84414692-272e-485c-b357-8ceb77c4b527-image.png
失败信息如图
求助
报错消息：
CMake Error at /usr/local/share/cmake-4.0/Modules/FindPackageHandleStandardArgs.cmake:227 (message):
Could NOT find PythonExtra (missing: PythonExtra_EXTENSION_EXTENSION
PythonExtra_INCLUDE_DIRS PythonExtra_LIBRARIES PYTHON_SOABI
PythonExtra_EXTENSION_SUFFIX)
Call Stack (most recent call first):
/usr/local/share/cmake-4.0/Modules/FindPackageHandleStandardArgs.cmake:591 (_FPHSA_FAILURE_MESSAGE)
/opt/ros/humble/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:224 (find_package_handle_standard_args)
/opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:23 (find_package)
/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:27 (rosidl_generate_interfaces)

如题，ROS2的python调用.so，在import的时候提示找不到，但是其实已经存在，并且直接使用python调用.so是成功的。
例子很简单，参考https://blog.csdn.net/qq_42108414/article/details/122865374
我的test_publisher.py，在import example的时候报错，使用的库的名字是：example.cpython-312-x86_64-linux-gnu.so

import rclpy from rclpy.node import Node from std_msgs.msg import String import example class Publisher(Node): def __init__(self,name): super().__init__(name) self.publisher = self.create_publisher(String,"talker_topic",10) #创建一个名为"talker_topic"的话题 timer_period = 5 # 定时器周期为5s self.timer = self.create_timer(timer_period,self.timer_callback) #创建定时器 self.get_logger().info("hello,I'm %s!" %name) # 打印输出日志信息 self.i = 0 self.person = example.Person("Alice", 30) def timer_callback(self): # 定时器回调函数 msg = String() msg.data = 'NO.%d,hello!' %(self.i) # 发布的内容 self.publisher.publish(msg) # 将内容发布出去 self.get_logger().info("Publishing: %s"%msg.data) # 打印发布的内容 self.i += 1 self.person.introduce() def main(args=None): rclpy.init(args=args) # 初始化rclpy node = Publisher("talker") # 创建一个节点，名为“talker” rclpy.spin(node) # 运行节点 rclpy.shutdown() # 关闭rclpy if __name__ == '__main__': main()

老师，这里构建完成之后，代码部分是照着视频原封不动敲的，然后一运行仿真，坐标系和那个机器人一个都没有，课程前面的那个包也是安装了的
e2d6c2f8-4de5-4bc6-8fa4-97b70b25120f-b7204992-008e-49c2-a82f-68d851fe7266.png
26efd6a7-f2e1-4df4-9db4-724e5800e8ef-865af7ab-f2ad-4466-b91a-82f2657b49ff.png
9e16b8a6-9cc2-4f01-a13c-ab94fe5952fb-ab0adfd9-76c0-4507-8a99-32a80ba7d740.png

使用pid控制轮子速度时，设置的值一致，检测的当前速度值一致，但是输出的pid值差了30左右，导致两个轮子的实际转速左轮比右轮慢
以下为main文件代码，头文件与小鱼老师的一致。

