编译ROS2

1万 · 2024-3-18 10:45

result:

$ ./build-ros2.sh
CPU set to aarch64le
CPUVARDIR set to aarch64le
[14.874s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
'dummy_sensors' is in: /opt/ros/foxy
'tf2_geometry_msgs' is in: /opt/ros/foxy
'dummy_robot_bringup' is in: /opt/ros/foxy
'rclpy' is in: /opt/ros/foxy
'ros2doctor' is in: /opt/ros/foxy
'ros2param' is in: /opt/ros/foxy
'builtin_interfaces' is in: /opt/ros/foxy
'ros2component' is in: /opt/ros/foxy
'ros2action' is in: /opt/ros/foxy
'ros2multicast' is in: /opt/ros/foxy
'quality_of_service_demo_cpp' is in: /opt/ros/foxy
'sros2' is in: /opt/ros/foxy
'demo_nodes_cpp' is in: /opt/ros/foxy
'ros2run' is in: /opt/ros/foxy
'launch' is in: /opt/ros/foxy
'sros2_cmake' is in: /opt/ros/foxy
'rmw_implementation_cmake' is in: /opt/ros/foxy
'std_msgs' is in: /opt/ros/foxy
'examples_rclcpp_minimal_service' is in: /opt/ros/foxy
'examples_rclpy_minimal_action_client' is in: /opt/ros/foxy
'launch_testing' is in: /opt/ros/foxy
'examples_rclcpp_multithreaded_executor' is in: /opt/ros/foxy
'examples_rclcpp_minimal_composition' is in: /opt/ros/foxy
'rosidl_default_generators' is in: /opt/ros/foxy
'geometry_msgs' is in: /opt/ros/foxy
'ros2topic' is in: /opt/ros/foxy
'ros2node' is in: /opt/ros/foxy
'ros2lifecycle' is in: /opt/ros/foxy
'eigen3_cmake_module' is in: /opt/ros/foxy
'quality_of_service_demo_py' is in: /opt/ros/foxy
'tf2' is in: /opt/ros/foxy
'ros2launch' is in: /opt/ros/foxy
'rosidl_default_runtime' is in: /opt/ros/foxy
'rclcpp_components' is in: /opt/ros/foxy
'ros2interface' is in: /opt/ros/foxy
'rclcpp' is in: /opt/ros/foxy
'resource_retriever' is in: /opt/ros/foxy
'examples_rclpy_minimal_client' is in: /opt/ros/foxy
'common_interfaces' is in: /opt/ros/foxy
'tinyxml_vendor' is in: /opt/ros/foxy
'pendulum_msgs' is in: /opt/ros/foxy
'intra_process_demo' is in: /opt/ros/foxy
'rclcpp_lifecycle' is in: /opt/ros/foxy
'urdf' is in: /opt/ros/foxy
'examples_rclpy_minimal_action_server' is in: /opt/ros/foxy
'ros2service' is in: /opt/ros/foxy
'ros2pkg' is in: /opt/ros/foxy
'yaml_cpp_vendor' is in: /opt/ros/foxy
'image_tools' is in: /opt/ros/foxy
'demo_nodes_py' is in: /opt/ros/foxy
'examples_rclcpp_minimal_publisher' is in: /opt/ros/foxy
'lifecycle' is in: /opt/ros/foxy
'geometry2' is in: /opt/ros/foxy
'tlsf' is in: /opt/ros/foxy
'action_tutorials_cpp' is in: /opt/ros/foxy
'demo_nodes_cpp_native' is in: /opt/ros/foxy
'examples_rclcpp_minimal_timer' is in: /opt/ros/foxy
'ament_cmake_ros' is in: /opt/ros/foxy
'std_srvs' is in: /opt/ros/foxy
'launch_testing_ament_cmake' is in: /opt/ros/foxy
'ros_environment' is in: /opt/ros/foxy
'tlsf_cpp' is in: /opt/ros/foxy
'launch_xml' is in: /opt/ros/foxy
'sensor_msgs' is in: /opt/ros/foxy
'launch_testing_ros' is in: /opt/ros/foxy
'rosidl_runtime_cpp' is in: /opt/ros/foxy
'examples_rclpy_minimal_subscriber' is in: /opt/ros/foxy
'examples_rclcpp_minimal_action_client' is in: /opt/ros/foxy
'action_tutorials_interfaces' is in: /opt/ros/foxy
