编译ROS应用程序时报错“Could not find a package configuration file”，如何解决？

原创已于 2025-09-25 13:54:11 修改 · 311 阅读

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于 2025-09-24 11:30:15 首次发布

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编译ROS应用程序时，终端出现如下错误：

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "roscpp" with any
  of the following names:

    roscppConfig.cmake
    roscpp-config.cmake

  Add the installation prefix of "roscpp" to CMAKE_PREFIX_PATH or set
  "roscpp_DIR" to a directory containing one of the above files.  If "roscpp"
  provides a separate development package or SDK, be sure it has been
  installed.

首先确认/opt/ros目录中有上述文件。

sudo find /opt/ros -name "roscppConfig.cmake" -o -name "roscpp-config.cmake"

如果该命令输出了类似于/opt/ros/noetic/share/roscpp/cmake/roscppConfig.cmake的路径，说明文件roscppConfig.cmake存在但CMake未找到。对于这种情况，在编译时，添加变量定义，例如

catkin_make -Droscpp_DIR=/opt/ros/noetic/share/roscpp/cmake
# 具体的定义，根据ROS版本和安装位置作相应的修改即可。

添加之后，没有出现找不到roscppConfig.cmake文件的错误了，但又出现了找不到其它文件的类似错误

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "roscpp" with any
  of the following names:

    rosbagConfig.cmake
    rosbag-config.cmake

  Add the installation prefix of "roscpp" to CMAKE_PREFIX_PATH or set
  "roscpp_DIR" to a directory containing one of the above files.  If "roscpp"
  provides a separate development package or SDK, be sure it has been
  installed.

继续添加类似的变量定义即可，例如

catkin_make  -Droscpp_DIR=/opt/ros/noetic/share/roscpp/cmake  -Drosbag_DIR=/opt/ros/noetic/share/rosbag/cmake   -Dsensor_msgs_DIR=/opt/ros/noetic/share/sensor_msgs/cmake   -Dpcl_ros_DIR=/opt/ros/noetic/share/pcl_ros/cmake

按照上述方式编译，即可解决类似的错误。