我想使用laser_filters，但不能构建它

Question

我使用的是ubuntu 20.04 (注音)。我试图使用激光滤波器( http://wiki.ros.org/laser_filters)，但我不能建造它。

当我使用catkin_make时，我会得到以下错误

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)

-- Configuring incomplete, errors occurred!
See also "/home/limlab/filter_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/limlab/filter_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

当我使用catkin_make_isolated时，我会得到以下错误

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~  traversing 1 packages in topological order:
~~  - laser_filters (unknown)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Error: Packages with unknown build types exist
Can not build workspace with packages of unknown build_type

Answer 1

我没有足够的声誉来发表评论，所以我会写一个答复

我的第一个猜测是，您下载了错误版本的ROS的laser_filters包。如果您从源代码获得包：https://github.com/ros-perception/laser_filters。下载后，您需要签出到、noetic、分支(默认的分支是ros2，这是有意义的，因为它不使用catkin构建系统)。

克隆正确分支：

# cd to your workspace src folder
git clone https://github.com/ros-perception/laser_filters.git
cd laser_filters
git checkout noetic-devel

或者，您可以从工作区中删除laser_filters包，并尝试从apt获取它。

sudo apt install ros-noetic-laser-filters