'composition' is in: /opt/ros/foxy
'examples_rclpy_executors' is in: /opt/ros/foxy
'examples_rclpy_minimal_publisher' is in: /opt/ros/foxy
'rosbag2' is in: /opt/ros/foxy
'python_cmake_module' is in: /opt/ros/foxy
'rcpputils' is in: /opt/ros/foxy
'launch_ros' is in: /opt/ros/foxy
'rosbag2_cpp' is in: /opt/ros/foxy
'tf2_ros' is in: /opt/ros/foxy
'rmw' is in: /opt/ros/foxy
'robot_state_publisher' is in: /opt/ros/foxy
'topic_monitor' is in: /opt/ros/foxy
'message_filters' is in: /opt/ros/foxy
'map_msgs' is in: /opt/ros/foxy
'class_loader' is in: /opt/ros/foxy
'examples_rclcpp_minimal_subscriber' is in: /opt/ros/foxy
'rmw_fastrtps_cpp' is in: /opt/ros/foxy
'examples_rclpy_minimal_service' is in: /opt/ros/foxy
'kdl_parser' is in: /opt/ros/foxy
'nav_msgs' is in: /opt/ros/foxy
'examples_rclcpp_minimal_action_server' is in: /opt/ros/foxy
'launch_yaml' is in: /opt/ros/foxy
'tinyxml2_vendor' is in: /opt/ros/foxy
'dummy_map_server' is in: /opt/ros/foxy
'logging_demo' is in: /opt/ros/foxy
'visualization_msgs' is in: /opt/ros/foxy
'rclcpp_action' is in: /opt/ros/foxy
'pluginlib' is in: /opt/ros/foxy
'rcl_lifecycle' is in: /opt/ros/foxy
'action_tutorials_py' is in: /opt/ros/foxy
'examples_rclcpp_minimal_client' is in: /opt/ros/foxy
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
--allow-overriding action_tutorials_cpp action_tutorials_interfaces action_tutorials_py ament_cmake_ros builtin_interfaces class_loader common_interfaces composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors eigen3_cmake_module examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_client examples_rclcpp_minimal_composition examples_rclcpp_minimal_publisher examples_rclcpp_minimal_service examples_rclcpp_minimal_subscriber examples_rclcpp_minimal_timer examples_rclcpp_multithreaded_executor examples_rclpy_executors examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_minimal_client examples_rclpy_minimal_publisher examples_rclpy_minimal_service examples_rclpy_minimal_subscriber geometry2 geometry_msgs image_tools intra_process_demo kdl_parser launch launch_ros launch_testing launch_testing_ament_cmake launch_testing_ros launch_xml launch_yaml lifecycle logging_demo map_msgs message_filters nav_msgs pendulum_msgs pluginlib python_cmake_module quality_of_service_demo_cpp quality_of_service_demo_py rcl_lifecycle rclcpp rclcpp_action rclcpp_components rclcpp_lifecycle rclpy rcpputils resource_retriever rmw rmw_fastrtps_cpp rmw_implementation_cmake robot_state_publisher ros2action ros2component ros2doctor ros2interface ros2launch ros2lifecycle ros2multicast ros2node ros2param ros2pkg ros2run ros2service ros2topic ros_environment rosbag2 rosbag2_cpp rosidl_default_generators rosidl_default_runtime rosidl_runtime_cpp sensor_msgs sros2 sros2_cmake std_msgs std_srvs tf2 tf2_geometry_msgs tf2_ros tinyxml2_vendor tinyxml_vendor tlsf tlsf_cpp topic_monitor urdf visualization_msgs yaml_cpp_vendor

