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虚拟环境下编译ros2节点需注意的地方

ai 2025/7/20 21:33:22

问题1：编译后运行发现虚拟环境里的依赖modules没有加载进来
原因，使用了colcon build直接进行的编译，导致local_setup.bash里

# check environment variable for custom Python executable
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; thenif [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; thenecho "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"return 1fi_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
else# try the Python executable known at configure time#问题在这里应用的是/usr/bin/python3_colcon_python_executable="/usr/bin/python3"# if it doesn't exist try a fall backif [ ! -f "$_colcon_python_executable" ]; thenif ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; thenecho "error: unable to find python3 executable"return 1fi_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`fi
fi

我们要在虚拟环境下这样执行才能对,

python3 -m colcon build

在虚拟环境下调用了虚拟环境里的python3 这样在生成local_setup.bash的时候是这样的

# check environment variable for custom Python executable
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; thenif [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; thenecho "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"return 1fi_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
else# try the Python executable known at configure time_colcon_python_executable="/root/ros2_ws/rail/robotenv/bin/python3"# if it doesn't exist try a fall backif [ ! -f "$_colcon_python_executable" ]; thenif ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; thenecho "error: unable to find python3 executable"return 1fi_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`fi
fi