（如依赖项和编译选项）已经正确设置，并且没有其他拼写错误。

修改这些之后，你的 CMakeLists.txt 应该能够正确找到 roscpp 包，并且你的项目应该能够编译。如果你仍然遇到问题，请检查你的 ROS 环境是否正确设置，以及所有相关的包是否都已正确安装。

此外，还有一些其他的注意事项：

确保你的 ROS 版本（如 Kinetic, Melodic 等）与你的项目设置相匹配。
清理旧的构建文件（例如使用 catkin_make clean），然后重新构建项目。
确保你的 package.xml 文件也正确声明了对 roscpp 的依赖。

以上为生成回答，仅供参考～