catkin_make编译错误如下:
Base path: /home/zth/catkin_ws
Source space: /home/zth/catkin_ws/src
Build space: /home/zth/catkin_ws/build
Devel space: /home/zth/catkin_ws/devel
Install space: /home/zth/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/zth/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/zth/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/zth/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.12")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
CMake Error at /home/zth/catkin_ws/build/catkin_generated/order_packages.cmake:11 (message):
Circular dependency in subset of packages:
geometry_msgs, turtlesim
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:42 (include)
CMakeLists.txt:67 (catkin_workspace)
-- Configuring incomplete, errors occurred!
See also "/home/zth/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/zth/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:528: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决方法
将catkin_ws文件夹中所有文件删除,按照这篇博文https://blog.csdn.net/qq_44324181/article/details/108150419重新创建工作空间和功能包。
然后
创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
创建发布者代码(C++)
如何实现一个发布者
- 初始化ROS节点;
- 向ROS Master注册节点信息,包括发布的话题名和话题中的消息类型;
- 创建消息数据;
- 按照一定频率循环发布消息。
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "velocity_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
// 初始化geometry_msgs::Twist类型的消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5; // 线速度
vel_msg.angular.z = 0.2; // 角速度
// 发布消息
turtle_vel_pub.publish(vel_msg);
ROS_INFO("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]",
vel_msg.linear.x, vel_msg.angular.z); // 输出信息
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
配置发布者代码编译规则
如何配置CMakeLists.txt中的编译规则
- 设置需要编译的代码和生成的可执行文件;
- 设置链接库。
// CMakeLists.txt
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
编译并运行发布者
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic velocity_publisher
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