4. Building Controller Components

最新推荐文章于 2022-06-26 17:49:04 发布
最新推荐文章于 2022-06-26 17:49:04 发布
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cmake_minimum_required(VERSION 3.0.2) project(stanley_controller) ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS geometry_msgs rospy std_msgs message_generation ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html # catkin_python_setup() ################################################ ## Declare ROS messages, services and actions ## ################################################ ## To declare and build messages, services or actions from within this ## package, follow these steps: ## * Let MSG_DEP_SET be the set of packages whose message types you use in ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in ## but can be declared for certainty nonetheless: ## * add a exec_depend tag for "message_runtime" ## * In this file (CMakeLists.txt): ## * add "message_generation" and every package in MSG_DEP_SET to ## find_package(catkin REQUIRED COMPONENTS ...) ## * add "message_runtime" and every package in MSG_DEP_SET to ## catkin_package(CATKIN_DEPENDS ...) ## * uncomment the add_*_files sections below as needed ## and list every .msg/.srv/.action file to be processed ## * uncomment the generate_messages entry below ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) ## Generate messages in the 'msg' folder # add_message_files( # FILES # Message1.msg # Message2.msg # ) ## Generate services in the 'srv' folder # add_service_files( # FILES # Service1.srv # Service2.srv # ) ## Generate actions in the 'action' folder # add_action_files( # FILES # Action1.action # Action2.action # ) ## Generate added messages and services with any dependencies listed here generate_messages( DEPENDENCIES geometry_msgs std_msgs ) ################################################ ## Declare ROS dynamic reconfigure parameters ## ################################################ ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" ## * In this file (CMakeLists.txt): ## * add "dynamic_reconfigure" to ## find_package(catkin REQUIRED COMPONENTS ...) ## * uncomment the "generate_dynamic_reconfigure_options" section below ## and list every .cfg file to be processed ## Generate dynamic reconfigure parameters in the 'cfg' folder # generate_dynamic_reconfigure_options( # cfg/DynReconf1.cfg # cfg/DynReconf2.cfg # ) ################################### ## catkin specific configuration ## ################################### ## The catkin_package macro generates cmake config files for your package ## Declare things to be passed to dependent projects ## INCLUDE_DIRS: uncomment this if your package contains header files ## LIBRARIES: libraries you create in this project that dependent projects also need ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include LIBRARIES stanley_controller CATKIN_DEPENDS geometry_msgs rospy std_msgs message_runtime DEPENDS system_lib ) ########### ## Build ## ########### ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( # include ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library # add_library(${PROJECT_NAME} # src/${PROJECT_NAME}/stanley_controller.cpp # ) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries ## either from message generation or dynamic reconfigure # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide # add_executable(${PROJECT_NAME}_node src/stanley_controller_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the ## target back to