Colcon指定CMake路径问题：MacOS下ROS 2编译报错求助

问题详情 #

在MacOS上安装ROS 2 Humble时，执行编译命令：

colcon build --symlink-install --packages-skip-by-dep python_qt_binding

触发错误，提示找不到旧版本的CMake路径：

make: /opt/homebrew/Cellar/cmake/3.25.0/bin/cmake: No such file or directory

完整编译输出如下：

Starting >>> ament_package
Starting >>> ament_lint
Starting >>> gtest_vendor
Starting >>> fastcdr
Starting >>> ament_cppcheck
Starting >>> iceoryx_hoofs
Starting >>> osrf_pycommon
Starting >>> osrf_testing_tools_cpp
--- stderr: fastcdr
make: /opt/homebrew/Cellar/cmake/3.25.0/bin/cmake: No such file or directory
make: *** [cmake_check_build_system] Error 1
---
Failed <<< fastcdr [0.50s, exited with code 2]
Aborted <<< osrf_testing_tools_cpp [0.49s]
Aborted <<< osrf_pycommon [0.50s]
Aborted <<< ament_cppcheck [0.51s]
Aborted <<< ament_lint [0.53s]
Aborted <<< ament_package [0.54s]
Aborted <<< gtest_vendor [0.53s]
Aborted <<< iceoryx_hoofs [0.68s]

Summary: 0 packages finished [2.13s]
  1 package failed: fastcdr
  7 packages aborted: ament_cppcheck ament_lint ament_package gtest_vendor iceoryx_hoofs osrf_pycommon osrf_testing_tools_cpp
  3 packages had stderr output: fastcdr gtest_vendor iceoryx_hoofs
  310 packages not processed
[2.326s] ERROR:colcon.colcon_notification.desktop_notification.terminal_notifier:Could not find the colcon-terminal-notifier.app in the install prefix '/opt/homebrew'

当前系统中正确的CMake路径为：

$ which cmake
/opt/homebrew/Cellar/cmake/3.26.0/bin/cmake

尝试执行set -x CMAKE_COMMAND /opt/homebrew/Cellar/cmake/3.26.0/bin设置路径，但无效果。

解决方法 #

• 清理编译缓存：Colcon的缓存文件会保留旧的CMake路径记录，删除相关目录后重新编译：

  rm -rf build install log
  

• 优先加载正确的CMake路径：将正确的CMake目录添加到系统PATH最前端，确保系统优先调用新版本：

  export PATH="/opt/homebrew/Cellar/cmake/3.26.0/bin:$PATH"
  

  若要永久生效，将上述命令添加到~/.zshrc（Zsh）或~/.bash_profile（Bash）中，再执行source ~/.zshrc或source ~/.bash_profile刷新环境变量。
• 直接给Colcon指定CMake路径：在编译命令中通过--cmake-args参数强制指定CMake路径：

  colcon build --symlink-install --packages-skip-by-dep python_qt_binding --cmake-args -DCMAKE_COMMAND=/opt/homebrew/Cellar/cmake/3.26.0/bin/cmake
  

• 修复Homebrew的CMake软链接：Homebrew默认会在/opt/homebrew/bin创建CMake的软链接，检查链接是否指向正确版本：

  ls -l /opt/homebrew/bin/cmake
  

  如果指向旧版本，重新链接：

  brew unlink cmake && brew link cmake
  

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