无法在ROS中使用本地安装的协议缓冲区 [英] Unable to use locally installed Protocol Buffers inside ROS

问题描述

我已经在本地安装了协议缓冲区.下面是ROS包的目录结构:

I have installed Protocol Buffers locally. Below is the directory structure of ROS package:

.
├── CMakeLists.txt
├── package.xml
├── include
│   ├── addressbook.pb.cc
│   ├── addressbook.pb.h
│   └── addressbook.proto
├── lib
│   └── protobuf-3.5.0
└── src
    └── main.cpp

协议缓冲区是使用在本地安装的./configure--prefix= $ PWD 在 lib/protobuf-3.5.0 目录中.

虽然使用 catkin_make 编译ROS软件包，但似乎是指协议缓冲区的旧安装并显示版本不兼容错误.

While compiling the ROS package using catkin_make, it seems referring to an old installation of Protocol Buffers and showing version incompatibility errors.

[  0%] Building CXX object local_protobuf_ros_example/CMakeFiles/addressbook_protobuf.dir/include/addressbook.pb.cc.o
In file included from /home/bgplvm/ros_ws/src/local_protobuf_ros_example/include/addressbook.pb.cc:4:0:
/home/bgplvm/ros_ws/src/local_protobuf_ros_example/include/addressbook.pb.h:12:2: error: #error This file was generated by a newer version of protoc which is
 #error This file was generated by a newer version of protoc which is
  ^
/home/bgplvm/ros_ws/src/local_protobuf_ros_example/include/addressbook.pb.h:13:2: error: #error incompatible with your Protocol Buffer headers. Please update
 #error incompatible with your Protocol Buffer headers.  Please update
  ^
/home/bgplvm/ros_ws/src/local_protobuf_ros_example/include/addressbook.pb.h:14:2: error: #error your headers.
 #error your headers.
  ^
In file included from /home/bgplvm/ros_ws/src/local_protobuf_ros_example/include/addressbook.pb.cc:4:0:
/home/bgplvm/ros_ws/src/local_protobuf_ros_example/include/addressbook.pb.h:23:35: fatal error: google/protobuf/arena.h: No such file or directory
 #include <google/protobuf/arena.h>
                                   ^
compilation terminated.

尽管如此，我在 CMakeLists.txt 内放入了 message(STATUS使用协议缓冲区$ {Protobuf_VERSION}")语句，发现它正在使用协议缓冲区3.5.0.参见下面的 CMakeLists.txt :

Although, I put message(STATUS "Using Protocol Buffers ${Protobuf_VERSION}") statement inside CMakeLists.txt and found that it is using Protocol Buffers 3.5.0. See below the CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(local_protobuf_ros_example)

find_package(catkin REQUIRED COMPONENTS roscpp)

set(PROTOBUF_FOLDER ${PROJECT_SOURCE_DIR}/lib/protobuf-3.5.0)

set(CMAKE_PREFIX_PATH
    ${CMAKE_PREFIX_PATH}
    "${PROTOBUF_FOLDER}/cmake/build/release/lib/x86_64-linux-gnu/cmake/protobuf"
)

find_package(Protobuf CONFIG REQUIRED)
message(STATUS "Using Protocol Buffers ${Protobuf_VERSION}")

catkin_package()
include_directories(include ${catkin_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS})

add_library(addressbook_protobuf include/addressbook.pb.cc)

add_executable(main src/main.cpp)
target_link_libraries(main ${catkin_LIBRARIES} addressbook_protobuf ${PROTOBUF_LIBRARIES})

这里缺少什么?由于我指的是本地安装，因此它应该可以正常工作而不会显示错误.不是吗?

What is missing here? Since I am referring to the local installation, it should work without showing errors. Isn't it?

推荐答案

您的 CMAKE_PREFIX_PATH 集不正确.它应该指向安装protobuf的前缀，而不是指向该软件包的cmake配置文件的位置.

Your set of CMAKE_PREFIX_PATH is incorrect. It should point to the prefix in which protobuf was installed, not the location of the cmake config file for the package.

所以尝试更改:

set(CMAKE_PREFIX_PATH
    ${CMAKE_PREFIX_PATH}
    ${PROTOBUF_FOLDER}/cmake/build/release/lib/x86_64-linux-gnu/cmake/protobuf
)

对此:

set(CMAKE_PREFIX_PATH
    ${CMAKE_PREFIX_PATH}
    ${PROTOBUF_FOLDER}
)

也就是说，假设 $ {PROTOBUF_FOLDER} 指向赋予的--prefix参数的相同位置./configure--prefix =< INSTALL_PREFIX>

That is, assuming ${PROTOBUF_FOLDER} points to the same location given to the --prefix argument of ./configure --prefix=<INSTALL_PREFIX>

请参阅 find_package 的搜索路径文档在这里.(大约在页面的一半)

See the search paths documentation for find_package here. (about half way down the page)

我相信，如果您使用的是Windows，那么原本作为< prefix>/的工作就是该平台的搜索路径之一.但是在基于Unix的OS上，您将这些作为搜索路径(根据上面链接中的文档):

I believe if you were on Windows what you had would have worked as <prefix>/ is one of the search paths for that platform. But on Unix based OS'es you have these as the search paths (per the documentation on above link):

<prefix>/(lib/<arch>|lib|share)/cmake/<name>*/
<prefix>/(lib/<arch>|lib|share)/<name>*/
<prefix>/(lib/<arch>|lib|share)/<name>*/(cmake|CMake)/

在这里，您还必须注意区分大小写.请注意，在上述路径中，他们搜索的最后一个路径元素是< name> * .从您的问题中我可以看到，protobuf似乎以以下名称安装自己:'protobuf'，但您的 find_package 调用要求输入'Protobuf'.因此，请尝试将您的通话也更改为:

You also have to be careful about case sensitivity here. Note that in the above paths the last path element they search is <name>*. From what I can see in your question it looks like protobuf installs itself under the name of 'protobuf', but your find_package call is asking for 'Protobuf'. So, try also changing your call to:

find_package(protobuf CONFIG REQUIRED)

最后，据我所知，protobuf在通过 ./configure ... 进行构建时未安装CMake配置.要安装CMake配置，我必须通过CMake进行以下操作:

And finally, as far as I can tell, protobuf doesn't install CMake configs when doing a build via ./configure .... To get the CMake configs installed I had to build via CMake by doing:

cd protobuf-3.5/cmake
cmake -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR> .
make
make install

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