我在复制粘贴提供的自定义接口,build后出现以下错误:
CMake Error at /opt/ros/dashing/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:35 (rosidl_generate_interfaces)
CMake Error at /opt/ros/dashing/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c_generate_interfaces.cmake:50 (message):
Target dependency
'/topic_test/build/ros2_interfaces/rosidl_adapter/ros2_interfaces/msg/RobotPose.idl'
does not exist
Call Stack (most recent call first):
/opt/ros/dashing/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/dashing/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:35 (rosidl_generate_interfaces)
---
Failed <<< ros2_interfaces [4.88s, exited with code 1]
然后我在社区搜索相关解决方案,将CMake.list中的代码修改为以下:
cmake_minimum_required(VERSION 3.5)
project(ros2_interfaces)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
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(rosidl_default_generators REQUIRED)
# find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
# rosidl_generate_interfaces(${PROJECT_NAME}
# "msg/RobotPose.msg"
# "msg/RobotStatus.msg"
# "srv/MoveRobot.srv"
# # DEPENDENCIES geometry_msgs
# )
ament_package()
可以build成功,但是我在调用时,提示我以下报错
Traceback (most recent call last):
File "/home/xh/桌面/topic_test/install/example_topic/lib/example_topic/example_interfaces_robot_02", line 11, in <module>
load_entry_point('example-topic==0.0.0', 'console_scripts', 'example_interfaces_robot_02')()
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 480, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2693, in load_entry_point
return ep.load()
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2324, in load
return self.resolve()
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2330, in resolve
module = __import__(self.module_name, fromlist=['__name__'], level=0)
File "/home/xh/桌面/topic_test/install/example_topic/lib/python3.6/site-packages/example_topic/example_robot.py", line 7, in <module>
from ros2_interfaces.msg import RobotStatus
ModuleNotFoundError: No module named 'ros2_interfaces'
而且在install文件夹内并没有出现文中所述的C++和Python环境,想问小鱼这是什么原因。
我安装的Ros2版本是dashing桌面版本,Ubuntu系统是18.04