ROS2 humble 编译自定义话题接口报错

浮阑

ubuntu 22.02 双系统
ROS2 humble
根据赵虚左的视频教程建立工作空间、功能包base_interfaces_demo,无其他依赖，建立msg文件夹并编写Student.msg文件
Student.msg文件：

string name
int32 age
float64 height

package.xml文件（添加了三项依赖）：

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
    <name>base_interfaces_demo</name>
    <version>0.0.0</version>
    <description>TODO: Package description</description>
    <maintainer email="wuwenxiang@todo.todo">wuwenxiang</maintainer>
    <license>TODO: License declaration</license>

    <buildtool_depend>ament_cmake</buildtool_depend>

    <build_depend>rosidl_default_generators</build_depend>
    <exec_depend>rosidl_default_runtime</exec_depend>
    <member_of_group>rosidl_interface_packages</member_of_group>

    <export>
        <build_type>ament_cmake</build_type>
    </export>
</package>

CMakeList.txt文件：

cmake_minimum_required(VERSION 3.8)
project(base_interfaces_demo)

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)
# uncomment the following section in order to fill in
# further dependencies manually.
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
    "msg/Student.msg"
)

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()

colcon build编译后报错：

Starting >>> pkg01_helloworld_cpp
--- stderr: base_interfaces_demo                                                                                                    
CMake Error at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:240 (list):
  list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
  CMakeLists.txt:14 (rosidl_generate_interfaces)


CMake Error at /opt/ros/humble/share/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake:69 (message):
  Target dependency
  '/ros/ws01/build/base_interfaces_demo/rosidl_adapter/base_interfaces_demo/msg/Student.idl'
  does not exist
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/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
  CMakeLists.txt:14 (rosidl_generate_interfaces)


---
Failed   <<< base_interfaces_demo [0.97s, exited with code 1]

报错中

Target dependency
  '/ros/ws01/build/base_interfaces_demo/rosidl_adapter/base_interfaces_demo/msg/Student.idl'
  does not exist

该Student.idl在工作空间ws01/build/base_interfaces_demo/rosidl_adapter/base_interfaces_demo/msg/下可以找到，发现报错的路径前缀居然是从根目录/开始的，所以尝试将整个文件夹复制到根目录下/，删除掉build文件夹后重新编译，居然通过了。
查看报错中的/opt/ros/humble/share/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake文件，产生报错的地方

set(target_dependencies
  "${rosidl_generator_c_BIN}"
  ${rosidl_generator_c_GENERATOR_FILES}
  "${rosidl_generator_c_TEMPLATE_DIR}/action__type_support.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/idl.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/idl__functions.c.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/idl__functions.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/idl__struct.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/idl__type_support.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/msg__functions.c.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/msg__functions.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/msg__struct.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/msg__type_support.h.em"
  "${rosidl_generator_c_TEMPLATE_DIR}/srv__type_support.h.em"
  ${rosidl_generate_interfaces_ABS_IDL_FILES}
  ${_dependency_files})
foreach(dep ${target_dependencies})
  if(NOT EXISTS "${dep}")
    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
  endif()
endforeach()

怀疑是这几个变量有bug

小鱼

@2099684574 应该是工作空间搞混了，建议删除所有编译相关文件重新测试

浮阑

@小鱼我懂了，是路径里有中文，所以${rosidl_generate_interfaces_ABS_IDL_FILES}这个变量中中文字段缺少，文件路径就错了
之前看到论坛里有个类似的问题，报错和我一样，估计也是这个原因