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我想在 Ubuntu 18.04 中为我的 ROS2 项目创建一个自定义 Action 客户端/服务器。我正在关注https://answers.ros.org/question/3234 ... 的答案，以便为自定义操作创建 ROS2 pkg。

我的包裹看起来像这样：

action_interface
  action
    PlanAid.action
  package.xml
  CMakeTests.txt

我的文件如下： PlanAid.action：

#goal definition
string request
string problem
---
#result definition
string data
string event
---
#feedback
string feedback

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)

project(action_interface)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  # we dont use add_compile_options with pedantic in message packages
  # because the Python C extensions dont comply with it
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
endif()

find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(action_msgs REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  action/PlanAid.action
  DEPENDENCIES std_msgs action_msgs
)

ament_export_dependencies(rosidl_default_runtime)
ament_package()

和package.xml：

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>action_interface</name>
  <version>0.0.1</version>
  <description>ros action custom action interface</description>
  <maintainer email="skanda.naglapur-ramamurthy@man.eu">Skanda Naglapur Ramamurthy</maintainer>
  <license>MIT</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>rosidl_default_generators</buildtool_depend>

  <build_depend>std_msgs</build_depend>
  <build_depend>action_msgs</build_depend>

  <exec_depend>rosidl_default_runtime</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>action_msgs</exec_depend>

  <member_of_group>rosidl_interface_packages</member_of_group>

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

当我尝试使用以下方式构建我的工作区时：

colcon build --symlink-install

我收到以下错误：

[Processing: action_interface]                             
--- stderr: action_interface                                       
/usr/bin/ld: /usr/local/lib/libpython3.6m.a(ceval.o): relocation R_X86_64_PC32 against symbol `_Py_NoneStruct' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
make[2]: *** [rosidl_generator_py/action_interface/libaction_interface__python.so] Error 1
make[1]: *** [CMakeFiles/action_interface__python.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: /usr/local/lib/libpython3.6m.a(ceval.o): relocation R_X86_64_PC32 against symbol `_Py_NoneStruct' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
make[2]: *** [rosidl_generator_py/action_interface/action_interface_action_s__rosidl_typesupport_c.cpython-36m-x86_64-linux-gnu.so] Error 1
make[1]: *** [CMakeFiles/action_interface_action__rosidl_typesupport_c__pyext.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< action_interface   [ Exited with code 2 ]

我怎么解决这个问题？

4

0 回答 0