ROS2-PACKAGE-PATH

时间: 2025-02-05 19:33:52 浏览: 129
### 如何设置和使用 ROS2 PACKAGE PATH 环境变量 对于ROS2而言,为了使系统能够识别并找到特定的工作空间中的包,需要正确配置 `ROS_PACKAGE_PATH` 环境变量。当创建新的工作空间并且完成编译之后,应当更新此环境变量以便其他终端也能够访问这些包。 #### 方法一:临时设置(仅限当前会话) 可以在命令行中直接输入如下命令来暂时性地向 `ROS_PACKAGE_PATH` 中添加一个新的路径: ```bash export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/new/path/to/workspace ``` 这种方式下,在同一终端内执行的所有后续操作都将包含新加入的路径;然而一旦关闭该终端窗口,设定即失效[^4]。 #### 方法二:永久保存至 `.bashrc` 文件 更推荐的做法是将上述导出语句追加到个人用户的shell初始化脚本`.bashrc`里边去,从而实现每次登录时自动加载的效果: 编辑器打开`~/.bashrc`文件: ```bash vim ~/.bashrc ``` 在文件末尾处增加一行用于扩展`ROS_PACKAGE_PATH`的内容,注意用冒号分割不同目录,并确保原有值得以保留: ```bash export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/your/new/package/path ``` 保存更改后退出编辑模式,接着运行下面这条命令让改动即时生效而无需注销重登: ```bash source ~/.bashrc ``` 值得注意的是,如果存在多个不同的路径想要一次性全部加入的话,则应采用类似这样的形式书写: ```bash export ROS_PACKAGE_PATH=/path1:/path2:/path3:${ROS_PACKAGE_PATH} ``` 另外,针对全局范围内的所有用户共享相同的额外包位置的情况,也可以考虑修改系统的profile文件 `/etc/profile`,不过这通常不是首选方案除非确实有必要这样做[^2]。
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xyg@xyg-T6AD:~$ sudo apt install ros-humble-hardware-interface [sudo] xyg 的密码: 正在读取软件包列表... 完成 正在分析软件包的依赖关系树... 完成 正在读取状态信息... 完成 下列软件包是自动安装的并且现在不需要了: fonts-lyx libaom-dev libarmadillo-dev libarpack2-dev libblas-dev libblosc-dev libcfitsio-dev libcfitsio-doc libcharls-dev libdav1d-dev libde265-dev libdouble-conversion-dev libfontconfig-dev libfontconfig1-dev libfreexl-dev libfyba-dev libgdal-dev libgeos-dev libgeotiff-dev libgif-dev libgl2ps-dev libheif-dev libjson-c-dev libjsoncpp-dev libkml-dev libkmlconvenience1 libkmlregionator1 libkmlxsd1 liblapack-dev liblbfgsb0 libnetcdf-c++4 libnetcdf-cxx-legacy-dev libogdi-dev libogg-dev libopenjp2-7-dev libopenni-dev libopenni-sensor-pointclouds0 libopenni0 libopenni2-0 libopenni2-dev libpcl-apps1.12 libpcl-common1.12 libpcl-dev libpcl-features1.12 libpcl-filters1.12 libpcl-io1.12 libpcl-kdtree1.12 libpcl-keypoints1.12 libpcl-ml1.12 libpcl-octree1.12 libpcl-outofcore1.12 libpcl-people1.12 libpcl-recognition1.12 libpcl-registration1.12 libpcl-sample-consensus1.12 libpcl-search1.12 libpcl-segmentation1.12 libpcl-stereo1.12 libpcl-surface1.12 libpcl-tracking1.12 libpcl-visualization1.12 libpoppler-dev libpoppler-private-dev libproj-dev libqt5designercomponents5 libqt5qmlworkerscript5 libqt5quickparticles5 libqt5quickshapes5 libqt5quicktest5 libqt5webkit5-dev librttopo-dev libspatialite-dev libsuperlu-dev libtheora-dev liburiparser-dev libutfcpp-dev libvtk9-dev libvtk9-java libvtk9-qt-dev libvtk9.1-qt libwebp-dev libx265-dev libxerces-c-dev libxft-dev libxml2-dev libxsimd-dev openni-utils pydocstyle pyflakes3 python-matplotlib-data python3-appdirs python3-beniget python3-brotli python3-cycler python3-decorator python3-flake8 python3-fonttools python3-fs python3-gast python3-kiwisolver python3-lz4 python3-matplotlib python3-mccabe python3-mpi4py python3-mpmath python3-ply python3-psutil python3-pycodestyle python3-pydocstyle python3-pyflakes python3-pythran python3-scipy python3-snowballstemmer python3-sympy 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python3-snowballstemmer python3-sympy python3-ufolib2 python3-unicodedata2 python3-vtk9 qdoc-qt5 qhelpgenerator-qt5 qt5-assistant qtattributionsscanner-qt5 qtdeclarative5-dev qtdeclarative5-dev-tools qttools5-dev qttools5-dev-tools qttools5-private-dev ros-humble-action-tutorials-cpp ros-humble-action-tutorials-interfaces ros-humble-action-tutorials-py ros-humble-ament-cmake-auto ros-humble-ament-cmake-copyright ros-humble-ament-cmake-flake8 ros-humble-ament-cmake-lint-cmake ros-humble-ament-cmake-pep257 ros-humble-ament-cmake-xmllint ros-humble-ament-flake8 ros-humble-ament-lint-auto ros-humble-ament-lint-cmake ros-humble-ament-lint-common ros-humble-ament-pep257 ros-humble-ament-xmllint ros-humble-composition ros-humble-demo-nodes-cpp ros-humble-demo-nodes-cpp-native ros-humble-demo-nodes-py ros-humble-depthimage-to-laserscan ros-humble-dummy-map-server ros-humble-dummy-robot-bringup ros-humble-dummy-sensors ros-humble-example-interfaces 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ros-humble-rqt-srv ros-humble-rqt-topic ros-humble-rttest ros-humble-shared-queues-vendor ros-humble-sros2 ros-humble-sros2-cmake ros-humble-teleop-twist-joy ros-humble-teleop-twist-keyboard ros-humble-tf2-bullet ros-humble-tf2-sensor-msgs ros-humble-tf2-tools ros-humble-tlsf ros-humble-tlsf-cpp ros-humble-topic-monitor ros-humble-turtlesim ros-humble-zstd-vendor tcl-dev tcl8.6-dev tk-dev tk8.6-dev unicode-data vtk9 使用'sudo apt autoremove'来卸载它(它们)。 