ros2使用过程的一些踩坑问题

1. 自定义msg/srv文件，为什么找不到头文件或实现？
   在ros2中，自定义msg/srv文件是需要在功能包里定义的，不能是单纯的目录，否则无法使用find_package，在此基础上，如果找不到包，找不到头文件等，那可以先检查下是msg包是否和app包同一个目录层级，如果在同一个目录层级，有两种方法可以找到：
   （1）先编译msg包，source install/setup.bash之后，再编译app包;
   （2）在app包里面的package.xml中加入build_depend，如下：

  <build_depend>rosidl_default_generators</build_depend>

则可以使用colcon build --packages-select 同时编译msg包和app包
cmakelist里面要添加find_package(msg_package REQUIRED)自定义包的查找;

如果不在同一个目录层级，只能用第一种方法;

2. msg文件的生成路径配置，在ros2中是写死的，但官方文档并没有说明

rosidl_generate_interfaces(${PROJECT_NAME}
  "${PROJECT_SOURCE_DIR}:msg/Pubapp2Subapp.msg"
  "${PROJECT_SOURCE_DIR}:msg/SMpublish.msg"
  "${PROJECT_SOURCE_DIR}:msg/SeresLightStatus.msg"
  "${PROJECT_SOURCE_DIR}:msg/DrivingMode.msg"
  "${PROJECT_SOURCE_DIR}:msg/Gear.msg"
  "${PROJECT_SOURCE_DIR}:msg/Ack.msg"
  "${PROJECT_SOURCE_DIR}:msg/Head.msg"
  "${PROJECT_SOURCE_DIR}:msg/MsgRcmPub.msg"
  "${PROJECT_SOURCE_DIR}:msg/MsgDrivingModelSet.msg"
  "${PROJECT_SOURCE_DIR}:msg/BackCamera.msg"
  "${PROJECT_SOURCE_DIR}:msg/DebugChassisFault.msg"
  "${PROJECT_SOURCE_DIR}:msg/DebugChassisState.msg"
  "${PROJECT_SOURCE_DIR}:msg/DebugControlCmd.msg"
  "${PROJECT_SOURCE_DIR}:msg/DebugLocalization.msg"
  DEPENDENCIES
  std_msgs geometry_msgs
)

如上，第一个参数必须是${PROJECT_NAME}，后面的参数如果要拼接路径，必须用:分割

3. 为什么我给改了我的可执行文件install路径，ros2 run找不到了。
   如果你觉得ros给install到lib下面不行，自己改到bin下，那恭喜你，踩坑了。它源码里面拼接路径就是lib，而且还必须带工程名，如下整个cmake案例：

cmake_minimum_required(VERSION 3.8)
project(pub_app)

#set(CMAKE_C_COMPILER /usr/bin/gcc-12)
#set(CMAKE_CXX_COMPILER /usr/bin/g++-12)
set(CMAKE_CXX_STANDARD 17)
add_compile_options(-Wall -Wextra -Wpedantic)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(common_proto_data REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

message("project source:${PROJECT_SOURCE_DIR}")
include_directories(${PROJECT_SOURCE_DIR}/../../../third_party/toml/include)
include_directories(${PROJECT_SOURCE_DIR}/../../../third_party/ullib/include)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
#target_link_libraries(publisher PUBLIC ${PROJECT_SOURCE_DIR}/third_party/toml/lib/libtoml11.a)
#add_executable(publisher src/pub_example.cpp)
add_executable(publisher src/shared_mem_pub.cpp)
ament_target_dependencies(publisher rclcpp std_msgs common_proto_data)
#target_link_directories(publisher PUBLIC ${PROJECT_SOURCE_DIR}/../../../third_party/toml/include)
target_link_libraries(publisher ${PROJECT_SOURCE_DIR}/../../../third_party/toml/lib/libtoml11.a
                                ${PROJECT_SOURCE_DIR}/../../../third_party/ullib/lib/libullib.a)

#target_link_libraries(publisher PUBLIC ${PROJECT_SOURCE_DIR}/../../../third_party/toml/lib)

install(TARGETS publisher DESTINATION ${PROJECT_SOURCE_DIR}/../../../output/ros2/${PROJECT_NAME}/lib/${PROJECT_NAME})
#install(DIRECTORY ${PROJECT_SOURCE_DIR}/../../../third_party/toml/lib DESTINATION ./)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/cfg DESTINATION ${PROJECT_SOURCE_DIR}/../../../output/ros2/pub_app/)

ament_package()

3. ros2 run找不到指定包名
   在排除了2之后的场景，还是找不到包名，那么记得检查你的cmake文件中有没有添加ament_package()在末尾，另外，package.xml需要加上

<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>

<export>
    <build_type>ament_cmake</build_type>
</export>