如何修复 ROS 错误：missing rosunitConfig.cmake

问题

尝试使用 colcon build 构建某些 ROS 包时，你看到如下错误消息

cmake_error_rosunit.txt

CMake Error at /home/uli/dev/Versatile/catkin/install/catkin/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "rosunit" with any
  of the following names:

    rosunitConfig.cmake
    rosunit-config.cmake

  Add the installation prefix of "rosunit" to CMAKE_PREFIX_PATH or set
  "rosunit_DIR" to a directory containing one of the above files.  If
  "rosunit" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:8 (find_package)

CMake Error at /home/uli/dev/Versatile/catkin/install/catkin/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "rosunit" with any
  of the following names:

    rosunitConfig.cmake
    rosunit-config.cmake

  Add the installation prefix of "rosunit" to CMAKE_PREFIX_PATH or set
  "rosunit_DIR" to a directory containing one of the above files.  If
  "rosunit" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:8 (find_package)

解决方案

rosunit 目前没有作为 ROS jazzy 的 apt 包提供。

因此，克隆仓库，使用 colcon 构建它，然后在构建你的包之前 source install/setup.bash。

install_rosunit.sh

git clone https://github.com/ros/ros.git
cd ros/tools/rosunit
colcon build
source install/setup.bash

git clone https://github.com/ros/ros.git
cd ros/tools/rosunit
colcon build
source install/setup.bash

之后（在同一个 shell 中），再次使用 colcon build 构建你的其他包。

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