ROS2:如何解决python包的“colcon构建”问题？

Question

我正在一个ROS2工作区'home_ws‘中使用我的5个包：

• home_core
• home_devices
• home_extras
• home_launch
• home_ui

所有包都是python，都是按照ROS2文档的相同示例构建的。在“colcon_build”之后，我只看到5个包中的3个。

ros2每公斤清单的产出：

...
geometry
geometry_msgs
home_core
home_devices
home_extras
image_geometry
...

"home_launch“只包含启动文件，没有‘主’入口点，所以我并不完全惊讶我在列表中看不到它。

我有一些疑难解答为什么我没有在列表中看到"home_ui“。

当我运行colcon build时，一切看起来都很好，非常类似于下面列出的三个包：

colcon build --packages-select home_ui --symlink-install --event-handlers 
console_cohesion+
Starting >>> home_ui 
--- output: home_ui                   
running develop
running egg_info
writing home_ui.egg-info/PKG-INFO
writing dependency_links to home_ui.egg-info/dependency_links.txt
writing entry points to home_ui.egg-info/entry_points.txt
writing requirements to home_ui.egg-info/requires.txt
writing top-level names to home_ui.egg-info/top_level.txt
reading manifest file 'home_ui.egg-info/SOURCES.txt'
writing manifest file 'home_ui.egg-info/SOURCES.txt'
running build_ext
Creating /home/matt/Projects/home_ws/install/home_ui/lib/python3.10/site- 
packages/home-ui.egg-link (link to .)
Installing rqt_home script to /home/matt/Projects/home_ws/install/home_ui/lib/home_ui

Installed /home/matt/Projects/home_ws/build/home_ui
running install_data
---
Finished <<< home_ui [1.11s]
Summary: 1 package finished [1.85s]

我可以看到已安装的可执行文件：

matt@molokai:~/Projects/home_ws$ ls -l install/home_ui/lib/home_ui/
total 4
-rwxrwxr-x 1 matt matt 939 Oct 24 12:09 rqt_home
matt@molokai:~/Projects/home_ws$

但是，ros2看不到包：

matt@molokai:~/Projects/home_ws$ ros2 run home_ui rqt_home
Package 'home_ui' not found
matt@molokai:~/Projects/home_ws$ 

所以，我不知怎么搞砸了，但看不出多少东西。有人知道在哪里找colcon的问题吗？

Answer 1

我通过查看非常、非常详细的colcon构建日志发现了我的问题，而我并不知道这些日志。

matt@molokai:~/Projects/home_ws$ colcon build --symlink-install
Starting >>> home_core
Starting >>> home_devices
Starting >>> home_extras
Starting >>> home_ui
Finished <<< home_devices [2.11s]
Finished <<< home_extras [2.13s]
Finished <<< home_ui [2.14s]
Finished <<< home_core [2.19s]
Starting >>> home_launch
Finished <<< home_launch [1.40s]
...

[0.183s] DEBUG:colcon.colcon_core.package_identification:Failed to parse potential 
ROS package manifest in'src/home_ui': Error(s) in package 'src/home_ui/package.xml':
The manifest contains invalid XML:
not well-formed (invalid token): line 7, column 22
...

因此，用于ROS2 Python的colcon在命令行中无声地失败，但是日志对于故障排除非常有用。