下列软件包将被升级: ros-humble-control-msgs 升级了 1 个软件包,新安装了 0 个软件包,要卸载 0 个软件包,有 304 个软件包未被升级。 需要下载 441 kB 的归档。 解压缩后会消耗 0 B 的额外空间。 获取:1 https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-control-msgs amd64 4.8.0-1jammy.20250617.205352 [441 kB] 已下载 441 kB,耗时 1秒 (634 kB/s) (正在读取数据库 ... 系统当前共安装有 322880 个文件和目录。) 准备解压 .../ros-humble-control-msgs_4.8.0-1jammy.20250617.205352_amd64.deb ... 正在解压 ros-humble-control-msgs (4.8.0-1jammy.20250617.205352) 并覆盖 (4.8.0-1j ammy.20250325.185909) ... 正在设置 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ros-humble-dummy-map-server ros-humble-dummy-robot-bringup ros-humble-dummy-sensors ros-humble-example-interfaces ros-humble-examples-rclcpp-minimal-action-client ros-humble-examples-rclcpp-minimal-action-server ros-humble-examples-rclcpp-minimal-client ros-humble-examples-rclcpp-minimal-composition ros-humble-examples-rclcpp-minimal-publisher ros-humble-examples-rclcpp-minimal-service ros-humble-examples-rclcpp-minimal-subscriber ros-humble-examples-rclcpp-minimal-timer ros-humble-examples-rclcpp-multithreaded-executor ros-humble-examples-rclpy-executors ros-humble-examples-rclpy-minimal-action-client ros-humble-examples-rclpy-minimal-action-server ros-humble-examples-rclpy-minimal-client ros-humble-examples-rclpy-minimal-publisher ros-humble-examples-rclpy-minimal-service ros-humble-examples-rclpy-minimal-subscriber ros-humble-geometry2 ros-humble-image-geometry ros-humble-image-tools ros-humble-intra-process-demo ros-humble-keyboard-handler ros-humble-lifecycle ros-humble-logging-demo ros-humble-pcl-conversions ros-humble-pcl-msgs ros-humble-pendulum-control ros-humble-pendulum-msgs ros-humble-qt-gui-cpp ros-humble-qt-gui-py-common ros-humble-quality-of-service-demo-cpp ros-humble-quality-of-service-demo-py ros-humble-ros-environment ros-humble-ros2action ros-humble-ros2bag ros-humble-ros2component ros-humble-ros2interface ros-humble-ros2launch ros-humble-ros2lifecycle ros-humble-ros2multicast ros-humble-ros2topic ros-humble-rosbag2 ros-humble-rosbag2-compression ros-humble-rosbag2-compression-zstd ros-humble-rosbag2-cpp ros-humble-rosbag2-interfaces ros-humble-rosbag2-py ros-humble-rosbag2-storage ros-humble-rosbag2-storage-default-plugins ros-humble-rosbag2-transport ros-humble-rosidl-default-generators ros-humble-rqt-action ros-humble-rqt-bag ros-humble-rqt-bag-plugins ros-humble-rqt-common-plugins ros-humble-rqt-console ros-humble-rqt-gui-cpp ros-humble-rqt-image-view ros-humble-rqt-msg ros-humble-rqt-plot ros-humble-rqt-publisher ros-humble-rqt-py-common ros-humble-rqt-py-console ros-humble-rqt-reconfigure ros-humble-rqt-service-caller ros-humble-rqt-shell ros-humble-rqt-srv ros-humble-rqt-topic ros-humble-rttest ros-humble-shared-queues-vendor ros-humble-sros2 ros-humble-sros2-cmake ros-humble-teleop-twist-joy ros-humble-teleop-twist-keyboard ros-humble-tf2-bullet ros-humble-tf2-sensor-msgs ros-humble-tf2-tools ros-humble-tlsf ros-humble-tlsf-cpp ros-humble-topic-monitor ros-humble-turtlesim ros-humble-zstd-vendor tcl-dev tcl8.6-dev tk-dev tk8.6-dev unicode-data vtk9 使用'sudo apt autoremove'来卸载它(它们)。 升级了 0 个软件包,新安装了 0 个软件包,要卸载 0 个软件包,有 304 个软件包未被升级。 xyg@xyg-T6AD:~$ sudo apt install ros-humble-ros2-control 正在读取软件包列表... 完成 正在分析软件包的依赖关系树... 完成 正在读取状态信息... 完成 ros-humble-ros2-control 已经是最新版 (2.51.0-1jammy.20250617.234359)。 