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> domain_coordinator
Starting >>> rosidl_cli
Starting >>> rosidl_typesupport_interface
Starting >>> fastrtps_cmake_module
Starting >>> python_cmake_module
Starting >>> rpyutils
Starting >>> rti_connext_dds_cmake_module
Starting >>> rmw_implementation_cmake
--- stderr: rmw_implementation_cmake
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

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

ament_cmakeConfig.cmake
ament_cmake-config.cmake

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

---
Failed <<< rmw_implementation_cmake [3.99s, exited with code 1]
--- stderr: rosidl_typesupport_interface
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

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

ament_cmakeConfig.cmake
ament_cmake-config.cmake

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

---
Failed <<< rosidl_typesupport_interface [6.15s, exited with code 1]
--- stderr: python_cmake_module
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

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

ament_cmakeConfig.cmake
ament_cmake-config.cmake

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

---
Failed <<< python_cmake_module [5.84s, exited with code 1]
Aborted  <<< fastrtps_cmake_module [6.15s]
Aborted  <<< domain_coordinator [7.44s]
Aborted  <<< rosidl_cli [6.91s]
Aborted  <<< rpyutils [5.53s]
Aborted  <<< rti_connext_dds_cmake_module [5.02s]

Summary: 0 packages finished [38.3s]
  3 packages failed: python_cmake_module rmw_implementation_cmake rosidl_typesupport_interface
  5 packages aborted: domain_coordinator fastrtps_cmake_module rosidl_cli rpyutils rti_connext_dds_cmake_module
  5 packages had stderr output: fastrtps_cmake_module python_cmake_module rmw_implementation_cmake rosidl_typesupport_interface rti_connext_dds_cmake_module
  221 packages not processed

1万 · 2024-3-18 10:53

$ cat build-ros2.sh
#!/bin/bash

set -e
trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
start=$(date +%s.%N)

build(){

if [ "${CPU}" == "aarch64" ]; then
      CPUVARDIR=aarch64le
      CPUVAR=aarch64le
elif [ "${CPU}" == "x86_64" ]; then
      CPUVARDIR=x86_64
      CPUVAR=x86_64
else
      echo "Invalid architecture. Exiting..."
      exit 1
fi

echo "CPU set to ${CPUVAR}"
echo "CPUVARDIR set to ${CPUVARDIR}"
export CPUVARDIR CPUVAR
export ARCH=${CPU}
source /opt/ros/foxy/setup.bash
colcon build --merge-install --cmake-force-configure \
      --build-base=build/${CPUVARDIR} \
      --install-base=install/${CPUVARDIR} \
      --cmake-args \
         -DCMAKE_TOOLCHAIN_FILE="${PWD}/platform/qnx.nto.toolchain.cmake" \
         -DBUILD_TESTING:BOOL="OFF" \
         -DCMAKE_BUILD_TYPE="Release" \
         -DTHIRDPARTY=FORCE \
         --no-warn-unused-cli
}

# Set this variable according to the path of package on target
ROS2_PACKAGE_TARGET_INSTALL_PATH=/opt/ros/${ROS2DIST}

if [ ! -d "${QNX_TARGET}" ]; then
echo "QNX_TARGET is not set. Exiting..."
exit 1
fi

CPUS=("aarch64" "x86_64")
if [ -z "$CPU" ]; then
for CPU in ${CPUS[@]}; do
      build
done
elif [ $CPU == "x86_64" ] || [ $CPU == "aarch64" ] ; then
build
else
echo "invalid $CPU please set arch to one of the following x86_64, armv7, or aarch64 or unset arch to build all platforms"
exit 1
fi

duration=$(echo "$(date +%s.%N) - $start" | bc)
execution_time=`printf "%.2f seconds" $duration`
echo "Build Successful. Build time: $execution_time"
exit 0

1万 · 2024-3-18 11:03

$ cat platform/qnx.nto.toolchain.cmake
# QNX toolchain file for building ROS2

if("$ENV{QNX_HOST}" STREQUAL "")
message(FATAL_ERROR "QNX_HOST environment variable not found. Please set the variable to your host's build tools")
endif()
if("$ENV{QNX_TARGET}" STREQUAL "")
message(FATAL_ERROR "QNX_TARGET environment variable not found. Please set the variable to the qnx target location")
endif()

set(QNX_HOST "$ENV{QNX_HOST}")
set(QNX_TARGET "$ENV{QNX_TARGET}")

message(STATUS "using QNX_HOST ${QNX_HOST}")
message(STATUS "using QNX_TARGET ${QNX_TARGET}")

set(ARCH "$ENV{ARCH}")
set(CPUVAR "$ENV{CPUVAR}")
set(CPUVARDIR "$ENV{CPUVARDIR}")

message(STATUS "using CPUVAR ${CPUVAR}")
message(STATUS "using CPUVARDIR ${CPUVARDIR}")
message(STATUS "using ARCH ${ARCH}")

set(QNX TRUE)
set(CMAKE_SYSTEM_NAME QNX)