// 引入必要的库文件 #include <Arduino.h> // Arduino核心库 #include <Esp32McpwmMotor.h> // ESP32电机控制库 #include <Esp32PcntEncoder.h> // ESP32编码器库 #include <PIDController.h> // PID控制算法库 // 创建电机控制对象 Esp32McpwmMotor motor; // 创建编码器对象数组(左右轮) Esp32PcntEncoder encoders[2]; // 创建PID控制器数组(左右轮) PIDController pid_controller[2]; // 定义电机数据结构体 typedef struct { int64_t current; // 当前编码器计数值 int64_t last; // 上一次编码器计数值 int16_t delta; // 两次采样间的计数值变化 float speed; // 计算得到的轮速(mm/s) float pid_out; // PID控制器输出值 } MotorData; MotorData wheels[2]; // 左右轮数据存储 float last_update_time = 0; // 上次更新时间戳 const char* LABELS[] = {"Left", "Right"}; // 左右轮标签 const float Single_Pulse_Distance = 0.10342f; // 单个脉冲距离(单位：mm) // 打印电机数据函数 void printMotorData(uint8_t i) { Serial.printf("%s Wheel:\n", LABELS[i]); Serial.printf("Current: %d\n", wheels[i].current); Serial.printf("Last: %d\n", wheels[i].last); Serial.printf("Delta: %d\n", wheels[i].delta); // 脉冲计数值变化量（当前-上次） Serial.printf("Speed: %.2fmm/s\n", wheels[i].speed); // 速度(mm/s) Serial.printf("PID Out: %.2f\n\n", wheels[i].pid_out); // PID输出值 } // 更新电机控制函数 void updateMotorControl() { float dt = millis() - last_update_time; // 计算时间差(ms) for(uint8_t i = 0; i < 2; i++) { // 获取当前编码器值 wheels[i].current = encoders[i].getTicks(); // 计算计数值变化量 wheels[i].delta = wheels[i].current - wheels[i].last; // 计算轮速(cm/s): (脉冲数*单个脉冲距离)mm*1000/时间差ms，1000mm/ms 精度 100mm/1m = 0.1m/s wheels[i].speed = (wheels[i].delta * Single_Pulse_Distance * 1000)/dt; // 更新PID控制器并获取输出 wheels[i].pid_out = pid_controller[i].update(wheels[i].speed); Serial.printf("dt: %fms\n", dt); printMotorData(i); // 打印数据 // 更新电机速度 motor.updateMotorSpeed(i, wheels[i].pid_out); // 更新上一次编码器值 wheels[i].last = encoders[i].getTicks(); } last_update_time = millis(); // 更新时间戳 } // 初始化函数 void setup() { Serial.begin(115200); // 初始化串口 // 连接电机引脚(电机编号, 引脚A, 引脚B) motor.attachMotor(0, 22, 23); // 左轮 motor.attachMotor(1, 12, 13); // 右轮 // 初始化编码器(编码器编号, 引脚A, 引脚B) encoders[0].init(0, 32, 33); // 左轮编码器 encoders[1].init(1, 26, 25); // 右轮编码器 // 配置PID参数 for(uint8_t i = 0; i < 2; i++) { pid_controller[i].update_pid(0.30, 0.10, 0.045); // P,I,D参数 pid_controller[i].out_limit(-99, 99); // 输出限幅--占空比 } // 设置目标速度(左轮正向400，右轮正向400) pid_controller[0].update_target(400); //目标速度--mm/s pid_controller[1].update_target(400); } // 主循环 void loop() { delay(10); // 10ms控制周期 updateMotorControl(); // 更新电机控制 }

以下为部分串口数据
dt: 10.000000ms
Left Wheel:
Current: 22567
Last: 22528
Delta: 39
Speed: 403.34mm/s
PID Out: 54.30

dt: 10.000000ms
Right Wheel:
Current: 44701
Last: 44662
Delta: 39
Speed: 403.34mm/s
PID Out: 88.05

dt: 10.000000ms
Left Wheel:
Current: 22606
Last: 22568
Delta: 38
Speed: 393.00mm/s
PID Out: 58.57

dt: 10.000000ms
Right Wheel:
Current: 44779
Last: 44740
Delta: 39
Speed: 403.34mm/s
PID Out: 87.72

dt: 10.000000ms
Left Wheel:
Current: 22646
Last: 22607
Delta: 39
Speed: 403.34mm/s
PID Out: 54.20

dt: 10.000000ms
Right Wheel:
Current: 44857
Last: 44818
Delta: 39
Speed: 403.34mm/s
PID Out: 87.38

[cartographer_node-1] ERROR: flag 'collect_metrics' was defined more than once (in files '/opt/pro/test/test1_ws/src/cartographer_ros/cartographer_ros/src/offline_node.cpp' and '/opt/pro/test/test1_ws/src/cartographer_ros/cartographer_ros/src/node_main.cpp'). [ERROR] [cartographer_node-1]: process has died [pid 4366, exit code 1, cmd '/opt/pro/test/test1_ws/install/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /opt/pro/test/test1_ws/install/mybot_cartographer/share/mybot_cartographer/config -configuration_basename mybot_2d.lua --ros-args -r __node:=cartographer_node --params-file /tmp/launch_params_r6yzqmrl']

