执行catkin_make与rosdep install时遇ROS相关错误求助

一、catkin_make时出现AttributeError错误 #

错误信息： #

Traceback (most recent call last):
  File "/opt/ros/melodic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 50, in <module>
    sys.argv, msg_template_map, srv_template_map)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 213, in generate_from_command_line_options
    generate_from_file(argv[1], options.package, options.outdir, options.emdir, options.includepath, msg_template_dict, srv_template_dict)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 154, in generate_from_file
    _generate_msg_from_file(input_file, output_dir, template_dir, search_path, package_name, msg_template_dict)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 99, in _generate_msg_from_file
    search_path)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 77, in _generate_from_spec
    interpreter = em.Interpreter(output=ofile, globals=g, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
AttributeError: 'module' object has no attribute 'RAW_OPT'
...
CMakeFiles/Makefile2:3016: recipe for target 'autorally/autorally_msgs/CMakeFiles/autorally_msgs_generate_messages_cpp.dir/all' failed
make[1]: *** [autorally/autorally_msgs/CMakeFiles/autorally_msgs_generate_messages_cpp.dir/all] Error 2

解决方法： #

该错误源于empy模块版本不兼容，ROS Melodic需要特定版本的empy支持代码生成模板：

• 卸载当前版本的empy：

  pip uninstall empy
  

• 安装兼容的旧版本（适配Python2环境）：

  pip install empy==3.3.4
  

• 清理编译缓存后重新编译：

  catkin clean
  catkin_make
  

二、rosdep install时无法解析effort_controllers依赖 #

错误信息： #

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
autorally_gazebo: Cannot locate rosdep definition for [effort_controllers]

解决方法： #

effort_controllers属于ros_controllers功能包集，可通过以下步骤解决：

• 更新rosdep数据库：

  rosdep update
  

• 若更新后仍无法解析，手动安装对应ROS包：

  sudo apt-get install ros-melodic-effort-controllers
  

• 重新执行rosdep安装命令：

  rosdep install --from-paths src --ignore-src -r -y
  

内容的提问来源于stack exchange，提问作者Tanmay Desai