ROS Noetic自定义Message时CMakeLists.txt报错的修复方法咨询

错误信息 #

CMake Error at /opt/ros/noetic/share/genmsg/cmake/genmsg-extras.cmake:271 (message):
  Could not find 'share/rospy/cmake/rospy-msg-paths.cmake' (searched in
  '/home/vrushabh/v1_wiki_ws/devel;/opt/ros/noetic').
Call Stack (most recent call first):
  robot_pkg/CMakeLists.txt:72 (generate_messages)


-- Configuring incomplete, errors occurred!
See also "/home/vrushabh/v1_wiki_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/vrushabh/v1_wiki_ws/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:1440: cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

问题根源 #

1. generate_messages的DEPENDENCIES中错误添加了rospy——rospy是Python客户端库，并非消息定义依赖包，CMake会尝试查找它的msg配置文件，导致报错。
2. catkin_package部分被注释，未正确声明包的运行时依赖（如message_runtime）。

具体修改步骤 #

1. 移除generate_messages中的rospy依赖

找到CMakeLists.txt中generate_messages块，删除rospy条目：

generate_messages(
  DEPENDENCIES
  std_msgs
  geometry_msgs
)

2. 启用并修正catkin_package配置

取消注释catkin_package部分，修正语法错误，并确保包含message_runtime和必要依赖：

catkin_package(
  # INCLUDE_DIRS include
  # LIBRARIES robot_pkg
  CATKIN_DEPENDS rospy std_msgs geometry_msgs message_runtime
  # DEPENDS system_lib
)

注：如果你的包不需要导出头文件或库，保持INCLUDE_DIRS和LIBRARIES的注释即可，重点是确保CATKIN_DEPENDS包含message_runtime。

编译验证 #

修改完成后，删除工作空间下的build和devel文件夹，重新执行编译命令：

catkin_make
# 或使用catkin build
catkin build

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