如何修复 Ubuntu 上的 ROS2 错误 controller_interfaceConfig.cmake

问题

尝试使用 colcon build 构建某些 ROS 包时，你看到如下错误消息

CMakeLists.txt

CMake Error at CMakeLists.txt:10 (find_package):
  By not providing "Findcontroller_interface.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "controller_interface", but CMake did not find one.

  Could not find a package configuration file provided by
  "controller_interface" with any of the following names:

    controller_interfaceConfig.cmake
    controller_interface-config.cmake

  Add the installation prefix of "controller_interface" to CMAKE_PREFIX_PATH
  or set "controller_interface_DIR" to a directory containing one of the
  above files.  If "controller_interface" provides a separate development
  package or SDK, be sure it has been installed.

CMake Error at CMakeLists.txt:10 (find_package):
  By not providing "Findcontroller_interface.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "controller_interface", but CMake did not find one.

  Could not find a package configuration file provided by
  "controller_interface" with any of the following names:

    controller_interfaceConfig.cmake
    controller_interface-config.cmake

  Add the installation prefix of "controller_interface" to CMAKE_PREFIX_PATH
  or set "controller_interface_DIR" to a directory containing one of the
  above files.  If "controller_interface" provides a separate development
  package or SDK, be sure it has been installed.

解决方案

安装 ros-<distro>-controller-interface 包。例如，对于 ROS2 Jazzy，运行

install_controller_interface.sh

sudo apt install ros-jazzy-controller-interface

sudo apt install ros-jazzy-controller-interface

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