下列软件包是自动安装的并且现在不需要了: fonts-lyx libaom-dev libarmadillo-dev libarpack2-dev libblas-dev libblosc-dev libcfitsio-dev libcfitsio-doc libcharls-dev libdav1d-dev libde265-dev libdouble-conversion-dev libfontconfig-dev libfontconfig1-dev libfreexl-dev libfyba-dev libgdal-dev libgeos-dev libgeotiff-dev libgif-dev libgl2ps-dev libheif-dev libjson-c-dev libjsoncpp-dev libkml-dev libkmlconvenience1 libkmlregionator1 libkmlxsd1 liblapack-dev liblbfgsb0 libnetcdf-c++4 libnetcdf-cxx-legacy-dev libogdi-dev libogg-dev libopenjp2-7-dev libopenni-dev libopenni-sensor-pointclouds0 libopenni0 libopenni2-0 libopenni2-dev libpcl-apps1.12 libpcl-common1.12 libpcl-dev libpcl-features1.12 libpcl-filters1.12 libpcl-io1.12 libpcl-kdtree1.12 libpcl-keypoints1.12 libpcl-ml1.12 libpcl-octree1.12 libpcl-outofcore1.12 libpcl-people1.12 libpcl-recognition1.12 libpcl-registration1.12 libpcl-sample-consensus1.12 libpcl-search1.12 libpcl-segmentation1.12 libpcl-stereo1.12 libpcl-surface1.12 libpcl-tracking1.12 libpcl-visualization1.12 libpoppler-dev libpoppler-private-dev libproj-dev libqt5designercomponents5 libqt5qmlworkerscript5 libqt5quickparticles5 libqt5quickshapes5 libqt5quicktest5 libqt5webkit5-dev librttopo-dev libspatialite-dev libsuperlu-dev libtheora-dev liburiparser-dev libutfcpp-dev libvtk9-dev libvtk9-java libvtk9-qt-dev libvtk9.1-qt libwebp-dev libx265-dev libxerces-c-dev libxft-dev libxml2-dev libxsimd-dev openni-utils pydocstyle pyflakes3 python-matplotlib-data python3-appdirs python3-beniget python3-brotli python3-cycler python3-decorator python3-flake8 python3-fonttools python3-fs python3-gast python3-kiwisolver python3-lz4 python3-matplotlib python3-mccabe python3-mpi4py python3-mpmath python3-ply python3-psutil python3-pycodestyle python3-pydocstyle python3-pyflakes python3-pythran python3-scipy python3-snowballstemmer python3-sympy python3-ufolib2 python3-unicodedata2 python3-vtk9 qdoc-qt5 qhelpgenerator-qt5 qt5-assistant qtattributionsscanner-qt5 qtdeclarative5-dev qtdeclarative5-dev-tools qttools5-dev qttools5-dev-tools qttools5-private-dev ros-humble-action-tutorials-cpp ros-humble-action-tutorials-interfaces ros-humble-action-tutorials-py ros-humble-ament-cmake-auto ros-humble-ament-cmake-copyright ros-humble-ament-cmake-flake8 ros-humble-ament-cmake-lint-cmake ros-humble-ament-cmake-pep257 ros-humble-ament-cmake-xmllint ros-humble-ament-flake8 ros-humble-ament-lint-auto ros-humble-ament-lint-cmake ros-humble-ament-lint-common ros-humble-ament-pep257 ros-humble-ament-xmllint ros-humble-composition ros-humble-demo-nodes-cpp ros-humble-demo-nodes-cpp-native ros-humble-demo-nodes-py ros-humble-depthimage-to-laserscan ros-humble-dummy-map-server ros-humble-dummy-robot-bringup ros-humble-dummy-sensors ros-humble-example-interfaces ros-humble-examples-rclcpp-minimal-action-client ros-humble-examples-rclcpp-minimal-action-server ros-humble-examples-rclcpp-minimal-client ros-humble-examples-rclcpp-minimal-composition ros-humble-examples-rclcpp-minimal-publisher ros-humble-examples-rclcpp-minimal-service ros-humble-examples-rclcpp-minimal-subscriber ros-humble-examples-rclcpp-minimal-timer ros-humble-examples-rclcpp-multithreaded-executor ros-humble-examples-rclpy-executors ros-humble-examples-rclpy-minimal-action-client ros-humble-examples-rclpy-minimal-action-server ros-humble-examples-rclpy-minimal-client ros-humble-examples-rclpy-minimal-publisher ros-humble-examples-rclpy-minimal-service ros-humble-examples-rclpy-minimal-subscriber ros-humble-geometry2 ros-humble-image-geometry ros-humble-image-tools ros-humble-intra-process-demo ros-humble-keyboard-handler ros-humble-lifecycle ros-humble-logging-demo ros-humble-pcl-conversions ros-humble-pcl-msgs ros-humble-pendulum-control ros-humble-pendulum-msgs ros-humble-qt-gui-cpp ros-humble-qt-gui-py-common ros-humble-quality-of-service-demo-cpp ros-humble-quality-of-service-demo-py ros-humble-ros-environment ros-humble-ros2action ros-humble-ros2bag ros-humble-ros2component ros-humble-ros2interface ros-humble-ros2launch ros-humble-ros2lifecycle ros-humble-ros2multicast