出现上面报错
​​屏幕截图 2025-05-28 154012.png
只启动了 /cartographer_occupancy_grid_node 节点

鱼哥，为啥这里的全局插件报错啊，是需要安装啥东西吗，我一直都是跟着你的课程来的，也没少装东西啊，而且我rqt这里没有TF的选项
1.关于仿真软件
fe526f31-0fc4-47cb-bf00-ed1fdf3c7a18-988ff795-eca2-45c0-8363-4a16d26e4f75.png

2.关于rqt的，相关插件装了，然后相关目标也删除了
fe6b7b45-559d-40fa-906b-b11e611b9bfc-9de21c83daf34ff70b7bc3e7612559e1.jpg

5b1f3783-a88e-4af8-8a1b-cca73e024511-03df70fcbf84dc943211b946329cc5b.png

小车是鱼香4驱v2

在雷达转接板配置完成以后，8889 口通过NC -L 8889 也能收到信号，到9.0.6 章节，第一步一直雷达报错。卡在这里好几天了，需要帮忙
bca7b1a5-8f97-4ad0-8965-f7b79c2c28f5-image.png
1e75e12e-5a92-4922-b0fc-bc5f343aed77-image.png

d9c70be2-bd8e-4f4e-8c39-9d2c1118f1a3-image.png

9.0.5 单独配置雷达转接板，没有任何问题，可以用nc -l 8889 接口收到信号。到了9.0.6 ，不能驱动。第一步就不行。提示雷达是不是坏了什么的。需要帮忙

a7f44578-f241-4a1c-8f0d-6976f31981d6-image.png

关键信息如下：-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 12 packages in topological order:
-- ~~ - turtlebot3 (plain cmake)
-- ~~ - turtlebot3_bringup (plain cmake)
-- ~~ - turtlebot3_cartographer (plain cmake)
-- ~~ - turtlebot3_msgs (plain cmake)
-- ~~ - turtlebot3_navigation2 (plain cmake)
-- ~~ - turtlebot3_simulations (plain cmake)
-- ~~ - turtlebot3_teleop (unknown)
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:89 (message):
Unknown build type 'ament_python' for package 'turtlebot3_teleop'
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)

-- ~~ - turtlebot3_example (unknown)
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:89 (message):
Unknown build type 'ament_python' for package 'turtlebot3_example'
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)

-- ~~ - turtlebot3_fake_node (plain cmake)
-- ~~ - turtlebot3_gazebo (plain cmake)
-- ~~ - turtlebot3_node (plain cmake)
-- ~~ - turtlebot3_description (plain cmake)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead.
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)

求助如何解决

e318947b-9abc-4901-bf8b-45dd7fab702a-图片.png 4c30bb00-7f5f-404e-9865-4ffc75b98f18-图片.png

Cartographer 在请求 odom 和 base 之间的变换时，时间戳不匹配，且请求的时间戳早于变换数据的可用时间。

[cartographer_node-1] [WARN] [1748252628.567376902] [cartographer logger]: W0526 17:43:48.000000 61917 tf_bridge.cpp:53] Lookup would require extrapolation into the past. Requested time 1748250957.654525 but the earliest data is at time 1748252620.653753, when looking up transform from frame [odom] to frame [base]

有没有大佬指导一下

局域网，2.4G ，双频合一关闭，网络延迟4ms以内，开始建图时正常，建图结果能看到房间轮廓，几秒钟后，代表雷达或者小车的坐标轴突然飘走，（此时小车是静止的）。建图结果看不出房间轮廓，失败。 另一种情况是rviz中代表小车的坐标轴突然转个方向（此时小车是静止的），地图突然换个方向，建图结果看不出房间轮廓，建图失败。微信图片_20250526111116.png 微信图片_20250526111129.jpg

7c9e9ad9b4f76c15cdf3509e617865e.png

如何使用hc-12无线串口，实现小车与电脑的无线通讯，串口的矩阵映射如何实现？```
#include <Arduino.h>
#include <Esp32McpwmMotor.h>
#include <Esp32PcntEncoder.h>
#include "PidController.h"
#include <HardwareSerial.h>

