makefile编译ros_humble

H.

版本: ros_humble
cpp程序

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

class TopicPublisher01 : public rclcpp::Node
{
public:
    // 构造函数,有一个参数为节点名称
    TopicPublisher01(std::string name) : Node(name)
    {
        RCLCPP_INFO(this->get_logger(), "大家好，我是%s.", name.c_str());
        // 创建发布者
        command_publisher_ = this->create_publisher<std_msgs::msg::String>("command", 10);
        // 创建定时器，500ms为周期，定时发布
        timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&TopicPublisher01::timer_callback, this));
    }

private:
    void timer_callback()
    {
        // 创建消息
        std_msgs::msg::String message;
        message.data = "forward";
        // 日志打印
        RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
        // 发布消息
        command_publisher_->publish(message);
    }
    // 声名定时器指针
    rclcpp::TimerBase::SharedPtr timer_;
    // 声明话题发布者指针
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr command_publisher_;
};

int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    /*产生一个的节点*/
    auto node = std::make_shared<TopicPublisher01>("first_node");
    /* 运行节点，并检测退出信号*/
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}

makefile程序

build:
	g++ ros2_makefile.cpp \
	-I /opt/ros/humble/include/rclcpp/ \
    -I /opt/ros/humble/include/rcl/ \
    -I /opt/ros/humble/include/rcutils/ \
    -I /opt/ros/humble/include/rmw \
    -I /opt/ros/humble/include/rcl_yaml_param_parser/ \
    -I /opt/ros/humble/include/rosidl_runtime_c \
    -I /opt/ros/humble/include/rosidl_typesupport_interface \
    -I /opt/ros/humble/include/rcpputils \
    -I /opt/ros/humble/include/builtin_interfaces \
    -I /opt/ros/humble/include/rosidl_runtime_cpp \
    -I /opt/ros/humble/include/tracetools \
    -I /opt/ros/humble/include/rcl_interfaces \
    -I /opt/ros/humble/include/libstatistics_collector \
    -I /opt/ros/humble/include/statistics_msgs \
	-I /opt/ros/humble/include/std_msgs \
    -L /opt/ros/humble/lib/ \
    -lrclcpp -lrcutils -lrcl -ltracetools -lrmw \
    -o first_node
    
# 顺便小鱼加个clean指令，用来删掉first_node
clean:
	rm first_node

报错

~/Desktop/IGH_Master/ROS2_Makefile$ make build
g++ ros2_makefile.cpp \
-I /opt/ros/humble/include/rclcpp/ \
    -I /opt/ros/humble/include/rcl/ \
    -I /opt/ros/humble/include/rcutils/ \
    -I /opt/ros/humble/include/rmw \
    -I /opt/ros/humble/include/rcl_yaml_param_parser/ \
    -I /opt/ros/humble/include/rosidl_runtime_c \
    -I /opt/ros/humble/include/rosidl_typesupport_interface \
    -I /opt/ros/humble/include/rcpputils \
    -I /opt/ros/humble/include/builtin_interfaces \
    -I /opt/ros/humble/include/rosidl_runtime_cpp \
    -I /opt/ros/humble/include/tracetools \
    -I /opt/ros/humble/include/rcl_interfaces \
    -I /opt/ros/humble/include/libstatistics_collector \
    -I /opt/ros/humble/include/statistics_msgs \
-I /opt/ros/humble/include/std_msgs \
    -L /opt/ros/humble/lib/ \
    -lrclcpp -lrcutils -lrcl -ltracetools -lrmw \
    -o first_node
/usr/bin/ld: /tmp/ccH6HcBC.o: in function `std::enable_if<rosidl_generator_traits::is_message<std_msgs::msg::String_<std::allocator<void> > >::value, rosidl_message_type_support_t const&>::type rclcpp::get_message_type_support_handle<std_msgs::msg::String_<std::allocator<void> > >()':
ros2_makefile.cpp:(.text._ZN6rclcpp31get_message_type_support_handleIN8std_msgs3msg7String_ISaIvEEEEENSt9enable_ifIXsrN23rosidl_generator_traits10is_messageIT_EE5valueERK29rosidl_message_type_support_tE4typeEv[_ZN6rclcpp31get_message_type_support_handleIN8std_msgs3msg7String_ISaIvEEEEENSt9enable_ifIXsrN23rosidl_generator_traits10is_messageIT_EE5valueERK29rosidl_message_type_support_tE4typeEv]+0x10): undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<std_msgs::msg::String_<std::allocator<void> > >()'
collect2: error: ld returned 1 exit status
make: *** [makefile:2：build] 错误 1

小鱼

@847718956 因为你引入了std_msgs这个包了,所以指令里也要包含这个,不过用gcc非常的不方便,还是推荐你用ROS2的工程或者CmakeLists.txt文件来生成可执行文件

@847718956 在 makefile编译ros_humble 中说：

#include "std_msgs/msg/string.hpp"