您好，最近在ros和深度学习相关的工作，在anaconda中新建虚拟环境，安装pytorch等，在编译后运行节点，提示找不到torch,请问这种情况应该如何解决？

get_started

3.2.6 ros2 topic pub arg 手动发布命令
关闭发布者，我们受到来发布

有一个小 typo

请问一下各位，这个问题如何解决
colcon build --packages-select village_interfaces
Starting >>> village_interfaces
--- stderr: village_interfaces
CMake Error at /opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:240 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:28 (rosidl_generate_interfaces)

CMake Error at /opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:240 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:28 (rosidl_generate_interfaces)

CMake Error at /opt/ros/foxy/share/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake:67 (message):
Target dependency
'/town_ws/build/village_interfaces/rosidl_adapter/village_interfaces/msg/Novel.idl'
does not exist
Call Stack (most recent call first):
/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:28 (rosidl_generate_interfaces)

Failed <<< village_interfaces [0.83s, exited with code 1]

Summary: 0 packages finished [1.06s]
1 package failed: village_interfaces
1 package had stderr output: village_interfaces

ipc-robot@ipcrobot-Precision-Tower-3420:~/ros2_ws$ ros2 run example_service_rclpy service_client_02
[INFO] [1722589543.093786297] [service_client_02]: 节点已启动：service_client_02!
Traceback (most recent call last):
  File "/home/ipc-robot/ros2_ws/install/example_service_rclpy/lib/example_service_rclpy/service_client_02", line 33, in <module>
    sys.exit(load_entry_point('example-service-rclpy==0.0.0', 'console_scripts', 'service_client_02')())
  File "/home/ipc-robot/ros2_ws/install/example_service_rclpy/lib/python3.10/site-packages/example_service_rclpy/service_client_02.py", line 14, in main
    node.send_request(3,4)
AttributeError: 'ServiceClient02' object has no attribute 'send_request'
[ros2run]: Process exited with failure 1

以下是client_02的代码：

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from example_interfaces.srv import AddTwoInts

class ServiceClient02(Node):
    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info("节点已启动：%s!" % name)

def main(args=None):
    rclpy.init(args=args) # 初始化rclpy
    node = ServiceClient02("service_client_02")  # 新建一个节点
    node.send_request(3,4)
    rclpy.spin(node) # 保持节点运行，检测是否收到退出指令（Ctrl+C）
    rclpy.shutdown() # 关闭rclpy

ROS一键安装（不是ROS+docker的版本）中没有humble的版本，直接下载docker版本的humble也是一样的吗？

欢迎对ROS2核心通信组件感兴趣的同学们来学习讨论https://github.com/ZhenshengLee/dig-into-ros2

来自评论。ZhenshengLee/dig-into-ros2#6 (comment)

大佬写的笔记太有深度了，是我目前看到的最有深度的ROS2学习资料，后边应该会出书吧？ROS2成体系的资料还是比较少的。

来源：2.编写Makefile - 2.使用make编译ROS2节点

直接复制粘贴后运行make build会提示Makefile:2: *** missing separator. Stop.，需要解决或在文档中说明。

http://d2lros2foxy.fishros.com/error=redirect_uri_mismatch&error_description=The%2Bredirect_uri%2BMUST%2Bmatch%2Bthe%2Bregistered%2Bcallback%2BURL%2Bfor%2Bthis%2Bapplication.&error_uri=https%3A%2F%2Fdocs.github.com%2Fapps%2Fmanaging-oauth-apps%2Ftroubleshooting-authorization-request-errors%2F%23redirect-uri-mismatch#/

Description

3.4查找使用某一接口的服务

这个命令看起来和4.3刚好相反。

宜改为：这个命令看起来和3.3刚好相反。

1.1 参数定义

参数是节点的一个配置值，你可以任务参数是一个节点的设置

宜改为：参数是节点的一个配置值，你可以认为参数是一个节点的设置

自定义接口类型报错：colcon 编译之后报错：
CMake Error at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:213 (add_custom_target):
add_custom_target called with invalid target name "msg/RobotPose.msg".
Target names may not contain a slash. Use ADD_CUSTOM_COMMAND to generate
files.
Call Stack (most recent call first):
CMakeLists.txt:12 (rosidl_generate_interfaces)

文章中 _therad_pub 部分代码好像没有更新消息的 header ，位置计算也有问题
我改为这样可以运行：

    def _thread_pub(self):
        last_update_time = time.time()
        while rclpy.ok():
            delta_time = time.time()-last_update_time
            # 更新位置
            self.joint_states.position[0] += delta_time*self.joint_speeds[0]
            self.joint_states.position[1] += delta_time*self.joint_speeds[1]
            # 更新速度
            self.joint_states.velocity = self.joint_speeds
            # 更新 header
            self.joint_states.header.stamp = self.get_clock().now().to_msg()
            self.joint_states.header.frame_id = ""
            # 发布关节数据
            self.joint_states_publisher_.publish(self.joint_states)
            last_update_time = time.time()
            self.pub_rate.sleep()