说明

系统为 ubuntu22.04

python是python3.10.12

ros系统为ros2 humble

背景

将一个py文件设置为开机自启动，服务启动时报错，显示找不到rclpy模块。
直接运行./autotest.sh没有问题，sudo ./autotest.sh报错如下。

解决方法

1、打开两个终端，分别输入以下命令，如下图所示。

python3
import sys
sys.path
和
sudo python3
import sys
sys.path

2、查看上图打印结果，找到sudo python3那边没有的部分，如上图红框显示。
3、将缺少部分写在XXX.pth文件中，并保存于 /usr/local/lib/python3.10/dist-packages/路径下（路径根据自己实际情况修改，应该可以写在一个pth文件中吧，我也没查，就直接写了两个），如下图所示。

4、此时运行还会缺少一些so文件，报错如下：

Traceback (most recent call last): File “/home/tls/ws/firbot/ui_design/bringup.py”, line 8, in import rclpy File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py”, line 49, in from rclpy.signals import install_signal_handlers File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/signals.py”, line 15, in from rclpy.exceptions import InvalidHandle File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/exceptions.py”, line 15, in from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py”, line 32, in rclpy_implementation = import_c_library(‘._rclpy_pybind11’, package) File “/opt/ros/humble/lib/python3.10/site-packages/rpyutils/import_c_library.py”, line 39, in import_c_library return importlib.import_module(name, package=package) File “/usr/lib/python3.10/importlib/init.py”, line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) ImportError: librcl_action.so: cannot open shared object file: No such file or directory The C extension ‘/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so’ failed to be imported while being present on the system. Please refer to ‘https://docs.ros.org/en/{distro}/Guides/Installation-Troubleshooting.html#import-failing-even-with-library-present-on-the-system’ for possible solutions

解决方法为：找到你所缺文件（如librcl_action.so）路径，创建一下软链接就可以了。

sudo ln -s /opt/ros/humble/lib/lib* /usr/lib

补充

1、开机自启动的autotest.sh文件放在了/etc/init.d/目录下，如下图所示。

2、都设置完之后可以启动一下看一下是否启动成功，下图是启动成功的状态。

sudo service autotest.sh start
sudo service autotest.sh status

也可通过命令关闭。

sudo service autotest.sh stop

最后，重启系统就可以看下是否设置成功了。