ros-humble-ros2topic ros-humble-rosbag2 ros-humble-rosbag2-compression ros-humble-rosbag2-compression-zstd ros-humble-rosbag2-cpp ros-humble-rosbag2-interfaces ros-humble-rosbag2-py ros-humble-rosbag2-storage ros-humble-rosbag2-storage-default-plugins ros-humble-rosbag2-transport ros-humble-rosidl-default-generators ros-humble-rqt-action ros-humble-rqt-bag ros-humble-rqt-bag-plugins ros-humble-rqt-common-plugins ros-humble-rqt-console ros-humble-rqt-gui-cpp ros-humble-rqt-image-view ros-humble-rqt-msg ros-humble-rqt-plot ros-humble-rqt-publisher ros-humble-rqt-py-common ros-humble-rqt-py-console ros-humble-rqt-reconfigure ros-humble-rqt-service-caller ros-humble-rqt-shell ros-humble-rqt-srv ros-humble-rqt-topic ros-humble-rttest ros-humble-shared-queues-vendor ros-humble-sros2 ros-humble-sros2-cmake ros-humble-teleop-twist-joy ros-humble-teleop-twist-keyboard ros-humble-tf2-bullet ros-humble-tf2-sensor-msgs ros-humble-tf2-tools ros-humble-tlsf ros-humble-tlsf-cpp ros-humble-topic-monitor ros-humble-turtlesim ros-humble-zstd-vendor tcl-dev tcl8.6-dev tk-dev tk8.6-dev unicode-data vtk9 使用'sudo apt autoremove'来卸载它(它们)。 升级了 0 个软件包,新安装了 0 个软件包,要卸载 0 个软件包,有 304 个软件包未被升级。 xyg@xyg-T6AD:~$ colcon build --cmake-clean-cache --packages-select pca9685_hardware Traceback (most recent call last): File "<string>", line 1, in <module> File "/usr/lib/python3.10/distutils/core.py", line 215, in run_setup exec(f.read(), g) File "<string>", line 8, in <module> AttributeError: 'NoneType' object has no attribute 'split' [2.803s] ERROR:colcon.colcon_core.package_identification:Exception in package identification extension 'python_setup_py' in 'rpi_kernel/linux-rpi-6.12.y/tools/perf/util': Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist.__dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata.__dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1. Traceback (most recent call last): File "/usr/lib/python3/dist-packages/colcon_core/package_identification/__init__.py", line 144, in _identify retval = extension.identify(_reused_descriptor_instance) File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 48, in identify config = get_setup_information(setup_py) File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 249, in get_setup_information _setup_information_cache[hashable_env] = _get_setup_information( File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 296, in _get_setup_information result = subprocess.run( File "/usr/lib/python3.10/subprocess.py", line 526, in run raise CalledProcessError(retcode, process.args, subprocess.CalledProcessError: Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist.__dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata.__dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1. WARNING: Package name "yahboomcar_KCFTracker" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. [3.734s] WARNING:colcon.colcon_core.prefix_path.colcon:The path '/home/xyg/ros2_ws/install' in the environment variable COLCON_PREFIX_PATH doesn't exist [3.734s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/xyg/ros2_ws/install' in the environment variable AMENT_PREFIX_PATH doesn't exist [3.734s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/xyg/ros2_ws/install' in the environment variable CMAKE_PREFIX_PATH doesn't exist [3.759s] ERROR:colcon:colcon build: Duplicate package names not supported: - pca9685_hardware: - ros2_ws/src/pca9685_hardware - ros_env_backup/ros2_ws/src/pca9685_hardware - 下载/ros2_ws/src/pca9685_hardware xyg@xyg-T6AD:~$ colcon build --symlink-install --packages-select pca9685_hardware \ --cmake-args -DCMAKE_BUILD_TYPE=Release Traceback (most recent call last): File "<string>", line 1, in <module> File "/usr/lib/python3.10/distutils/core.py", line 215, in run_setup exec(f.read(), g) File "<string>", line 8, in <module> AttributeError: 'NoneType' object has no attribute 'split' [2.007s] ERROR:colcon.colcon_core.package_identification:Exception in package identification extension 'python_setup_py' in 'rpi_kernel/linux-rpi-6.12.y/tools/perf/util': Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist.__dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata.__dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1. Traceback (most recent call last): File "/usr/lib/python3/dist-packages/colcon_core/package_identification/__init__.py", line 144, in _identify retval = extension.identify(_reused_descriptor_instance) File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 48, in identify config = get_setup_information(setup_py) File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 249, in get_setup_information _setup_information_cache[hashable_env] = _get_setup_information( File "/usr/lib/python3/dist-packages/colcon_python_setup_py/package_identification/python_setup_py.py", line 296, in _get_setup_information result = subprocess.run( File "/usr/lib/python3.10/subprocess.py", line 526, in run raise CalledProcessError(retcode, process.args, subprocess.CalledProcessError: Command '['/usr/bin/python3', '-c', 'import sys;from contextlib import suppress;exec("with suppress(ImportError): from setuptools.extern.packaging.specifiers import SpecifierSet");exec("with suppress(ImportError): from packaging.specifiers import SpecifierSet");from distutils.core import run_setup;dist = run_setup( \'setup.py\', script_args=(\'--dry-run\',), stop_after=\'config\');skip_keys = (\'cmdclass\', \'distclass\', \'ext_modules\', \'metadata\');data = { key: value for key, value in dist.__dict__.items() if ( not key.startswith(\'_\') and not callable(value) and key not in skip_keys and key not in dist.display_option_names )};data[\'metadata\'] = { k: v for k, v in dist.metadata.__dict__.items() if k not in (\'license_files\', \'provides_extras\')};sys.stdout.buffer.write(repr(data).encode(\'utf-8\'))']' returned non-zero exit status 1. WARNING: Package name "yahboomcar_KCFTracker" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. [2.822s] WARNING:colcon.colcon_core.prefix_path.colcon:The path '/home/xyg/ros2_ws/install' in the environment variable COLCON_PREFIX_PATH doesn't exist [2.822s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/xyg/ros2_ws/install' in the environment variable AMENT_PREFIX_PATH doesn't exist [2.822s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/xyg/ros2_ws/install' in the environment variable CMAKE_PREFIX_PATH doesn't exist [2.846s] ERROR:colcon:colcon build: Duplicate package names not supported: - pca9685_hardware: - ros2_ws/src/pca9685_hardware - ros_env_backup/ros2_ws/src/pca9685_hardware - 下载/ros2_ws/src/pca9685_hardware xyg@xyg-T6AD:~$ dpkg -L ros-humble-hardware-interface-types | grep cmake dpkg-query: 软件包 ros-humble-hardware-interface-types 没有被安装 通过 dpkg --contents (= dpkg-deb --contents) 来列出档案文件清单。

xiaofeiyu@xiaofeiyu-virtual-machine:~/task$ # 检查 rmw 相关包是否安装 dpkg -l | grep ros-humble-rmw # 若缺少关键包,重新安装核心组件 sudo apt update sudo apt install --reinstall ros-humble-ros-base ros-humble-rmw* ii ros-humble-rmw 6.1.2-1jammy.20250607.015321 amd64 Contains the ROS middleware API. ii ros-humble-rmw-connextdds 0.11.3-1jammy.20250607.030145 amd64 A ROS2 RMW implementation built with RTI Connext DDS Professional. ii ros-humble-rmw-connextdds-common 0.11.3-1jammy.20250607.025720 amd64 Common source for RMW implementations built with RTI Connext DDS Professional and RTI Connext DDS Micro. ii ros-humble-rmw-connextdds-common-dbgsym 0.11.3-1jammy.20250607.025720 amd64 debug symbols for ros-humble-rmw-connextdds-common ii ros-humble-rmw-connextdds-dbgsym 0.11.3-1jammy.20250607.030145 amd64 debug symbols for ros-humble-rmw-connextdds ii ros-humble-rmw-cyclonedds-cpp 1.3.4-1jammy.20250607.025717 amd64 Implement the ROS middleware interface using Eclipse CycloneDDS in C++. ii ros-humble-rmw-cyclonedds-cpp-dbgsym 1.3.4-1jammy.20250607.025717 amd64 debug symbols for ros-humble-rmw-cyclonedds-cpp ii ros-humble-rmw-dbgsym 6.1.2-1jammy.20250607.015321 