// #define HC_RX 37 // UART2的RX引脚
// #define HC_TX 38 // UART2的TX引脚

// HardwareSerial HC12(2);
Esp32McpwmMotor motor;
Esp32PcntEncoder encoders[4];
PidController pid_controller[4];

// 运动控制参数
const float wheel_diameter = 0.065;
const float pulses_per_rev = 1978.0f;
const float wheel_circumference = PI * wheel_diameter;
const float pulse_distance = wheel_circumference / pulses_per_rev;
const float wheel_base = 0.188f;

enum MotionState { STOPPED, MOVING_FORWARD, MOVING_BACKWARD, ROTATING }; // 新增后退状态
MotionState currentState = STOPPED;

unsigned long stopStartTime = 0;
int currentCommand = 0;
int taskStep = 0;
int64_t initial_ticks[4] = {0};
float target_distance = 0;
float target_angle = 0;

void setup() {
// Serial.begin(115200);
Serial.begin(9600,SERIAL_8N1,37,38);
// HC12.begin(9600, SERIAL_8N1, HC_RX, HC_TX);

如何通过hc-12无线串口建立小车与电脑的无线通讯，矩阵映射串口如何使用？

怎么才能在vip专区发帖呢

hzx@hzx:~/catkin_ws$ catkin_make
Base path: /home/hzx/catkin_ws
Source space: /home/hzx/catkin_ws/src
Build space: /home/hzx/catkin_ws/build
Devel space: /home/hzx/catkin_ws/devel
Install space: /home/hzx/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/hzx/catkin_ws/build" Running command: "make -j20 -l20" in "/home/hzx/catkin_ws/build"

[ 50%] Building CXX object learning_communication/CMakeFiles/talker.dir/src/talker.cpp.o
[100%] Linking CXX executable /home/hzx/catkin_ws/devel/lib/learning_communication/talker
[100%] Built target talker
hzx@hzx:~/catkin_ws$ source ./devel/setup.bash
hzx@hzx:~/catkin_ws$ rosrun learning_communication talker
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
[ERROR] [1748073702.812459570]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
Error in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator
^CError in XmlRpcClient::writeRequest: write error (Connection refused).
Error in XmlRpcDispatch::work: couldn't find source iterator

Desktop Screenshot 2025.05.24 - 16.00.23.35.png Desktop Screenshot 2025.05.24 - 15.59.47.54.png Desktop Screenshot 2025.05.24 - 16.00.37.94.png

更新：更加自由的构建STM32 Microros静态库的方法（适用于linux X86 arm64本文只讲述x86，arm64流程一致，不过需要将arm64系统中的编译器补全部分库即可）

一.使用 micro_ros_setup 生成Microros静态链接库 Ubuntu x86环境：前提 ，需要下载交叉编译器，若已安装可以跳过 sudo apt-get install -y gcc-arm-none-eabi

下面为从创建工作空间到生成静态库的所有命令，一步一步运行即可：

source /opt/ros/$ROS_DISTRO/setup.bash mkdir uros_ws && cd uros_ws git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup #若不能使用rosdep，可以使用rosdepc rosdep update && rosdep install --from-paths src --ignore-src -y colcon build source install/local_setup.bash ros2 run micro_ros_setup create_firmware_ws.sh generate_lib generic

407d70c5-db3b-4400-bda3-a1878d5cde9d-image.png
到此，基础构建完成目录如上图所示，但还需要配置两个配置文件 toolchain.cmake和colcon.meta才能生成静态链接库
toolchain.cmake配置如下

set(CMAKE_SYSTEM_NAME Generic) set(CMAKE_CROSSCOMPILING 1) set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) # SET HERE THE PATH TO YOUR C99 AND C++ COMPILERS # 在这里添加编译器路径 set(PIX arm-none-eabi-) set(CMAKE_C_COMPILER ${PIX}gcc) set(CMAKE_CXX_COMPILER ${PIX}g++) set(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "") set(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "") # SET HERE YOUR BUILDING FLAGS set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -nostdlib -mthumb --param max-inline-insns-single=500 -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE) #-mcpu=cortex-m3 改成 -mcpu=cortex-m7 这里根据stm32内核更替 # 加入 mfpu=fpv5-d16 -mfloat-abi=hard 支持硬件浮点编译 这里根据stm32内核更替 set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE) set(CMAKE_CXX_FLAGS_INIT "-std=c++11 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE) set(__BIG_ENDIAN__ 0)

