ROS2 error: can‘t find examples_rclcpp_minimal_subscriber/Release/wait_set_subscriber_library.lib

ROS2 error: can‘t find examples_rclcpp_minimal_subscriber/Release/wait_set_subscriber_library.lib

Windows10+ROS2 humble刚配置好，老规矩，跑一下ros2 examples，完整的教程在这里，

​​Using colcon to build packages — ROS 2 Documentation: Humble documentation​​

因为我只是测试，所以只是简单执行：

git clone src/examples -b humble colcon build --symlink-install --merge-install

然后报错：

CMake Error at ament_cmake_symlink_install/ament_cmake_symlink_install.cmake:267 (message):   ament_cmake_symlink_install_targets() can't find  'D:/mc/ros2prj/example_ws/build/examples_rclcpp_minimal_subscriber/Release/wait_set_subscriber_library.lib' Call Stack (most recent call first):   ament_cmake_symlink_install_targets_3_Release.cmake:1 (ament_cmake_symlink_install_targets)   ament_cmake_symlink_install/ament_cmake_symlink_install.cmake:323 (include)   cmake_install.cmake:36 (include)

根据报错提示，打开cmake文本看一下，

src\examples\rclcpp\topics\minimal_subscriber\CMakeLists.txt

发现里面有这么一条，

add_library(wait_set_subscriber_library SHARED     wait_set_subscriber.cpp     static_wait_set_subscriber.cpp     time_triggered_wait_set_subscriber.cpp) ament_target_dependencies(wait_set_subscriber_library rclcpp rclcpp_components std_msgs)

然后，在cpp项目中并没有找到RCLCPP_EXPORT这样的预定义，这是生成dll+lib所必须的；所以，根据默认的配置，只会生成dll文件，而不会有相应的lib文件；因此判断，这里在windows下，SHARED应该改成STATIC才行。修改后如下，

add_library(wait_set_subscriber_library STATIC     wait_set_subscriber.cpp     static_wait_set_subscriber.cpp     time_triggered_wait_set_subscriber.cpp) ament_target_dependencies(wait_set_subscriber_library rclcpp rclcpp_components std_msgs)

然后再执行colcon，这个cpp程序就编译成功了。

本文结束。

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