ros2 pacakage colcon 编译问题

版权声明：本文为博主夏日辉的原创文章，未经博主允许不得转载。 https://blog.csdn.net/shanpenghui/article/details/89285430

1. 问题：

sph@sph-All-Series:~/CLionProjects/ros2_first_demo$ colcon build --symlink-install
Starting >>> ros1_talker
Starting >>> ros2_listener
--- stderr: ros1_talker                                                                  
CMake Error at CMakeLists.txt:10 (find_package):
  By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "catkin", but
  CMake did not find one.

  Could not find a package configuration file provided by "catkin" with any
  of the following names:

    catkinConfig.cmake
    catkin-config.cmake

  Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
  "catkin_DIR" to a directory containing one of the above files.  If "catkin"
  provides a separate development package or SDK, be sure it has been
  installed.


---
Failed   <<< ros1_talker	[ Exited with code 1 ]
Aborted  <<< ros2_listener

Summary: 0 packages finished [2.58s]
  1 package failed: ros1_talker
  1 package aborted: ros2_listener
  1 package had stderr output: ros1_talker
[7.165s] ERROR:concurrent.futures:exception calling callback for <Future at 0x7f24da4b2748 state=finished returned NoneType>
Traceback (most recent call last):
  File "/usr/lib/python3.5/concurrent/futures/_base.py", line 297, in _invoke_callbacks
    callback(self)
  File "/usr/lib/python3.5/asyncio/futures.py", line 442, in _call_set_state
    dest_loop.call_soon_threadsafe(_set_state, destination, source)
  File "/usr/lib/python3.5/asyncio/base_events.py", line 532, in call_soon_threadsafe
    handle = self._call_soon(callback, args)
  File "/usr/lib/python3.5/asyncio/base_events.py", line 506, in _call_soon
    self._check_closed()
  File "/usr/lib/python3.5/asyncio/base_events.py", line 334, in _check_closed
    raise RuntimeError('Event loop is closed')
RuntimeError: Event loop is closed
[7.165s] ERROR:concurrent.futures:exception calling callback for <Future at 0x7f24da48c908 state=finished returned NoneType>
Traceback (most recent call last):
  File "/usr/lib/python3.5/concurrent/futures/_base.py", line 297, in _invoke_callbacks
    callback(self)
  File "/usr/lib/python3.5/asyncio/futures.py", line 442, in _call_set_state
    dest_loop.call_soon_threadsafe(_set_state, destination, source)
  File "/usr/lib/python3.5/asyncio/base_events.py", line 532, in call_soon_threadsafe
    handle = self._call_soon(callback, args)
  File "/usr/lib/python3.5/asyncio/base_events.py", line 506, in _call_soon
    self._check_closed()
  File "/usr/lib/python3.5/asyncio/base_events.py", line 334, in _check_closed
    raise RuntimeError('Event loop is closed')
RuntimeError: Event loop is closed
[7.242s] ERROR:asyncio:Task was destroyed but it is pending!
task: <Task pending coro=<_fd2callback() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:220> wait_for=<Future pending cb=[_chain_future.<locals>._call_check_cancel() at /usr/lib/python3.5/asyncio/futures.py:431, Task._wakeup()]> cb=[_wait.<locals>._on_completion() at /usr/lib/python3.5/asyncio/tasks.py:414]>
[7.242s] ERROR:asyncio:Task was destroyed but it is pending!
task: <Task pending coro=<_fd2callback() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:220> wait_for=<Future pending cb=[_chain_future.<locals>._call_check_cancel() at /usr/lib/python3.5/asyncio/futures.py:431, Task._wakeup()]> cb=[_wait.<locals>._on_completion() at /usr/lib/python3.5/asyncio/tasks.py:414]>

原因是你的talker是用ros1的catkin_make生成的，CMakeList和package.xml文件里面的内容也是ros1风格
解决办法：重新用ros2的风格来生成，这样就不会错啦。

2. 问题：

Starting >>> src     
--- stderr: src                         
Traceback (most recent call last):
  File "/home/sph/CLionProjects/ros2_first_demo/build/src/catkin_generated/generate_cached_setup.py", line 12, in <module>
    from catkin.environment_cache import generate_environment_script
ImportError: No module named 'catkin'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/sph/CLionProjects/ros2_first_demo/build/src/catkin_generated/generate_cached_setup.py", line 20, in <module>
    from catkin.environment_cache import generate_environment_script
ImportError: No module named 'catkin'
CMake Error at /opt/ros/kinetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):
  execute_process(/usr/bin/python3
  "/home/sph/CLionProjects/ros2_first_demo/build/src/catkin_generated/generate_cached_setup.py")
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/all.cmake:198 (safe_execute_process)
  /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:52 (find_package)


---
Failed   <<< src	[ Exited with code 1 ]

Summary: 0 packages finished [1.94s]
  1 package failed: src
  1 package had stderr output: src

原因是这个workspace都是用ros1里面的catkin_make和catkin_init_workspace来建的，colcon当然无法正确连接啦。
解决办法：把ws里面相关的初始化文件删除，重新搞过。

3. 问题：

colon.colcon_ros.prefix_path.catkin:the path '/home/sph/catkin_ws/devel' in
ros distro was set to kinetic before. Please make sure that the environment does not mix paths from different distributions

原因是系统source了~/.bashrc之后，会把你之前的ROS_PATH啊一堆系统变量重新写成kinetic相关的。
解决办法：把~/.bashrc和ros1相关的东西屏蔽掉，在需要用的时候再在终端里面临时source 一次就好了。

4. 搞定。