set(CMAKE_C_COMPILER ${QNX_HOST}/usr/bin/qcc)
set(CMAKE_CXX_COMPILER ${QNX_HOST}/usr/bin/q++)

set(CMAKE_SYSTEM_PROCESSOR "${CPUVAR}")

set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES} ${QNX_TARGET}/usr/include)

set(EXTRA_CMAKE_C_FLAGS "${EXTRA_CMAKE_C_FLAGS} -Wl,-rpath-link,${QNX_TARGET}/${CPUVARDIR}/usr/lib:${CMAKE_INSTALL_PREFIX}/lib -DOPENCV_NOSTL_TRANSITIONAL -D_QNX_SOURCE")
set(EXTRA_CMAKE_CXX_FLAGS "${EXTRA_CMAKE_C_FLAGS} ${EXTRA_CMAKE_CXX_FLAGS} -Wno-invalid-offsetof")

# needs a cpu + variant
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Vgcc_nto${CMAKE_SYSTEM_PROCESSOR} ${EXTRA_CMAKE_C_FLAGS}" CACHE STRING "c_flags")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Vgcc_nto${CMAKE_SYSTEM_PROCESSOR} -std=c++14 -DTIXML_USE_STL ${EXTRA_CMAKE_CXX_FLAGS}" CACHE STRING "cxx_flags")

# needs only cpu, ARCH=(CPU only)
set(CMAKE_AR "${QNX_HOST}/usr/bin/nto${ARCH}-ar${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "archiver")
set(CMAKE_RANLIB "${QNX_HOST}/usr/bin/nto${ARCH}-ranlib${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "ranlib")
set(CMAKE_STRIP "${QNX_HOST}/usr/bin/nto${ARCH}-strip${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "strip")

set(EXTRA_CMAKE_LINKER_FLAGS "${EXTRA_CMAKE_LINKER_FLAGS} -lregex")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_CMAKE_LINKER_FLAGS}" CACHE STRING "exe_linker_flags")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${EXTRA_CMAKE_LINKER_FLAGS}" CACHE STRING "so_linker_flags")

set(THREADS_PTHREAD_ARG "0" CACHE STRING "Result from TRY_RUN" FORCE)

########################################################################
# Python setup
########################################################################
# the variable below has to be set according to the output of
# sysconfig.get_config_var('SOABI') on the target, which allows python
# extension files to be found.
set(PYTHON_SOABI cpython-311)
# find the host python then override the include and library directories to link against the target cross compiled binaries
find_package(PythonInterp 3.11 REQUIRED)
set(NUMPY_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/usr/lib/python3.11/site-packages)
set(PYTHON_INCLUDE_DIR
  ${QNX_TARGET}/usr/include/${CPUVARDIR}/python3.11
  ${QNX_TARGET}/usr/include/python3.11
  ${NUMPY_INSTALL_DIR}/numpy/core/include)
set(PYTHON_INCLUDE_DIRS PYTHON_INCLUDE_DIR)
set(PYTHON_LIBRARY ${QNX_TARGET}/${CPUVARDIR}/usr/lib/libpython3.11.so)
set(PYTHON_LIBRARIES ${QNX_TARGET}/${CPUVARDIR}/usr/lib)
set(PYTHONLIBS_FOUND)
set(PYTHON_MODULE_EXTENSION .cpython-311.so)
set(PYTHON_IS_DEBUG FALSE)
#######################################################################
set(Eigen3_INCLUDE_DIRS    ${CMAKE_INSTALL_PREFIX}/include)
set(EIGEN3_FOUND TRUE)
#######################################################################

#######################################################################
# Search paths for dependencies
#######################################################################
set(CMAKE_FIND_ROOT_PATH ${CMAKE_INSTALL_PREFIX};${QNX_TARGET};${QNX_TARGET}/${CPUVARDIR})

# Do not include runtime paths in libraries because they will be
# incorrect since on target they will be different than on host
set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")

#######################################################################
# Search strategy
#######################################################################
# Allow search for programs on host, this will allow programs such as
# make, git and patch to be found and used.
# Only look for headers, libs and packages in the search paths provided
# by CMAKE_FIND_ROOT_PATH
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

1万 · 2024-3-18 11:28

If I comment out this line in build-ros2.sh:

复制

source /opt/ros/foxy/setup.bash

the result is:

