[无人车] ros2 下 build 报错：collect2: error: ld returned 1 exit status

编译报错

复制代码

root@ubuntu:~/dev_ws# colcon build --packages-select line_follower_perception
Starting >>> line_follower_perception
[Processing: line_follower_perception]
[Processing: line_follower_perception]
--- stderr: line_follower_perception
/usr/bin/ld: CMakeFiles/line_follower_perception.dir/src/line_follower_perception.cpp.o: in function `rclcpp::create_subscription_factory<nav_msgs::msg::Odometry_<std::allocator<void> >, std::_Bind<void (LineFollowerPerceptionNode::*(LineFollowerPerceptionNode*, std::_Placeholder<1>))(std::shared_ptr<nav_msgs::msg::Odometry_<std::allocator<void> > >)>, std::allocator<void>, nav_msgs::msg::Odometry_<std::allocator<void> >, rclcpp::Subscription<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void> > >, rclcpp::message_memory_strategy::MessageMemoryStrategy<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void> > >(std::_Bind<void (LineFollowerPerceptionNode::*(LineFollowerPerceptionNode*, std::_Placeholder<1>))(std::shared_ptr<nav_msgs::msg::Odometry_<std::allocator<void> > >)>&&, rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> > const&, rclcpp::message_memory_strategy::MessageMemoryStrategy<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void> >::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<nav_msgs::msg::Odometry_<std::allocator<void> > > >)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const':
line_follower_perception.cpp:(.text._ZZN6rclcpp27create_subscription_factoryIN8nav_msgs3msg9Odometry_ISaIvEEESt5_BindIFM26LineFollowerPerceptionNodeFvSt10shared_ptrIS5_EEPS7_St12_PlaceholderILi1EEEES4_S5_NS_12SubscriptionIS5_S4_NS_23message_memory_strategy21MessageMemoryStrategyIS5_S4_EEEESK_EENS_19SubscriptionFactoryEOT0_RKNS_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrES8_INS_16topic_statistics27SubscriptionTopicStatisticsIT2_EEEENKUlPNS_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_3QoSEE_clES13_S1B_S1E_[_ZZN6rclcpp27create_subscription_factoryIN8nav_msgs3msg9Odometry_ISaIvEEESt5_BindIFM26LineFollowerPerceptionNodeFvSt10shared_ptrIS5_EEPS7_St12_PlaceholderILi1EEEES4_S5_NS_12SubscriptionIS5_S4_NS_23message_memory_strategy21MessageMemoryStrategyIS5_S4_EEEESK_EENS_19SubscriptionFactoryEOT0_RKNS_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrES8_INS_16topic_statistics27SubscriptionTopicStatisticsIT2_EEEENKUlPNS_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_3QoSEE_clES13_S1B_S1E_]+0x34): undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<nav_msgs::msg::Odometry_<std::allocator<void> > >()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/line_follower_perception.dir/build.make:137: line_follower_perception] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/line_follower_perception.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< line_follower_perception [1min 16s, exited with code 2]

其中，

collect2: error: ld returned 1 exit status

问题出在添加了以下代码：

复制代码

  subscriber_odom_info_ = this->create_subscription<nav_msgs::msg::Odometry>(
      "/odom", 10, std::bind(&LineFollowerPerceptionNode::subscription_odom_info_callback, this, std::placeholders::_1));

链接的时候找不到 nav_msgs 的lib，解决方法是在工程文件夹的 CMakeLists.txt 中添加以下代码：

复制代码

find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)


ament_target_dependencies(
  ${PROJECT_NAME}

  ...

  nav_msgs
  tf2
)