rosrun使用错误导致的迷惑行为

ROS运行错误：尝试用rosrun执行cpp源文件

最新推荐文章于 2025-04-10 15:27:00 发布

原创最新推荐文章于 2025-04-10 15:27:00 发布 · 658 阅读

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#自动驾驶 #c++ #linux

在尝试使用ROS时，错误地使用rosrun命令运行了一个cpp源文件，而非节点。这导致了编译成功后执行时出现一系列语法错误，因为rosrun预期的是节点而不是源代码。正确做法应是编译cpp文件为节点，并通过rosrun运行该节点。

rosrun 使用

rosrun [功能包名称] [节点名称]
eg.
rosrun turtlesim turtlesim_node

我的一个错误行为：

rosrun cpoint filter_test.cpp

我让rosrun运行了cpp文件
于是奇怪的事情发生了
我如此运行，catkin_make编译成功了，但是再执行以上命令，会检查到注释错误，莫名的语法错误，会很奇怪，最后发现是rosrun应该运行的是节点，而不是cpp文件。
报错如下：

/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 1: /bin: Is a directory
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 2: 关于使用sensor_msgs/PointCloud2，: No such file or directory
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 3: build/: Is a directory
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 6: //: Is a directory
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 11: //滤波的头文件: No such file or directory
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 13: //申明发布器: No such file or directory
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 14: ros::Publisher: command not found
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 15: //回调函数: No such file or directory
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 16: void: command not found
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 17: syntax error near unexpected token `const'
/home/twilight/project/catkin_ws/src/cpoint/src/filter_test.cpp: line 17: `cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)  //特别注意的是这里面形参的数据格式'

我的cmakelist

cmake_minimum_required(VERSION 3.0.2)
project(cpoint)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  sensor_msgs
  std_msgs
  cv_bridge
  image_transport
  pcl_conversions
  pcl_ros
)
find_package(PCL 1.3 REQUIRED COMPONENTS common io)

################################################
## Declare ROS messages, services and actions ##
################################################

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

###################################
## catkin specific configuration ##
###################################
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES test_pkg
#  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

include_directories(
  ${PCL_INCLUDE_DIRS}
)

link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
## add_executable(cpoint src/PointCloud2_to_pcl_node.cpp src/filter_test.cpp)

add_executable(cpoint src/filter_test.cpp)

target_link_libraries(cpoint ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})
target_link_libraries(cpoint ${catkin_LIBRARIES})

给自己气笑了