WARNING: Package name "Send_position_pose" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. WARNING: Package name "Send_position_pose" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 4 packages in topological order: -- ~~ - Send_position_pose -- ~~ - my_odometry_listener -- ~~ - livox_ros_driver2 -- ~~ - fast_lio -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'Send_position_pose' -- ==> add_subdirectory(Send_position_pose) CMake Deprecation Warning at Send_position_pose/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 3.5 will be removed from a future version of CMake. Update the VERSION argument <min> value or use a ...<max> suffix to tell CMake that the project does not need compatibility with older versions. -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy WARNING: Package name "Send_position_pose" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:196 (message): catkin_package() the catkin package 'tf2' has been find_package()-ed but is not listed as a build dependency in the package.xml Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) Send_position_pose/CMakeLists.txt:210 (catkin_package) -- Configuring incomplete, errors occurred! make: *** [Makefile:1892:cmake_check_build_system] 错误 1 Invoking "make cmake_check_build_system" failed
时间: 2025-07-19 07:31:11 浏览: 7
<think>根据用户的问题,我们需要解决两个主要问题:
1. ROS包名`Send_position_pose`不符合命名规范。
2. CMake配置错误,特别是`catkin_package`中缺少`tf2`依赖。
首先,我们来看ROS包命名规范:
ROS包名应该只包含小写字母、数字和下划线,且不能以数字开头。当前包名`Send_position_pose`包含大写字母,不符合规范。建议改为全小写,例如`send_position_pose`。
其次,关于CMake配置错误:
在`CMakeLists.txt`中,`catkin_package`应该声明该包所依赖的catkin构建依赖项(包括`tf2`)。另外,在`find_package`中也需要包含`tf2`,并在`target_link_libraries`中链接`tf2`相关的库。
下面是具体的修改步骤:
步骤1:重命名包
由于ROS包名在创建后不能直接通过重命名文件夹来更改(因为包名在`package.xml`和`CMakeLists.txt`中都有定义),我们需要执行以下操作:
1. 将包目录重命名为小写:`mv Send_position_pose send_position_pose`
2. 修改`package.xml`文件:
- 将`<name>Send_position_pose</name>`改为`<name>send_position_pose</name>`
3. 修改`CMakeLists.txt`文件:
- 将`project(Send_position_pose)`改为`project(send_position_pose)`
- 同时,确保在`find_package`中包含`tf2`,并在`catkin_package`中声明依赖。
步骤2:修改CMakeLists.txt
在`CMakeLists.txt`中,我们需要确保:
1. `find_package`包含了`tf2`和其他必要的依赖。
2. `catkin_package`中通过`CATKIN_DEPENDS`声明`tf2`。
示例修改如下:
原`CMakeLists.txt`可能如下:
```cmake
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
# 可能缺少tf2
)
```
修改后:
```cmake
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
tf2
tf2_ros
# 其他依赖...
)
catkin_package(
CATKIN_DEPENDS roscpp rospy std_msgs tf2 tf2_ros
# 其他配置...
)
```
步骤3:修改源代码中的包名引用(如果有)
如果代码中有引用包名的地方(例如在launch文件中),也需要相应修改。
步骤4:重新编译
由于包名改变,需要回到工作空间根目录,重新编译:
```bash
catkin_make
```
步骤5:更新环境变量
编译后,需要更新环境变量:
```bash
source devel/setup.bash
```
注意:如果之前已经运行过该节点,需要确保所有使用旧包名的地方都已更新,包括launch文件、命令行等。
关于代码中的问题,用户提供的节点代码是C++的,并且已经使用了`tf2`来转换四元数到欧拉角。因此,在`CMakeLists.txt`中必须链接`tf2`库。在`CMakeLists.txt`的`add_executable`和`target_link_libraries`部分,应该链接`tf2`相关的库。例如:
```cmake
add_executable(usart_node src/usart_node.cpp)
target_link_libraries(usart_node
${catkin_LIBRARIES}
)
```
由于在`find_package`中包含了`tf2`,那么`${catkin_LIBRARIES}`会自动包含`tf2`的库。
总结修改:
1. 包名改为小写:`send_position_pose`。
2. 在`package.xml`中,确保`<depend>tf2</depend>`(以及可能需要的`tf2_ros`)。
3. 在`CMakeLists.txt`中,`find_package`添加`tf2`和`tf2_ros`,并在`catkin_package`的`CATKIN_DEPENDS`中添加它们。
4. 确保源代码中包含了正确的头文件(代码中已经包含了`tf2`相关头文件)。
这样修改后,应该可以解决包名不规范和缺少`tf2`依赖的问题。
下面,我们生成相关问题:</think>### 解决ROS包命名不规范及CMake配置错误问题
#### 1. **包名命名规范修正**
ROS包名必须遵循**全小写+下划线**的命名规范([ROS包命名规范](http://wiki.ros.org/ROS/Patterns/Conventions#Package_Naming)):
```bash
# 原包名不符合规范
Send_position_pose → send_position_pose
# 重命名步骤
mv Send_position_pose send_position_pose
```
需同步修改两个关键文件:
```xml
<!-- package.xml -->
<name>send_position_pose</name> <!-- 原为Send_position_pose -->
```
```cmake
# CMakeLists.txt
project(send_position_pose) # 原为Send_position_pose
```
#### 2. **CMake依赖配置修正**
问题核心:缺少`tf2`依赖声明,导致编译时找不到相关头文件和库。
**修正步骤:**
```cmake
# CMakeLists.txt
find_package(catkin REQUIRED COMPONENTS
roscpp
nav_msgs
serial
tf2 # 添加关键依赖[^1]
tf2_ros
)
catkin_package(
CATKIN_DEPENDS
roscpp
nav_msgs
serial
tf2 # 必须声明[^1]
tf2_ros
)
```
#### 3. **完整配置示例**
```cmake
cmake_minimum_required(VERSION 3.0.2)
project(send_position_pose) # 使用小写命名
find_package(catkin REQUIRED COMPONENTS
roscpp
nav_msgs
serial
tf2
tf2_ros
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp nav_msgs serial tf2 tf2_ros
)
include_directories(${catkin_INCLUDE_DIRS})
add_executable(usart_node src/usart_node.cpp)
target_link_libraries(usart_node ${catkin_LIBRARIES})
```
#### 4. **编译验证**
```bash
# 清理旧编译
catkin clean send_position_pose
# 重新编译
catkin build send_position_pose
# 检查tf2依赖
roscd send_position_pose
grep -R "tf2" CMakeLists.txt package.xml # 应显示相关依赖
```
#### 5. **常见错误处理**
| 错误类型 | 解决方案 |
|---------|----------|
| `undefined reference to tf2::...` | 确认`target_link_libraries`包含`${catkin_LIBRARIES}` |
| `Could not find tf2` | 运行`sudo apt install ros-${ROS_DISTRO}-tf2` |
| 串口权限问题 | `sudo usermod -aG dialout $USER` |
---
### 相关问题
1. ROS中`tf2`和`tf`库的主要区别是什么?在什么场景下应优先选择`tf2`?
2. 如何在ROS节点中实现自定义消息类型的跨包依赖管理?
3. 当CMake报`catkin_package() called with non-existent dependency 'tf2'`错误时,有哪些系统级的排查步骤?
4. ROS包名使用大写字母会导致哪些具体问题?除了编译错误,还会影响哪些功能?
[^1]: ROS包创建依赖管理规范
[^2]: ROS包目录结构要求
[^3]: TF2官方文档
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