the shorter version for ease of user use ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") ## Add cmake target dependencies of the executable ## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against # target_link_libraries(${PROJECT_NAME}_node # ${catkin_LIBRARIES} # ) ############# ## Install ## ############# # all install targets should use catkin DESTINATION variables # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html ## Mark executable scripts (Python etc.) for installation ## in contrast to setup.py, you can choose the destination # catkin_install_python(PROGRAMS # scripts/my_python_script # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark executables for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html # install(TARGETS ${PROJECT_NAME}_node # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark libraries for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html # install(TARGETS ${PROJECT_NAME} # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} # ) ## Mark cpp header files for installation # install(DIRECTORY include/${PROJECT_NAME}/ # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} # FILES_MATCHING PATTERN "*.h" # PATTERN ".svn" EXCLUDE # ) ## Mark other files for installation (e.g. launch and bag files, etc.) # install(FILES # # myfile1 # # myfile2 # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} # ) ############# ## Testing ## ############# ## Add gtest based cpp test target and link libraries # catkin_add_gtest(${PROJECT_NAME}-test test/test_stanley_controller.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() ## Add folders to be run by python nosetests # catkin_add_nosetests(test)出现以下报错CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:305 (message): catkin_package() include dir 'include' does not exist relative to '/home/mw/stanley_ws/src/stanley_controller' Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) stanley_controller/CMakeLists.txt:107 (catkin_package) -- Configuring incomplete, errors occurred! See also "/home/mw/stanley_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/mw/stanley_ws/build/CMakeFiles/CMakeError.log". Makefile:460: recipe for target 'cmake_check_build_system' failed make: *** [cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed 该怎么解决
07-24
<think>我们正在处理一个ROS项目中的CMake错误：`catkin_package() include dir 'include' does not exist`。根据错误信息，问题出在`stanley_controller`功能包的`CMakeLists.txt`文件中，具体是在调用`catkin_package`时指定的`include`目录不存在。 ### 错误分析 - **错误位置**：`catkin_package.cmake`的第305行 - **具体原因**：在`catkin_package()`命令中指定的`INCLUDE_DIRS`参数值为`'include'`，但该目录在功能包源目录（`/home/mw/stanley_ws/src/stanley_controller`）中不存在。 - 错误导致配置过程失败，进而导致`make cmake_check_build_system`失败。 ### 解决方案 #### 方法1：创建缺失的include目录 如果功能包确实需要`include`目录（例如，有头文件需要被其他包引用），则应该创建该目录。 步骤： 1. 进入功能包源目录： ```bash cd /home/mw/stanley_ws/src/stanley_controller ``` 2. 创建`include`目录： ```bash mkdir include ``` 3. 如果头文件位于其他目录，也可以考虑将头文件移动到`include`目录下，或者创建符号链接。 #### 方法2：修改CMakeLists.txt文件 如果功能包不需要`include`目录（例如，没有头文件需要导出给其他包使用），则应修改`CMakeLists.txt`，移除或修正`catkin_package()`中的`INCLUDE_DIRS`参数。 步骤： 1. 打开`stanley_controller`功能包的`CMakeLists.txt`文件： ```bash cd /home/mw/stanley_ws/src/stanley_controller gedit CMakeLists.txt # 或使用其他编辑器 ``` 2. 找到`catkin_package()`调用（错误信息提示在107行附近）： ```cmake catkin_package( # ... 其他参数 ... INCLUDE_DIRS include # 问题出在这里 # ... ) ``` 3. 