ros自定义消息包无法编译生成.h文件的问题解决

news2024/11/25 20:45:03

ros自定义消息包无法编译生成.h文件的问题解决

想要创建一个ROS功能包专门存放自己自定义的消息，想将这些消息都生成.h，可以由别的功能包来调用。
但是参照网上的诸多帖子未能解决，例如
https://blog.csdn.net/feidaji/article/details/103601529
https://blog.csdn.net/blue_skyLZW/article/details/112572226
https://blog.csdn.net/zhou2677273778/article/details/126477921

建立工作空间

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

创建功能包

cd src
catkin_create_pkg testmsg roscpp rospy std_message message_generation
cd testmsg
mkdir msg
cd msg
touch test1.msg //创建一个自定义消息

在CmakeList里面，要加上这些

find_package(catkin REQUIRED COMPONENTS
  message_generation
  roscpp
  rospy
  std_msgs

 add_message_files(
   FILES
   test1.msg
#   Message2.msg
 )
  generate_messages(
   DEPENDENCIES
   std_msgs
 )
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES test_msg
  CATKIN_DEPENDS message_generation roscpp rospy std_msgs
#  DEPENDS system_lib
)
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

按理说这样已经可以直接编译了，因为把消息也加入了CmakeList，但是编译的结果是这样的
在这里插入图片描述
或者这样的

其主要原因是由catkin_create_pkg testmsg roscpp rospy std_message message_generation这个自动生成的
package.xml有问题

 <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>

  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_generation</exec_depend>
  <exec_depend>message_runtime</exec_depend>

将message_generation,message_runtime与其他库保持一致

 <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>
   <build_depend>message_runtime</build_depend>

  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>message_generation</build_export_depend>
  <build_export_depend>message_runtime</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_generation</exec_depend>
  <exec_depend>message_runtime</exec_depend>