amd64 debug symbols for ros-humble-rmw ii ros-humble-rmw-dds-common 1.6.0-2jammy.20250607.025502 amd64 Define a common interface between DDS implementations of ROS middleware. ii ros-humble-rmw-dds-common-dbgsym 1.6.0-2jammy.20250607.025502 amd64 debug symbols for ros-humble-rmw-dds-common ii ros-humble-rmw-desert 1.0.5-1jammy.20250607.025726 amd64 Implement the ROS middleware interface using the DESERT protocol stack for underwater communications. ii ros-humble-rmw-desert-dbgsym 1.0.5-1jammy.20250607.025726 amd64 debug symbols for ros-humble-rmw-desert ii ros-humble-rmw-fastrtps-cpp 6.2.7-1jammy.20250607.031129 amd64 Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++. ii ros-humble-rmw-fastrtps-cpp-dbgsym 6.2.7-1jammy.20250607.031129 amd64 debug symbols for ros-humble-rmw-fastrtps-cpp ii ros-humble-rmw-fastrtps-dynamic-cpp 6.2.7-1jammy.20250607.031154 amd64 Implement the ROS middleware interface using introspection type support. ii ros-humble-rmw-fastrtps-dynamic-cpp-dbgsym 6.2.7-1jammy.20250607.031154 amd64 debug symbols for ros-humble-rmw-fastrtps-dynamic-cpp ii ros-humble-rmw-fastrtps-shared-cpp 6.2.7-1jammy.20250607.025731 amd64 Code shared on static and dynamic type support of rmw_fastrtps_cpp. ii ros-humble-rmw-fastrtps-shared-cpp-dbgsym 6.2.7-1jammy.20250607.025731 amd64 debug symbols for ros-humble-rmw-fastrtps-shared-cpp ii ros-humble-rmw-gurumdds-cpp 3.4.2-1jammy.20250607.025728 amd64 Implement the ROS middleware interface using GurumNetworks GurumDDS static code generation in C++. ii ros-humble-rmw-gurumdds-cpp-dbgsym 3.4.2-1jammy.20250607.025728 amd64 debug symbols for ros-humble-rmw-gurumdds-cpp ii ros-humble-rmw-implementation 2.8.4-1jammy.20250607.031631 amd64 Proxy implementation of the ROS 2 Middleware Interface. ii ros-humble-rmw-implementation-cmake 6.1.2-1jammy.20250522.072625 amd64 CMake functions which can discover and enumerate available implementations. ii ros-humble-rmw-implementation-dbgsym 2.8.4-1jammy.20250607.031631 amd64 debug symbols for ros-humble-rmw-implementation ii ros-humble-rmw-zenoh-cpp 0.1.1-1jammy.20250607.024355 amd64 A ROS 2 middleware implementation using zenoh-cpp ii ros-humble-rmw-zenoh-cpp-dbgsym 0.1.1-1jammy.20250607.024355 amd64 debug symbols for ros-humble-rmw-zenoh-cpp 获取:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4,682 B] 命中:2 https://mirrors.ustc.edu.cn/ubuntu jammy InRelease 命中:4 https://mirrors.ustc.edu.cn/ubuntu jammy-updates InRelease 命中:5 https://mirrors.ustc.edu.cn/ubuntu jammy-backports InRelease 命中:6 https://mirrors.ustc.edu.cn/ubuntu jammy-security InRelease 命中:7 https://packages.microsoft.com/repos/edge stable InRelease 命中:3 https://packages.microsoft.com/repos/code stable InRelease 命中:8 https://apt.foxglove.dev/studio stable InRelease 已下载 4,682 B,耗时 3秒 (1,644 B/s) 正在读取软件包列表... 完成 正在分析软件包的依赖关系树... 完成 正在读取状态信息... 完成 有 301 个软件包可以升级。请执行 ‘apt list --upgradable’ 来查看它们。 正在读取软件包列表... 完成 正在分析软件包的依赖关系树... 完成 正在读取状态信息... 完成 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-dds-common-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-desert-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-fastrtps-shared-cpp-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-gurumdds-cpp-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-implementation-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-dds-common' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-fastrtps-dynamic-cpp' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-connextdds' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-connextdds-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-zenoh-cpp' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-desert' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-gurumdds-cpp' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-cyclonedds-cpp' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-connextdds-common-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-implementation-cmake' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-implementation' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-fastrtps-cpp' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-cyclonedds-cpp-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-connextdds-common' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-fastrtps-shared-cpp' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-fastrtps-dynamic-cpp-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-zenoh-cpp-dbgsym' 