我有以下问题:我编写了一个简单的 ROS2 / Qt5 (机器人操作系统)项目，以在GUI中展示发布者和订阅者。该项目编译就很好，将所有Qt5和ROS dll复制到可执行文件的目录后，应用程序启动，但随后迅速关闭/崩溃，而没有给我任何错误。
尝试2:打开控制台并获取ROS2安装的源代码(通过运行批处理脚本，我相信该脚本会将环境变量加载到控制台中，对吗？)。 如果现在从ROS2控制台中启动可执行文件，一切正常。
所以我的假设是，当我编译我的项目并尝试仅启动它时，它会丢失所有环境变量，然后崩溃。
有没有一种方法可以避免必须启动ROS2控制台？
对我来说，用于生成ROS2安装程序的批处理脚本也相当复杂。 A不能真正理解它加载的是哪种变量。有没有一种方法可以使用该批处理脚本并将其“挂钩”到我的可执行文件中，这样我就不必找出此脚本的具体功能了？这是批处理脚本:
:: generated from colcon_core/shell/template/prefix.bat.em
@echo off
:: This script extends the environment with all packages contained in this
:: prefix path.
:: add this prefix to the COLCON_PREFIX_PATH
call:_colcon_prefix_bat_prepend_unique_value COLCON_PREFIX_PATH "%%~dp0"
:: get all packages in topological order
call:_colcon_get_ordered_packages _ordered_packages "%~dp0"
:: source packages
if "%_ordered_packages%" NEQ "" (
for %%p in ("%_ordered_packages:;=";"%") do (
call:_colcon_prefix_bat_call_script "%~dp0share\%%~p\package.bat"
)
set "_ordered_packages="
)
goto:eof
:: function to prepend a value to a variable
:: which uses semicolons as separators
:: duplicates as well as trailing separators are avoided
:: first argument: the name of the result variable
:: second argument: the value to be prepended
:_colcon_prefix_bat_prepend_unique_value
setlocal enabledelayedexpansion
:: arguments
set "listname=%~1"
set "value=%~2"
:: get values from variable
set "values=!%listname%!"
:: start with the new value
set "all_values=%value%"
:: skip loop if values is empty
if "%values%" NEQ "" (
:: iterate over existing values in the variable
for %%v in ("%values:;=";"%") do (
:: ignore empty strings
if "%%~v" NEQ "" (
:: ignore duplicates of value
if "%%~v" NEQ "%value%" (
:: keep non-duplicate values
set "all_values=!all_values!;%%~v"
)
)
)
)
:: set result variable in parent scope
endlocal & (
set "%~1=%all_values%"
)
goto:eof
:: Get the package names in topological order
:: using semicolons as separators and avoiding leading separators.
:: first argument: the name of the result variable
:: second argument: the base path to look for packages
:_colcon_get_ordered_packages
setlocal enabledelayedexpansion
:: check environment variable for custom Python executable
if "%COLCON_PYTHON_EXECUTABLE%" NEQ "" (
if not exist "%COLCON_PYTHON_EXECUTABLE%" (
echo error: COLCON_PYTHON_EXECUTABLE '%COLCON_PYTHON_EXECUTABLE%' doesn't exist
exit /b 1
)
set "_colcon_python_executable=%COLCON_PYTHON_EXECUTABLE%"
) else (
:: use the Python executable known at configure time
set "_colcon_python_executable=c:\python37\python.exe"
:: if it doesn't exist try a fall back
if not exist "!_colcon_python_executable!" (
python --version > NUL 2> NUL
if errorlevel 1 (
echo error: unable to find python executable
exit /b 1
)
set "_colcon_python_executable=python"
)
)
set "_colcon_ordered_packages="
for /f %%p in ('""%_colcon_python_executable%" "%~dp0_local_setup_util.py" --merged-install"') do (
if "!_colcon_ordered_packages!" NEQ "" set "_colcon_ordered_packages=!_colcon_ordered_packages!;"
set "_colcon_ordered_packages=!_colcon_ordered_packages!%%p"
)
endlocal & (
:: set result variable in parent scope
set "%~1=%_colcon_ordered_packages%"
)
goto:eof
:: call the specified batch file and output the name when tracing is requested
:: first argument: the batch file
:_colcon_prefix_bat_call_script
if exist "%~1" (
if "%COLCON_TRACE%" NEQ "" echo call "%~1"
call "%~1%"
) else (
echo not found: "%~1" 1>&2
)
goto:eof
最佳答案
不要修改ROS2(甚至批处理文件)中的任何内部代码，请遵循其规则来启动ros2应用程序。 ROS2是在复杂的系统中设计的，以便动态加载不同种类的软件包。我认为您已经通过将dll复制到该文件夹来打破了它的库搜索规则。
我建议您通过调用..编写另一个更简单的批处理文件。
call <path-to-your-ros2-ws>/setup.bat
并使用官方的ros2命令行工具运行该应用程序。
ros2 run <your-package> <executable>
关于c++ - 使用ROS2环境变量创建C++项目，我们在Stack Overflow上找到一个类似的问题：https://stackoverflow.com/questions/55183483/