安装

Question

我为Crazyflie安装了ROS软件包，我想运行一个简单的脚本，但是当我键入 sudo python3 execute_trajectory.py，它给我一个没有名为rospy的模块的错误。

这是软件包：https://github.com/whoenig/crazyflie_ros，文件位于crazyflie_demo / scripts中。另外，我正在使用Ubuntu 16.04和ROS Kinect，并且尝试在没有ROS的情况下运行Python3脚本，并且一切正常。

这是我的CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(crazyflie_demo)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES crazyflie_demo
 CATKIN_DEPENDS roscpp
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  ${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(crazyflie_demo
#   src/${PROJECT_NAME}/crazyflie_demo.cpp
# )

# Declare a cpp executable
add_executable(quadrotor_teleop src/quadrotor_teleop.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(crazyflie_demo_node crazyflie_demo_generate_messages_cpp)

# Specify libraries to link a library or executable target against
target_link_libraries(quadrotor_teleop
  ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS crazyflie_demo crazyflie_demo_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_crazyflie_demo.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

有什么建议吗？

谢谢

Answer 1

在当前终端中，激活ROS

source /opt/ros/kinetic/setup.bash

Answer 2

您不应该从python3开始使用，因为ROS Python版本是2.7，因此请使用以下方法来运行ros-node文件：

rosrun <package-name> <node-name>

定义ROS动力学以使用python3而不是python2.7 Link

我建议阅读安装部分的crazyfile_ros自述文件：

安装

将包克隆到您的catkin工作区中：
git clone https://github.com/whoenig/crazyflie_ros.git
cd crazyflie_ros
git submodule init
git submodule update
在工作区上使用catkin_make进行编译。

运行

rosrun crazyfile_demo execute_trajectory.py

或在 creazyfile_demo 程序包中使用相应的launchfile。

[注意]：

确保您的.py文件是可执行文件（chmod +x execute_trajectory.py）
ros-python版本为2.7

Answer 3

我猜您有多个版本的python，因此您在另一版本中安装rospy并尝试在此版本中使用它。我建议尝试使用pip3在python3中安装软件包。

ImportError：没有名为“ rospy”的模块

3 个答案:

安装

运行