注意：在toolchain.cmake中的 -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard 部分最好根据生成的工程中cmake配置文件保持一致，此配置对stm32同意系列生效（一般同一系列内核保持一致，例如F1系列内核为M3，F4系列内核为M4）如下图所示

af7fe6b2-584e-490e-b35d-710339e9d790-image.png

colcon.meta配置如下，此配置摘抄自 micro_ros_stm32cubemx_utils 配置文件如下图所示路径

e4d5e2d0-7792-41c4-b111-9976e12f4707-image.png

{ "names": { "tracetools": { "cmake-args": [ "-DTRACETOOLS_DISABLED=ON", "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF" ] }, "rosidl_typesupport": { "cmake-args": [ "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON" ] }, "rcl": { "cmake-args": [ "-DBUILD_TESTING=OFF", "-DRCL_COMMAND_LINE_ENABLED=OFF", "-DRCL_LOGGING_ENABLED=OFF" ] }, "rcutils": { "cmake-args": [ "-DENABLE_TESTING=OFF", "-DRCUTILS_NO_FILESYSTEM=ON", "-DRCUTILS_NO_THREAD_SUPPORT=ON", "-DRCUTILS_NO_64_ATOMIC=ON", "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON" ] }, "microxrcedds_client": { "cmake-args": [ "-DUCLIENT_PIC=OFF", "-DUCLIENT_PROFILE_UDP=OFF", "-DUCLIENT_PROFILE_TCP=OFF", "-DUCLIENT_PROFILE_DISCOVERY=OFF", "-DUCLIENT_PROFILE_SERIAL=OFF", "-UCLIENT_PROFILE_STREAM_FRAMING=ON", "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON" ] }, "rmw_microxrcedds": { "cmake-args": [ "-DRMW_UXRCE_MAX_NODES=1", "-DRMW_UXRCE_MAX_PUBLISHERS=10", "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5", "-DRMW_UXRCE_MAX_SERVICES=1", "-DRMW_UXRCE_MAX_CLIENTS=1", "-DRMW_UXRCE_MAX_HISTORY=4", "-DRMW_UXRCE_TRANSPORT=custom" ] } } }

上述两个文件（toolchain.cmake colcon.meta）放入如下图所示的路径中 ~/uros_ws/firmware/mcu_ws
88c1c1d3-f1cd-4ef9-9817-28c3b1ef1f01-image.png
最后编译静态库

ros2 run micro_ros_setup build_firmware.sh $(pwd)/firmware/mcu_ws/toolchain.cmake $(pwd)/firmware/mcu_ws/colcon.meta

最后生成文件在firmware/build目录下，如下图所示

b59283e9-50de-46aa-b7ab-0a0d87a258ef-image.png
将inclue目录和静态库文件移植到stm32工程文件中即可使用

二.使用静态库文件 STM32方面配置可参考我上篇文章进行配置STM32配置流程只需注意最后生成工程选择cmake即可（cubemx可能需要更新到最新才有此选项）

6e4a20bd-4db6-4067-b0cc-ff323fb5cdf8-image.png

在STM32 CMakeLists.txt文件中需要加入以下内容
编译C文件

custom_memory_manager.c microros_allocators.c microros_time.c microros_transports/dma_transport.c
如下图所示
67577c43-4754-489a-9201-03ce9bd6270d-image.png set(extera_source ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/custom_memory_manager.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_allocators.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_time.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_transports/dma_transport.c )

并在如下图位置加入即可
cbbba782-a7db-42e5-8a37-b21c8c1aa48b-image.png
添加静态库文件

libmicroros.a set(THIRD_PARTY_LIB "${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/lib/libmicroros.a")