注意,根据Glob 'ros-humble-rmw*' 选中了 'ros-humble-rmw-fastrtps-cpp-dbgsym' 下列软件包是自动安装的并且现在不需要了: libpython2-stdlib libpython2.7-minimal libpython2.7-stdlib python-pkg-resources python-setuptools python2 python2-minimal python2.7 python2.7-minimal 使用'sudo apt autoremove'来卸载它(它们)。 下列软件包将被升级: ros-humble-ros-base 升级了 1 个软件包,新安装了 0 个软件包,重新安装了 25 个软件包,要卸载 0 个软件包,有 300 个软件包未被升级。 需要下载 29.0 MB 的归档。 解压缩后会消耗 0 B 的额外空间。 获取:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw amd64 6.1.2-1jammy.20250607.015321 [67.5 kB] 获取:2 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-connextdds amd64 0.11.3-1jammy.20250607.030145 [16.4 kB] 获取:3 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-connextdds-common amd64 0.11.3-1jammy.20250607.025720 [250 kB] 获取:4 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-connextdds-common-dbgsym amd64 0.11.3-1jammy.20250607.025720 [2,627 kB] 获取:5 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-connextdds-dbgsym amd64 0.11.3-1jammy.20250607.030145 [85.0 kB] 获取:6 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-cyclonedds-cpp amd64 1.3.4-1jammy.20250607.025717 [168 kB] 获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-cyclonedds-cpp-dbgsym amd64 1.3.4-1jammy.20250607.025717 [2,176 kB] 获取:8 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-dbgsym amd64 6.1.2-1jammy.20250607.015321 [34.0 kB] 获取:9 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-dds-common amd64 1.6.0-2jammy.20250607.025502 [96.8 kB] 获取:10 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-dds-common-dbgsym amd64 1.6.0-2jammy.20250607.025502 [763 kB] 获取:11 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-desert amd64 1.0.5-1jammy.20250607.025726 [139 kB] 获取:12 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-desert-dbgsym amd64 1.0.5-1jammy.20250607.025726 [3,186 kB] 获取:13 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-fastrtps-cpp amd64 6.2.7-1jammy.20250607.031129 [90.9 kB] 获取:14 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-fastrtps-cpp-dbgsym amd64 6.2.7-1jammy.20250607.031129 [2,880 kB] 获取:15 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-fastrtps-dynamic-cpp amd64 6.2.7-1jammy.20250607.031154 [116 kB] 获取:16 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-fastrtps-dynamic-cpp-dbgsym amd64 6.2.7-1jammy.20250607.031154 [3,508 kB] 获取:17 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-fastrtps-shared-cpp amd64 6.2.7-1jammy.20250607.025731 [162 kB] 获取:18 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-fastrtps-shared-cpp-dbgsym amd64 6.2.7-1jammy.20250607.025731 [5,279 kB] 获取:19 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-gurumdds-cpp amd64 3.4.2-1jammy.20250607.025728 [167 kB] 获取:20 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-gurumdds-cpp-dbgsym amd64 3.4.2-1jammy.20250607.025728 [2,006 kB] 获取:21 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-implementation amd64 2.8.4-1jammy.20250607.031631 [25.4 kB] 获取:22 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-implementation-cmake amd64 6.1.2-1jammy.20250522.072625 [8,878 B] 获取:23 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-implementation-dbgsym amd64 2.8.4-1jammy.20250607.031631 [91.7 kB] 获取:24 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-zenoh-cpp amd64 0.1.1-1jammy.20250607.024355 [186 kB] 获取:25 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-rmw-zenoh-cpp-dbgsym amd64 0.1.1-1jammy.20250607.024355 [4,829 kB] 获取:26 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-ros-base amd64 0.10.0-1jammy.20250618.005618 [5,632 B] 已下载 29.0 MB,耗时 9秒 (3,373 kB/s) debconf: 无法初始化前端界面:Dialog debconf: (对话框界面要求屏幕画面必须为至少 13 行高及 31 列宽.) debconf: 返回前端界面:Readline (正在读取数据库 ... 