ROS编译成功无法运行节点

ROS编译成功但无法运行节点的问题及解决

最新推荐文章于 2025-03-20 08:33:46 发布

原创最新推荐文章于 2025-03-20 08:33:46 发布 · 6.9k 阅读

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#ubuntu #ROS #node #cmake

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本文介绍了当ROS项目能成功编译但无法运行节点时的解决方法。主要内容包括检查ROS_PACKAGE_PATH、新建工作空间的步骤、CMakeLists文件的正确配置，并通过错误和正确示例对比说明问题所在。总结强调CMakeLists文件的重要性，建议参考已通过的文件进行修改。

1.概述

简单说一下ROS中其他项目可工作，但是ROS不能找到可执行文件时的处理办法，希望额给大家提供帮助，同时供自己以后参考．

2.新建工作空间

命令如下

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws/

catkin_make

source devel/setup.bash

查看ROS_PACKAGE_PATH，如果没有数据可以重启电脑再试试

~/catkin_slam$ echo $ROS_PACKAGE_PATH
/home/robots/catkin_slam/src:/opt/ros/kinetic/share

更改path的方法

sudo gedit ~/.bashrc

在文件末尾添加export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/工作空间路径/src

3.CMakeLists文件

ROS生成不了可执行文件，先说原因：CMakeLists文件出现问题．
保证CMakeLists文件中内容按照下面的顺序排列

find_package()
catkin_package()
include_directories()
add_executable()
target_link_libraries()

特别注意find_package，catkin_package．

4.错误示例

我出现错误时的CMakeLists文件部分内容为

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  tf
)

include_directories(
 ${catkin_INCLUDE_DIRS}
)
link_directories(

)

add_executable(tf_test_bin src/mysrc.cpp)
target_link_libraries(tf_test_bin ${catkin_LIBRARIES})

在catkin_make中提示的信息如下，没有link的过程．

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - tf_test
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'tf_test'
-- ==> add_subdirectory(tf_test)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/robots/catkin_slam/build
####
#### Running command: "make -j6 -l6" in "/home/robots/catkin_slam/build"
####
[100%] Built target tf_test_bin

运行时会报错

~/catkin_slam$ rosrun tf_test tf_test_bin
[rosrun] Couldn't find executable named tf_test_bin below /home/robots/catkin_slam/src/tf_test

5.正确示例

改正后的CMakeLists文件为

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  tf
)
catkin_package(

)

include_directories(
 ${catkin_INCLUDE_DIRS}
)
link_directories(

)

add_executable(tf_test_bin src/mysrc.cpp)
target_link_libraries(tf_test_bin ${catkin_LIBRARIES})

这个时候的catkin_make提示信息如下，会有一个link过程

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - tf_test
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'tf_test'
-- ==> add_subdirectory(tf_test)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/robots/catkin_slam/build
####
#### Running command: "make -j6 -l6" in "/home/robots/catkin_slam/build"
####
[ 50%] Linking CXX executable /home/robots/catkin_slam/devel/lib/tf_test/tf_test_bin
[100%] Built target tf_test_bin