$ ./build-ros2.sh
CPU set to aarch64le
CPUVARDIR set to aarch64le
Starting >>> domain_coordinator
Starting >>> rosidl_cli
Starting >>> rosidl_typesupport_interface
Starting >>> fastrtps_cmake_module
Starting >>> python_cmake_module
Starting >>> rpyutils
Starting >>> rti_connext_dds_cmake_module
Starting >>> rmw_implementation_cmake
--- stderr: rosidl_typesupport_interface
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

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

ament_cmakeConfig.cmake
ament_cmake-config.cmake

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

---
Failed <<< rosidl_typesupport_interface [2.20s, exited with code 1]
--- stderr: fastrtps_cmake_module
CMake Error at /opt/cmake-3.18.0-Linux-x86_64/share/cmake-3.18/Modules/CMakeTestCCompiler.cmake:66 (message):
  The C compiler

"/home/kevin/qnx710/host/linux/x86_64/usr/bin/qcc"

  is not able to compile a simple test program.

  It fails with the following output:

Change Dir: /home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp

Run Build Command(s):/home/kevin/qnx710/host/linux/x86_64/usr/bin/make cmTC_11a6c/fast && /home/kevin/qnx710/host/linux/x86_64/usr/bin/make  -f CMakeFiles/cmTC_11a6c.dir/build.make CMakeFiles/cmTC_11a6c.dir/build
make[1]: Entering directory '/home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o
/home/kevin/qnx710/host/linux/x86_64/usr/bin/qcc -Vgcc_ntoaarch64le  -Wl,-rpath-link,/home/kevin/qnx710/target/qnx7/aarch64le/usr/lib:/home/kevin/ros2_galactic/install/aarch64le/lib -DOPENCV_NOSTL_TRANSITIONAL -D_QNX_SOURCE  -o CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o -c /home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp/testCCompiler.c
license check failed
CMakeFiles/cmTC_11a6c.dir/build.make:84: recipe for target 'CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o' failed
make[1]: *** [CMakeFiles/cmTC_11a6c.dir/testCCompiler.c.o] Error 1
make[1]: Leaving directory '/home/kevin/ros2_galactic/build/aarch64le/fastrtps_cmake_module/CMakeFiles/CMakeTmp'
Makefile:140: recipe for target 'cmTC_11a6c/fast' failed
make: *** [cmTC_11a6c/fast] Error 2



  CMake will not be able to correctly generate this project.
Call Stack (most recent call first):
  CMakeLists.txt:17 (project)

---
Failed <<< fastrtps_cmake_module [2.33s, exited with code 1]
--- stderr: python_cmake_module
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

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

ament_cmakeConfig.cmake
ament_cmake-config.cmake

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

---
Failed <<< python_cmake_module [2.40s, exited with code 1]
Aborted  <<< rmw_implementation_cmake [1.94s]
Aborted  <<< domain_coordinator [3.06s]
Aborted  <<< rosidl_cli [2.87s]
Aborted  <<< rpyutils [2.27s]
Aborted  <<< rti_connext_dds_cmake_module [2.08s]

Summary: 0 packages finished [20.7s]
  3 packages failed: fastrtps_cmake_module python_cmake_module rosidl_typesupport_interface
  5 packages aborted: domain_coordinator rmw_implementation_cmake rosidl_cli rpyutils rti_connext_dds_cmake_module
  5 packages had stderr output: fastrtps_cmake_module python_cmake_module rmw_implementation_cmake rosidl_typesupport_interface rti_connext_dds_cmake_module
  221 packages not process

1万 · 2024-3-18 11:34

还是没有找到这个ament_cmake依赖包

1万 · 2024-3-18 17:29

本帖最后由 keer_zu 于 2024-3-18 17:31 编辑

尝试在docker下编译，生成img的时候报错：

复制

ERROR: failed to solve: process "/bin/sh -c groupadd --gid ${GROUP_ID} ${GROUP_NAME} && \tuseradd --uid ${USER_ID} --gid ${GROUP_ID} --groups sudo --no-log-init --create-home ${USER_NAME} && \techo \"${USER_NAME}:password\" | chpasswd" did not complete successfully: exit code: 9

1万 · 2024-3-19 09:55

aarch64-unknown-nto-qnx7.1.0-gcc: error: unrecognized command line option '-Vgcc_ntoaarch64le'

编译ROS2

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