Call Stack (most recent call first): /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_inte

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Call Stack (most recent call first):
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
CMakeLists.txt:13 (rosidl_generate_interfaces)

--- stderr: example_ros2_interfaces                                         
CMake Error at /opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message):
  execute_process(/home/gkj/miniconda3/bin/python3.10 -m rosidl_adapter
  --package-name example_ros2_interfaces --arguments-file
  /home/gkj/d2lros2/chapt3/chapt3_ws/build/example_ros2_interfaces/rosidl_adapter__arguments__example_ros2_interfaces.json
  --output-dir
  /home/gkj/d2lros2/chapt3/chapt3_ws/build/example_ros2_interfaces/rosidl_adapter/example_ros2_interfaces
  --output-file
  /home/gkj/d2lros2/chapt3/chapt3_ws/build/example_ros2_interfaces/rosidl_adapter/example_ros2_interfaces.idls)
  returned error code 1:

  Traceback (most recent call last):

    File "/home/gkj/miniconda3/lib/python3.10/runpy.py", line 196, in _run_module_as_main
      return _run_code(code, main_globals, None,
    File "/home/gkj/miniconda3/lib/python3.10/runpy.py", line 86, in _run_code
      exec(code, run_globals)
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__main__.py", line 19, in <module>
      sys.exit(main())
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/main.py", line 53, in main
      abs_idl_file = convert_to_idl(
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__init__.py", line 18, in convert_to_idl
      from rosidl_adapter.msg import convert_msg_to_idl
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/msg/__init__.py", line 16, in <module>
      from rosidl_adapter.resource import expand_template
    File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 19, in <module>
      import em

  ModuleNotFoundError: No module named 'em'

Call Stack (most recent call first):
  /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
  CMakeLists.txt:13 (rosidl_generate_interfaces)

尝试

pip3 install empy失败

WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='pypi.org', port=443): Read timed out. (read timeout=15)")': /simple/empy/
WARNING: Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='pypi.org', port=443): Read timed out. (read timeout=15)")': /simple/empy/
Collecting empy
  WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/3b/95/88ed47cb7da88569a78b7d6fb9420298df7e99997810c844a924d96d3c08/empy-3.3.4.tar.gz
  WARNING: Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLEOFError(8, '[SSL: UNEXPECTED_EOF_WHILE_READING] EOF occurred in violation of protocol (_ssl.c:1007)'))': /packages/3b/95/88ed47cb7da88569a78b7d6fb9420298df7e99997810c844a924d96d3c08/empy-3.3.4.tar.gz
  WARNING: Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLEOFError(8, '[SSL: UNEXPECTED_EOF_WHILE_READING] EOF occurred in violation of protocol (_ssl.c:1007)'))': /packages/3b/95/88ed47cb7da88569a78b7d6fb9420298df7e99997810c844a924d96d3c08/empy-3.3.4.tar.gz
  WARNING: Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLEOFError(8, '[SSL: UNEXPECTED_EOF_WHILE_READING] EOF occurred in violation of protocol (_ssl.c:1007)'))': /packages/3b/95/88ed47cb7da88569a78b7d6fb9420298df7e99997810c844a924d96d3c08/empy-3.3.4.tar.gz
  WARNING: Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLEOFError(8, '[SSL: UNEXPECTED_EOF_WHILE_READING] EOF occurred in violation of protocol (_ssl.c:1007)'))': /packages/3b/95/88ed47cb7da88569a78b7d6fb9420298df7e99997810c844a924d96d3c08/empy-3.3.4.tar.gz
ERROR: Could not install packages due to an OSError: HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Max retries exceeded with url: /packages/3b/95/88ed47cb7da88569a78b7d6fb9420298df7e99997810c844a924d96d3c08/empy-3.3.4.tar.gz (Caused by SSLError(SSLEOFError(8, '[SSL: UNEXPECTED_EOF_WHILE_READING] EOF occurred in violation of protocol (_ssl.c:1007)')))

pip3 list检查，发现确实没有empy包
再次输入指令，安装成功
colcon build

--- stderr: example_ros2_interfaces                         
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'numpy'
CMake Error at /opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:204 (message):
  execute_process(/home/gkj/miniconda3/bin/python3 -c 'import
  numpy;print(numpy.get_include())') returned error code 1
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:13 (rosidl_generate_interfaces)

同样地，补充缺失的库pip3 install numpy
再次colcon build

Traceback (most recent call last):
  File "/opt/ros/humble/share/rosidl_generator_c/cmake/../../../lib/rosidl_generator_c/rosidl_generator_c", line 8, in <module>
    from rosidl_generator_c import generate_c
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_c/__init__.py", line 15, in <module>
    from rosidl_cmake import convert_camel_case_to_lower_case_underscore
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_cmake/__init__.py", line 24, in <module>
    from rosidl_parser.parser import parse_idl_file
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_parser/parser.py", line 20, in <module>
    from lark import Lark
ModuleNotFoundError: No module named 'lark'
gmake[2]: *** [CMakeFiles/example_ros2_interfaces__rosidl_generator_c.dir/build.make:148：rosidl_generator_c/example_ros2_interfaces/msg/robot_pose.h] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:212：CMakeFiles/example_ros2_interfaces__rosidl_generator_c.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
Traceback (most recent call last):
  File "/opt/ros/humble/share/rosidl_generator_cpp/cmake/../../../lib/rosidl_generator_cpp/rosidl_generator_cpp", line 8, in <module>
    from rosidl_generator_cpp import generate_cpp
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_cpp/__init__.py", line 17, in <module>
    from rosidl_cmake import generate_files
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_cmake/__init__.py", line 24, in <module>
    from rosidl_parser.parser import parse_idl_file
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_parser/parser.py", line 20, in <module>
    from lark import Lark
ModuleNotFoundError: No module named 'lark'
gmake[2]: *** [CMakeFiles/example_ros2_interfaces__cpp.dir/build.make:160：rosidl_generator_cpp/example_ros2_interfaces/msg/robot_pose.hpp] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:317：CMakeFiles/example_ros2_interfaces__cpp.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2
---
Failed   <<< example_ros2_interfaces [1.35s, exited with code 2]