系统当前共安装有 310883 个文件和目录。) 准备解压 .../00-ros-humble-rmw_6.1.2-1jammy.20250607.015321_amd64.deb ... 正在解压 ros-humble-rmw (6.1.2-1jammy.20250607.015321) 并覆盖 (6.1.2-1jammy.20250607.015321) ... 准备解压 .../01-ros-humble-rmw-connextdds_0.11.3-1jammy.20250607.030145_amd64.deb ... 正在解压 ros-humble-rmw-connextdds (0.11.3-1jammy.20250607.030145) 并覆盖 (0.11.3-1jammy.20250607.030145) ... 准备解压 .../02-ros-humble-rmw-connextdds-common_0.11.3-1jammy.20250607.025720_amd64.deb ... 正在解压 ros-humble-rmw-connextdds-common (0.11.3-1jammy.20250607.025720) 并覆盖 (0.11.3-1jammy.20250607.025720) ... 准备解压 .../03-ros-humble-rmw-connextdds-common-dbgsym_0.11.3-1jammy.20250607.025720_amd64.deb ... 正在解压 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(1.6.0-2jammy.20250607.025502) 并覆盖 (1.6.0-2jammy.20250607.025502) ... 准备解压 .../09-ros-humble-rmw-dds-common-dbgsym_1.6.0-2jammy.20250607.025502_amd64.deb ... 正在解压 ros-humble-rmw-dds-common-dbgsym (1.6.0-2jammy.20250607.025502) 并覆盖 (1.6.0-2jammy.20250607.025502) ... 准备解压 .../10-ros-humble-rmw-desert_1.0.5-1jammy.20250607.025726_amd64.deb ... 正在解压 ros-humble-rmw-desert (1.0.5-1jammy.20250607.025726) 并覆盖 (1.0.5-1jammy.20250607.025726) ... 准备解压 .../11-ros-humble-rmw-desert-dbgsym_1.0.5-1jammy.20250607.025726_amd64.deb ... 正在解压 ros-humble-rmw-desert-dbgsym (1.0.5-1jammy.20250607.025726) 并覆盖 (1.0.5-1jammy.20250607.025726) ... 准备解压 .../12-ros-humble-rmw-fastrtps-cpp_6.2.7-1jammy.20250607.031129_amd64.deb ... 正在解压 ros-humble-rmw-fastrtps-cpp (6.2.7-1jammy.20250607.031129) 并覆盖 (6.2.7-1jammy.20250607.031129) ... 准备解压 .../13-ros-humble-rmw-fastrtps-cpp-dbgsym_6.2.7-1jammy.20250607.031129_amd64.deb ... 正在解压 ros-humble-rmw-fastrtps-cpp-dbgsym (6.2.7-1jammy.20250607.031129) 并覆盖 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(3.4.2-1jammy.20250607.025728) 并覆盖 (3.4.2-1jammy.20250607.025728) ... 准备解压 .../19-ros-humble-rmw-gurumdds-cpp-dbgsym_3.4.2-1jammy.20250607.025728_amd64.deb ... 正在解压 ros-humble-rmw-gurumdds-cpp-dbgsym (3.4.2-1jammy.20250607.025728) 并覆盖 (3.4.2-1jammy.20250607.025728) ... 准备解压 .../20-ros-humble-rmw-implementation_2.8.4-1jammy.20250607.031631_amd64.deb ... 正在解压 ros-humble-rmw-implementation (2.8.4-1jammy.20250607.031631) 并覆盖 (2.8.4-1jammy.20250607.031631) ... 准备解压 .../21-ros-humble-rmw-implementation-cmake_6.1.2-1jammy.20250522.072625_amd64.deb ... 正在解压 ros-humble-rmw-implementation-cmake (6.1.2-1jammy.20250522.072625) 并覆盖 (6.1.2-1jammy.20250522.072625) ... 准备解压 .../22-ros-humble-rmw-implementation-dbgsym_2.8.4-1jammy.20250607.031631_amd64.deb ... 正在解压 ros-humble-rmw-implementation-dbgsym (2.8.4-1jammy.20250607.031631) 并覆盖 (2.8.4-1jammy.20250607.031631) ... 准备解压 .../23-ros-humble-rmw-zenoh-cpp_0.1.1-1jammy.20250607.024355_amd64.deb ... 正在解压 ros-humble-rmw-zenoh-cpp (0.1.1-1jammy.20250607.024355) 并覆盖 (0.1.1-1jammy.20250607.024355) ... 准备解压 .../24-ros-humble-rmw-zenoh-cpp-dbgsym_0.1.1-1jammy.20250607.024355_amd64.deb ... 正在解压 ros-humble-rmw-zenoh-cpp-dbgsym (0.1.1-1jammy.20250607.024355) 并覆盖 (0.1.1-1jammy.20250607.024355) ... 准备解压 .../25-ros-humble-ros-base_0.10.0-1jammy.20250618.005618_amd64.deb ... 正在解压 ros-humble-ros-base (0.10.0-1jammy.20250618.005618) 并覆盖 (0.10.0-1jammy.20250429.225608) ... 正在设置 ros-humble-rmw (6.1.2-1jammy.20250607.015321) ... 正在设置 ros-humble-rmw-zenoh-cpp (0.1.1-1jammy.20250607.024355) ... 正在设置 ros-humble-rmw-implementation-cmake (6.1.2-1jammy.20250522.072625) ... 正在设置 ros-humble-rmw-dbgsym (6.1.2-1jammy.20250607.015321) ... 正在设置 ros-humble-ros-base (0.10.0-1jammy.20250618.005618) ... 正在设置 ros-humble-rmw-dds-common (1.6.0-2jammy.20250607.025502) ... 正在设置 ros-humble-rmw-fastrtps-shared-cpp (6.2.7-1jammy.20250607.025731) ... 正在设置 ros-humble-rmw-desert (1.0.5-1jammy.20250607.025726) ... 正在设置 ros-humble-rmw-gurumdds-cpp 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