ros学习

错误1 -- 在编译工作空间的时候,没有关闭conda环境

https://cloud.tencent.com/developer/ask/sof/128041https://cloud.tencent.com/developer/ask/sof/128041

ImportError: "from catkin_pkg.package import parse_package" failed: No module named 'catkin_pkg'
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):
  execute_process(/home/admin1/anaconda3/bin/python3
  "/opt/ros/noetic/share/catkin/cmake/parse_package_xml.py"
  "/opt/ros/noetic/share/catkin/cmake/../package.xml"
  "/home/admin1/catkin_ws/build/catkin/catkin_generated/version/package.cmake")
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package_xml.cmake:74 (safe_execute_process)
  /opt/ros/noetic/share/catkin/cmake/all.cmake:168 (_catkin_package_xml)
  /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:58 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/admin1/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/admin1/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

错误2 -- 使用vscode编写代码时出现无法打开源文件ros/ros.h的错误,是因为没有配置包含路径

https://blog.youkuaiyun.com/qq_51701200/article/details/124574538?ops_request_misc=&request_id=&biz_id=102&utm_term=%E6%97%A0%E6%B3%95%E6%89%93%E5%BC%80%E6%BA%90%E6%96%87%E4%BB%B6ros/ros.h&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-124574538.nonecase&spm=1018.2226.3001.4187https://blog.youkuaiyun.com/qq_51701200/article/details/124574538?ops_request_misc=&request_id=&biz_id=102&utm_term=%E6%97%A0%E6%B3%95%E6%89%93%E5%BC%80%E6%BA%90%E6%96%87%E4%BB%B6ros/ros.h&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-124574538.nonecase&spm=1018.2226.3001.4187

#include<sstream>
#include"ros/ros.h"
#include"std_msgs/String.h"

将下面这行include路径添加到包含路径中

/opt/ros/noetic/include/**

然后会生成.vscode里的一个配置文件

 错误3 -- 无法用rosrun启动Publisher

admin1@admin1-System-Product-Name:~/catkin_ws$ rosrun learning_communication talker
[rospack] Error: package 'learning_communication' not found

在这之前先在终端中cd到工作空间,再设置环境变量(这种设置是当前终端的)

source ./devel/setup.bash

错误4 -- 添加消息生成依赖的功能包

错误示范:

  <run_depend>message_runtime</run_depend>

运行:

rosmsg show Person

结果:

Error(s):
- The manifest of package "learning_communication" (with format version 2) must not contain the following tags: run_depend
- Please replace <run_depend> tags with <exec_depend> tags.

根据提示更改package.xml中相应的消息:

  <exec_depend>message_runtime</exec_depend>

错误5 -- 学习到自定义话题时碰到了使用catkin_make命令编译的报错

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:196 (message):
  catkin_package() the catkin package 'geometry_msgs' has been
  find_package()-ed but is not listed as a build dependency in the
  package.xml


CMake Error at /opt/ros/noetic/share/genmsg/cmake/genmsg-extras.cmake:197 (message):
  generate_messages() must be called before catkin_package() in project
  'learning_communication'


CMake Error at learning_communication/CMakeLists.txt:178 (add_dependencies):
  The dependency target "learning_communication_generate_messagess_cpp" of
  target "listener" does not exist.


CMake Error at learning_communication/CMakeLists.txt:173 (add_dependencies):
  The dependency target "learning_communication_generate_messagess_cpp" of
  target "talker" does not exist.

第一个错误参考

https://blog.youkuaiyun.com/baidu_39537609/article/details/114054029?ops_request_misc=&request_id=&biz_id=102&utm_term=catkin_package()%20the%20catkin%20pa&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-114054029.142^v59^js_top,201^v3^control_1&spm=1018.2226.3001.4187https://blog.youkuaiyun.com/baidu_39537609/article/details/114054029?ops_request_misc=&request_id=&biz_id=102&utm_term=catkin_package()%20the%20catkin%20pa&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-114054029.142%5Ev59%5Ejs_top,201%5Ev3%5Econtrol_1&spm=1018.2226.3001.4187

按照提示package.xml中没有geometry_msgs,添加上就行了:

  <build_depend>geometry_msgs</build_depend>
  <exec_depend>geometry_msgs</exec_depend>

第二个错误参考

https://blog.youkuaiyun.com/weixin_45729043/article/details/108415588?ops_request_misc=&request_id=&biz_id=102&utm_term=%20%20generate_messages()%20must%20be%20&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-108415588.142^v59^js_top,201^v3^control_1&spm=1018.2226.3001.4187https://blog.youkuaiyun.com/weixin_45729043/article/details/108415588?ops_request_misc=&request_id=&biz_id=102&utm_term=%20%20generate_messages()%20must%20be%20&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-108415588.142%5Ev59%5Ejs_top,201%5Ev3%5Econtrol_1&spm=1018.2226.3001.4187

按照提示将这两个函数的顺序颠倒一下(书上这几个函数的顺序并不对)

后面两个错误参考(这个错误还没有具体搞懂,直接往下搞!)

https://blog.youkuaiyun.com/weixin_47539430/article/details/125111836?ops_request_misc=&request_id=&biz_id=102&utm_term=at%20learning_communication/CMak&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-1-125111836.142^v59^js_top,201^v3^control_1&spm=1018.2226.3001.4187https://blog.youkuaiyun.com/weixin_47539430/article/details/125111836?ops_request_misc=&request_id=&biz_id=102&utm_term=at%20learning_communication/CMak&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-1-125111836.142%5Ev59%5Ejs_top,201%5Ev3%5Econtrol_1&spm=1018.2226.3001.4187