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    Cmake报错，如何解决？

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    cmake报错 ros2
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    • D
      Darran
      最后由 编辑

      CMakeLists.txt代码如下（跟着书本敲写）：

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

      环境检查如下：

      jetson@unbutu:~/Documents/chapt2$ echo $CMAKE_PREFIX_PATH
/opt/ros/foxy
jetson@unbutu:~/Documents/chapt2$ echo $AMENT_PREFIX_PATH
/opt/ros/foxy

      cmake . 终端输出如下：

      jetson@unbutu:~/Documents/chapt2$ cmake .
-- Found ament_cmake: 0.9.12 (/opt/ros/foxy/share/ament_cmake/cmake)
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Found rclcpp: 2.4.3 (/opt/ros/foxy/share/rclcpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Found rosidl_adapter: 1.3.1 (/opt/ros/foxy/share/rosidl_adapter/cmake)
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Configuring done
CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_c" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_c" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_c" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_c" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_c" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_c" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_c" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_generator_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_introspection_cpp" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "std_msgs::std_msgs__rosidl_typesupport_cpp" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "rosgraph_msgs::rosgraph_msgs__rosidl_generator_c" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "rosgraph_msgs::rosgraph_msgs__rosidl_typesupport_introspection_c" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "rosgraph_msgs::rosgraph_msgs__rosidl_typesupport_c" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "rosgraph_msgs::rosgraph_msgs__rosidl_generator_cpp" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "rosgraph_msgs::rosgraph_msgs__rosidl_typesupport_introspection_cpp" but
  the target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:10 (add_executable):
  Target "ros2_cpp_node" links to target
  "rosgraph_msgs::rosgraph_msgs__rosidl_typesupport_cpp" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


-- Generating done
CMake Generate step failed.  Build files cannot be regenerated correctly.
      D 1 条回复 最后回复 回复 引用 0
      • 小伊小
        机器人小伊
        最后由 编辑

        从你提供的CMake输出信息来看，问题在于CMake无法找到std_msgs和rosgraph_msgs中的某些目标（targets），这些目标是由ROS 2的消息生成系统创建的。这通常意味着CMake在配置过程中没有正确地找到或处理这些消息包。

        解决步骤：

        1. 确保消息包已安装：
          首先，确保std_msgs和rosgraph_msgs包已经正确安装在你的ROS 2环境中。你可以通过运行以下命令来安装它们（如果尚未安装）：

          sudo apt install ros-foxy-std-msgs ros-foxy-rosgraph-msgs

        2. 检查ament_index：
          ROS 2使用ament_index来管理和查找安装的包。确保ament_index是最新的，并且包含了所有必要的包。通常，安装或更新ROS 2包会自动处理这个问题，但有时可能需要手动更新索引：

          source /opt/ros/foxy/setup.bash
ros2 pkg update

        3. 检查CMakeLists.txt：
          你的CMakeLists.txt看起来基本正确，但通常不需要手动设置include目录和链接库，因为find_package应该处理这些。确保你的CMakeLists.txt使用了正确的ament_package()和find_package()调用。例如：

          cmake_minimum_required(VERSION 3.5)
project(ros2_cpp_node)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

add_executable(ros2_cpp_node src/ros2_cpp_node.cpp)
ament_target_dependencies(ros2_cpp_node rclcpp std_msgs)

install(TARGETS
  ros2_cpp_node
  DESTINATION lib/${PROJECT_NAME})

ament_package()

          注意，这里使用了ament_target_dependencies来添加依赖，这是ROS 2推荐的方式。

        4. 清理并重新构建：
          在进行了上述更改后，确保清理旧的构建文件并重新运行CMake：

          rm -rf build/
mkdir build/
cd build/
cmake ..
make

        5. 检查环境变量：
          你已经检查了CMAKE_PREFIX_PATH和AMENT_PREFIX_PATH，确保它们包含了ROS 2的安装路径。通常，只需设置CMAKE_PREFIX_PATH就足够了。

        6. 查看详细输出：
          如果问题仍然存在，尝试在CMake命令中添加-DCMAKE_VERBOSE_MAKEFILE=ON来获取更详细的输出，这可能会帮助诊断问题。

        通过上述步骤，你应该能够解决CMake配置过程中遇到的问题。如果问题仍然存在，可能需要检查ROS 2的安装是否完整或考虑重新安装ROS 2。

        以上为生成回答，仅供参考～

        我是小伊，已接入ChatGpt，所有回复，仅供参考～

        1 条回复 最后回复 回复 引用 0
        • D
          Darran @Darran
          最后由 编辑

          @Darran 定位到报错信息出在

          target_link_libraries(ros2_cpp_node ${rclcpp_LIBRARIES})

          不知道咋解决！

          D 1 条回复 最后回复 回复 引用 0
          • D
            Darran @Darran
            最后由 编辑

            @小鱼 有时间可以帮忙看看吗

            1 条回复 最后回复 回复 引用 0
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