执行colcon build时出现catkin_pkg模块缺失错误求助

问题详情 #

作为Ubuntu和ROS2新手，编写完URDF模型代码后，执行colcon build --symlink-install时触发以下错误：

Starting >>> my_package
--- stderr: my_package                          
Traceback (most recent call last):
  File "/opt/ros/jazzy/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 22, in <module>
    from catkin_pkg.package import parse_package_string
ModuleNotFoundError: No module named 'catkin_pkg'
CMake Error at /opt/ros/jazzy/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:95 (message):
  execute_process(/usr/local/bin/python3.13
  /opt/ros/jazzy/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  /home/arya/learn_ros2_ws/src/my_package/package.xml
  /home/arya/learn_ros2_ws/build/my_package/ament_cmake_core/package.cmake)
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/jazzy/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  /opt/ros/jazzy/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:31 (ament_package_xml)
  CMakeLists.txt:32 (ament_lint_auto_find_test_dependencies)


---
Failed <<< my_package [0.23s, exited with code 1]

Summary: 0 packages finished [0.36s]
  1 package failed: my_package
  1 package had stderr output: my_package

已尝试pip install catkin_pkg但问题未解决，附上URDF代码：

<?xml version="1.0"?>
<robot name="my_first_robot" xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:property name="base_width" value = "0.31"/>
<xacro:property name="base_length" value = "0.42"/>
<xacro:property name="base_height" value = "0.18"/>

<xacro:property name="wheel_radius" value="0.10"/>
<xacro:property name="wheel_width" value="0.04"/>
<xacro:property name="wheel_ygap" value="0.025"/>
<xacro:property name="wheel_zoff" value="0.01"/>
<xacro:property name="wheel_xoff" value="0.05"/>

<xacro:property name="caster_xoff" value="0.1"/>

  <!-- Define intertial property macros  -->
  <xacro:macro name="box_inertia" params="m w h d">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
    </inertial>
  </xacro:macro>

  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy = "0" ixz = "0" iyy="${(m/12) * (3*r*r + h*h)}" iyz = "0" izz="${(m/2) * (r*r)}"/>
    </inertial>
  </xacro:macro>

  <xacro:macro name="sphere_inertia" params="m r">
    <inertial>
      <mass value="${m}"/>
      <inertia ixx="${(2/5) * m * (r*r)}" ixy="0.0" ixz="0.0" iyy="${(2/5) * m * (r*r)}" iyz="0.0" izz="${(2/5) * m * (r*r)}"/>
    </inertial>
  </xacro:macro>


  <!-- Robot Base -->
  <link name="base_link">
    <visual>
    <origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
      <geometry>
        <box size="${base_length} ${base_width} ${base_height}"/>
      </geometry>
      <material name="Cyan">
        <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <collision>
    <origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
      <geometry>
        <box size="${base_length} ${base_width} ${base_height}"/>
      </geometry>
    </collision>

    <xacro:box_inertia m="5" w="${base_width}" d="${base_length}" h="${base_height}"/>
  </link>

   <gazebo reference="base_link">
    <material>Gazebo/Orange</material>
  </gazebo>

    <!-- Caster Wheel -->
  <link name="caster">
    <visual>
      <geometry>
        <sphere radius="${wheel_zoff}"/>
      </geometry>
      <material name="white">
        <color rgba="1 1.0 1.0 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="${wheel_zoff}"/>
      </geometry>
    </collision>

    <xacro:sphere_inertia m="0.5" r="${(wheel_radius+wheel_zoff-(base_height/2))}"/>
  </link>

   <gazebo reference="caster">
    <material>Gazebo/Blue</material>
  </gazebo>

  <joint name="caster_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster"/>
    <origin xyz="${-caster_xoff} 0.0 0" rpy="0 0 0"/>
  </joint>

    <!-- Wheels -->
  <xacro:macro name="wheel" params="prefix x_reflect y_reflect">
    <link name="${prefix}_link">
      <visual>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
        <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
        </geometry>
        <material name="Gray">
          <color rgba="0.5 0.5 0.5 1.0"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
        </geometry>
      </collision>

      <xacro:cylinder_inertia m="0.5" r="${wheel_radius}" h="${wheel_width}"/>
    </link>

    <joint name="${prefix}_joint" type="continuous">
      <parent link="base_link"/>
      <child link="${prefix}_link"/>
      <origin xyz="${-x_reflect*wheel_xoff} ${y_reflect*(base_width/2+wheel_ygap)} ${wheel_radius-wheel_zoff}" rpy="0 0 0"/>
      <axis xyz="0 1 0"/>
    </joint>
  </xacro:macro>

  <xacro:wheel prefix="drivewhl_l" x_reflect="-1" y_reflect="1" />
  <xacro:wheel prefix="drivewhl_r" x_reflect="-1" y_reflect="-1" />

<gazebo>
  <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>

    <!-- wheels -->
    <left_joint>drivewhl_l_joint</left_joint>
    <right_joint>drivewhl_r_joint</right_joint>

    <!-- kinematics -->
    <wheel_separation>0.4</wheel_separation>
    <wheel_diameter>0.2</wheel_diameter>

    <!-- limits -->
    <max_wheel_torque>80</max_wheel_torque>
    <max_wheel_acceleration>1.0</max_wheel_acceleration>

    <!-- output -->
    <publish_odom>true</publish_odom>
    <publish_odom_tf>false</publish_odom_tf>
    <publish_wheel_tf>true</publish_wheel_tf>

    <odometry_frame>odom</odometry_frame>
    <robot_base_frame>base_link</robot_base_frame>
  </plugin>
</gazebo>

</robot>

解决步骤 #

1. 优先使用系统包管理器安装catkin_pkg #

ROS2工具链依赖系统级Python包，pip安装可能因环境隔离无法被colcon识别，执行以下命令：

sudo apt update && sudo apt install python3-catkin-pkg

2. 修复Python环境路径 #

从错误日志可见colcon使用的是/usr/local/bin/python3.13，并非ROS2默认依赖的Python版本。临时调整PATH优先级，让系统Python先被调用：

export PATH=/usr/bin:$PATH

之后重新执行构建命令：

colcon build --symlink-install

3. 确保ROS2环境正确激活 #

每次打开新终端或构建前，必须source ROS2的setup文件：

source /opt/ros/jazzy/setup.bash

若工作空间已有构建产物，还需source本地安装目录：

source ~/learn_ros2_ws/install/setup.bash

4. 验证包配置文件（可选） #

检查package.xml是否包含必要依赖：

<depend>xacro</depend>
<depend>gazebo_ros</depend>

同时确保CMakeLists.txt正确查找依赖：

find_package(ament_cmake REQUIRED)
find_package(xacro REQUIRED)
find_package(gazebo_ros REQUIRED)

ament_package()

内容的提问来源于stack exchange，提问作者dips