并在如下图位置加入即可
368ae08c-5295-44ae-b79a-04b857ef7a0d-image.png

cmake内容如下，但由于该工程有其他库内容，读者只需看个模板即可，具体内容还是根据读者工程目录进行修改

cmake_minimum_required(VERSION 3.22) # # This file is generated only once, # and is not re-generated if converter is called multiple times. # # User is free to modify the file as much as necessary # # Setup compiler settings set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_C_EXTENSIONS ON) # Define the build type if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE "Debug") endif() # Set the project name set(CMAKE_PROJECT_NAME MicroROSF4_Cmake) # Include toolchain file include("cmake/gcc-arm-none-eabi.cmake") # Enable compile command to ease indexing with e.g. clangd set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE) # Core project settings project(${CMAKE_PROJECT_NAME}) message("Build type: " ${CMAKE_BUILD_TYPE}) # Enable CMake support for ASM and C languages enable_language(C ASM) # Create an executable object type add_executable(${CMAKE_PROJECT_NAME}) # Add STM32CubeMX generated sources add_subdirectory(cmake/stm32cubemx) # Link directories setup target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined library search paths ) # # 3rd-party lib start # # set(THIRD_PARTY_LIB "${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/lib/libmicroros.a") set(extera_source_control ${PROJECT_SOURCE_DIR}/Third-party/control/Src/control.c ${PROJECT_SOURCE_DIR}/Third-party/control/Src/Encoder.c ${PROJECT_SOURCE_DIR}/Third-party/oled/Src/I2C_Fun.c ${PROJECT_SOURCE_DIR}/Third-party/imu/Src/ICM20948.c ${PROJECT_SOURCE_DIR}/Third-party/oled/Src/oled.c ${PROJECT_SOURCE_DIR}/Third-party/delay/Src/Delay.c ${PROJECT_SOURCE_DIR}/Third-party/robot_sys/Src/sys_struct.c ${PROJECT_SOURCE_DIR}/Third-party/MadgwickAHRS/Src/MadgwickAHRS.c ) set(extera_source ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/custom_memory_manager.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_allocators.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_time.c ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_transports/dma_transport.c ) message(STATUS "dir is = ${PROJECT_SOURCE_DIR}") add_library(LibMicroros_app ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Src/microrosclass_agent.cpp ) target_include_directories(LibMicroros_app PRIVATE ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Inc/microros_include ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Inc ) target_sources(LibMicroros_app PRIVATE # Add user sources here ${extera_source} Third-party/Lib_Microrosapp/Src/microros_class.cpp ) target_link_libraries(LibMicroros_app PRIVATE stm32cubemx ${THIRD_PARTY_LIB} ) # # 3rd-party lib end # # # Add sources to executable target_sources(${CMAKE_PROJECT_NAME} PRIVATE # Add user sources here ${extera_source} ${extera_source_control} ) # Add include paths target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined include paths ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Inc/microros_include ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Inc ${PROJECT_SOURCE_DIR}/Third-party/MadgwickAHRS/Inc ${PROJECT_SOURCE_DIR}/Third-party/control/Inc ${PROJECT_SOURCE_DIR}/Third-party/oled/Inc ${PROJECT_SOURCE_DIR}/Third-party/imu/Inc ${PROJECT_SOURCE_DIR}/Third-party/robot_sys/Inc ${PROJECT_SOURCE_DIR}/Third-party/delay/Inc ) # Add project symbols (macros) target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined symbols ) # Add linked libraries target_link_libraries(${CMAKE_PROJECT_NAME} stm32cubemx # Add user defined libraries LibMicroros_app # 自己生成的静态库 ${THIRD_PARTY_LIB} # 第三方静态库 )

5d1e469f-84e0-4211-b7c2-80dbd10c13c0-image.png

剩下的内容可以查看我上一章节内容，主要是microros agent的构建与使用AGENT使用

由于激光雷达发送的消息类型为PointCloud2，所以我将消息转为LaserScan类型发布到话题/scan，然后用slam_toolbox去订阅这个话题来建图，启动launch脚本后使用rviz2订阅/map无任何显示，可以确定的是/scan话题有消息，且能在rviz2上展示。
launch脚本内容为
微信图片_20250523201553.png
配置文件内容为
微信图片_20250523201612.png
rviz2显示
微信图片_20250523201603.png