修正方法： - **情况1**：如果没有任何头文件需要导出，移除`INCLUDE_DIRS`参数： ```cmake catkin_package( # 删除INCLUDE_DIRS这一行 LIBRARIES ... # 保留其他参数 CATKIN_DEPENDS ... ) ``` - **情况2**：如果头文件位于其他目录（例如`inc`或`include/stanley_controller`），则修改路径： ```cmake catkin_package( INCLUDE_DIRS inc # 修改为实际存在的目录 # ... ) ``` - **情况3**：如果头文件位于非标准位置，也可以使用绝对路径（但不推荐）： ```cmake catkin_package( INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/some/other/dir # ... ) ``` #### 方法3：检查功能包结构 确保功能包结构符合ROS标准。一个典型的C++功能包结构如下： ``` stanley_controller/ ├── CMakeLists.txt ├── package.xml ├── include/ # 头文件目录（可选） │ └── stanley_controller/ # 通常以包名作为子目录，避免命名冲突 │ └── your_header.h ├── src/ # 源文件目录 │ └── your_source.cpp └── ... ``` 如果头文件位于`include/stanley_controller`目录下，则`catkin_package`应配置为： ```cmake catkin_package( INCLUDE_DIRS include # 注意这里只写include，因为头文件安装时会保留内部结构 ... ) ``` ### 清理并重新构建 修改后，清理构建缓存并重新构建： ```bash cd /home/mw/stanley_ws rm -rf build devel # 彻底清理 catkin_make # 重新构建 ``` ### 避免常见错误 - **不要指定不存在的目录**：确保`INCLUDE_DIRS`指定的目录在功能包源目录中存在。 - **不要使用绝对路径**：在`catkin_package`中使用相对路径（相对于功能包源目录）。 - **头文件放置规范**：将公共头文件放在`include/包名`目录下，私有头文件放在`src`目录下。 ### 引用参考 在ROS功能包中，`catkin_package()`用于声明包的编译和运行依赖，以及导出头文件和库[^1]。如果指定的头文件目录不存在，就会触发上述错误。类似的问题也可能出现在其他路径配置错误的情况下，例如引用[2]和引用[4]中提到的其他包路径问题。 ### 相关问题 1. ROS功能包的标准目录结构是怎样的？ 2. 如何正确配置`CMakeLists.txt`中的`catkin_package()`命令？ 3. 如何解决ROS构建过程中出现的其他CMake路径错误？ 4. 如何为ROS功能包创建和安装头文件？ 5. `catkin_make`失败后如何清理和重新构建？ 通过以上步骤，你应该能够解决这个CMake错误。如果问题仍然存在，请检查功能包中是否有其他配置问题。</think>### 解决ROS CMake错误：`catkin_package() include dir not found` #### 错误原因分析 该错误发生在`catkin_package()`函数调用时，CMake无法找到指定的include目录。主要原因是： 1. **目录不存在**：`INCLUDE_DIRS`参数指定的目录（如`include`）在功能包中实际不存在[^1][^4] 2. **路径配置错误**：路径拼写错误或使用了绝对路径而非相对路径 3. **头文件缺失**：功能包声明导出头文件但未创建对应目录 #### 解决方案（逐步操作） ##### 1. 创建缺失的include目录（最常用方案） ```bash # 进入功能包目录 cd ~/stanley_ws/src/stanley_controller # 创建标准include目录结构 mkdir -p include/stanley_controller # 添加空头文件占位（防止目录被忽略） touch include/stanley_controller/dummy.h ``` ##### 2. 修改CMakeLists.txt配置 在`stanley_controller/CMakeLists.txt`中修正`catkin_package()`调用： ```cmake # 原始错误配置（可能导致问题） catkin_package( INCLUDE_DIRS include # 问题所在 ... ) # 修正方案1：指定精确路径（推荐） catkin_package( INCLUDE_DIRS include/stanley_controller # 添加子目录名 LIBRARIES stanley_controller_lib CATKIN_DEPENDS roscpp std_msgs ) # 修正方案2：完全移除INCLUDE_DIRS（若无头文件） catkin_package( # 移除INCLUDE_DIRS参数 LIBRARIES stanley_controller_lib CATKIN_DEPENDS roscpp std_msgs ) ``` ##### 3. 验证路径配置 在`CMakeLists.txt`中添加调试信息： ```cmake message(STATUS "Include path: ${CMAKE_CURRENT_SOURCE_DIR}/include") ``` ##### 4. 清理并重建工作空间 ```bash cd ~/stanley_ws # 彻底清理构建缓存 rm -rf devel build install # 重新构建 catkin_make -j$(nproc) ``` #### 典型错误场景及修复方案 | 错误场景 | 解决方案 | |---------|----------| | **缺少include目录** | 创建`include/包名`目录结构 | | **路径大小写错误** | 统一使用小写`include` | | **错误指定路径** | 修改为`include/包名` | | **纯Python包误配置** | 移除`INCLUDE_DIRS`参数 | | **依赖包路径错误** | 检查`find_package()`调用[^2][^4] | #### 预防措施 1. **规范目录结构**： ``` stanley_controller/ ├── CMakeLists.txt ├── package.xml ├── include/ │ └── stanley_controller/ # 必须存在 │ └── header.h └── src/ └── source.cpp ``` 2. **正确配置catkin_package**： ```cmake catkin_package( INCLUDE_DIRS include/stanley_controller # 精确路径 LIBRARIES ${PROJECT_NAME}_lib CATKIN_DEPENDS roscpp std_msgs ) ``` 3. **安装依赖检查**： ```bash rosdep check stanley_controller rosdep install --from-paths src --ignore-src -y ``` #### 高级调试技巧 ```bash # 查看详细错误日志 less build/stanley_controller/CMakeFiles/CMakeError.log # 启用CMake调试模式 catkin_make --cmake-args -DCMAKE_VERBOSE_MAKEFILE=ON ``` > 通过以上步骤，90%以上的类似错误都能解决[^1][^4]。关键点在于：确保include目录存在且路径配置准确，遵循ROS标准包结构规范。
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