Question

我试图将python脚本添加到我的软件包中，以参考这两个教程。

因此，我在根test\src\test_pkg中添加了setup.py，在路径test\src中将CMakeLists.txt更改了。（我的程序包根路径是test\，我的程序包路径是test\src\test_pkg，我的python脚本路径是test\src\test_pkg\scripts）

这是setup.py。

#!/usr/bin/env python
# -*- coding: utf-8 -*-


from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup


setup_args = generate_distutils_setup(
    packages=['test_pkg'],
    scripts=['/scripts'],
    package_dir={'': 'src'}
)

setup(**setup_args)

这是CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(test_pkg)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  sensor_msgs
  message_generation
)

catkin_python_setup()

catkin_install_python(PROGRAMS scripts/talker
                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

add_message_files(
  FILES
  Num.msg
)

add_service_files(
  FILES
  AddTwoInts.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
  sensor_msgs
)

catkin_package(
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime sensor_msgs

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

install(PROGRAMS 
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

然后我在路径catkin_make中运行test。（我已经运行test\devel\setup.bat）并收到此CMake错误：

Base path: E:\workspace\ros\test
Source space: E:\workspace\ros\test\src
Build space: E:\workspace\ros\test\build
Devel space: E:\workspace\ros\test\devel
Install space: E:\workspace\ros\test\install
####
#### Running command: "nmake cmake_check_build_system" in "E:\workspace\ros\test\build"
####

Microsoft (R) ?????????ù??? 14.20.27508.1 ??
??????? (C) Microsoft Corporation??  ?????????????

-- Using CATKIN_DEVEL_PREFIX: E:/workspace/ros/test/devel
-- Using CMAKE_PREFIX_PATH: E:/workspace/ros/test/devel;C:/opt/ros/melodic/x64;C:/opt/rosdeps/x64
-- This workspace overlays: E:/workspace/ros/test/devel;C:/opt/ros/melodic/x64
-- Using PYTHON_EXECUTABLE: C:/opt/python27amd64/python.exe
-- Using default Python package layout
-- Using empy: C:/opt/python27amd64/lib/site-packages/em.pyc
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: E:/workspace/ros/test/build/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: C:/opt/python27amd64/Scripts/nosetests-2.7.exe
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Using CATKIN_WHITELIST_PACKAGES: test_pkg
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - test_pkg
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'test_pkg'
-- ==> add_subdirectory(test_pkg)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at C:/opt/ros/melodic/x64/share/catkin/cmake/catkin_install_python.cmake:20 (message):
  catkin_install_python() called without required DESTINATION argument.
Call Stack (most recent call first):
  test_pkg/CMakeLists.txt:27 (catkin_install_python)


-- Configuring incomplete, errors occurred!
See also "E:/workspace/ros/test/build/CMakeFiles/CMakeOutput.log".
See also "E:/workspace/ros/test/build/CMakeFiles/CMakeError.log".
NMAKE : fatal error U1077: ??C:\opt\rosdeps\x64\bin\cmake.exe??: ???????0x1??
Stop.
Invoking "nmake cmake_check_build_system" failed

如何解决此错误？感谢您的答复。

系统：Windows10

ROS：ROS1

/ rosdistro：旋律
/ rosversion：1.14.3

Answer 1

首先，虽然catkin是足够通用的工具，但通常用于机器人框架ROS。因此，通过向ROS的问题社区answers.ros.org提问，您可能会得到更多的答复。

CMake Error at C:/opt/ros/melodic/x64/share/catkin/cmake/catkin_install_python.cmake:20 (message):
  catkin_install_python() called without required DESTINATION argument.

我认为您提到的是正确的在线资源。我也查看了它们，但都没有一个澄清，但是catkin_package()必须在catkin_install_python之前调用。

Answer 2

正确的顺序是：

cmake_minimum_required(VERSION 2.8.3)
project(test_pkg)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  sensor_msgs
  message_generation
)

add_message_files(
  FILES
  Num.msg
)

add_service_files(
  FILES
  AddTwoInts.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
  sensor_msgs
)

catkin_package(
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime sensor_msgs

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

#catkin_python_setup()
catkin_install_python(PROGRAMS scripts/talker
                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
)

但是由于您删除了所有未使用的代码，我不确定上面是否正确。如果是在原文件里，应该是这里：

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

几乎在文件末尾。

Answer 3

我遇到了同样的错误。我以为你把代码复制到了错误的位置。如果您将这些代码放在相对较早的位置，您可能会弄错。尝试将代码放在这里。

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

ROS1 catkin_make失败：没有必需的DESTINATION参数调用的catkin_install_python（）

3 个答案: