CMake Error : rosidl_generate_interfaces.cmake:229

ros2 humble에서 custom msg pakage를 만드는 중에 다음과 같은 CMake Error가 발생했다.

---

CMake Error at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:229 (message):
  Packages installing interfaces must include
  '<member_of_group>rosidl_interface_packages</member_of_group>' in their
  package.xml
Call Stack (most recent call first):
  CMakeLists.txt:14 (rosidl_generate_interfaces)

---

 

당시 문제를 해결하기 위해 ROS2 Document를 참고하였고, 아래와 같은 문제를 찾아 수정하였다.

* ROS2 Document : https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html

 

 

1-1. 기존 package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>custom_msgs</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email=""></maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclpy</depend>
  <depend>std_msgs</depend>

  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  

  <export>
    <build_type>ament_cmake</build_type>
    <member_of_group>rosidl_interface_packages</member_of_group>
  </export>
</package>

 

 

1-2. 수정 package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>custom_msgs</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email=""></maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclpy</depend>
  <depend>std_msgs</depend>

  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>


  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

• 위 수정된 내용을 잘 살펴보면, <member_of_group>rosidl_interface_packages</member_of_group> 의 위치가 달라진 것을 확인할 수 있다.

 

 

 

 

2. CMakeLists.txt (참고)

cmake_minimum_required(VERSION 3.8)
project(custom_msgs)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclpy REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/custom1.msg"
  "msg/custom2.msg"
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_dependencies(rosidl_default_runtime)

ament_package()

 

 

이후 아래 명령어로 기존 빌드 캐시를 정리(build, install, log 디렉터리를 삭제)하고, 다시 build 하면 된다.

# build 관련 폴더 삭제
rm -rf build/ install/ log/

# build
colcon build --symlink-install