ROS2之assert False, "Failed to find '// Generated: ' line"

使用colcon build编译turtlesim2，可能会出现如下错误：

需要修改，/opt/ros/dashing/lib/python3.6/site-packages/rosidl_typesupport_opensplice_cpp/__init__.py

使用如下代码进行替换，2019-08-05。

  

   

    

     

    
    

     

      # Copyright 2014-2018 Open Source Robotics Foundation, Inc.
     
    
   

    

     

    
    

     

      #
     
    
   

    

     

    
    

     

      # Licensed under the Apache License, Version 2.0 (the "License");
     
    
   

    

     

    
    

     

      # you may not use this file except in compliance with the License.
     
    
   

    

     

    
    

     

      # You may obtain a copy of the License at
     
    
   

    

     

    
    

     

      #
     
    
   

    

     

    
    

     

      # http://www.apache.org/licenses/LICENSE-2.0
     
    
   

    

     

    
    

     

      #
     
    
   

    

     

    
    

     

      # Unless required by applicable law or agreed to in writing, software
     
    
   

    

     

    
    

     

      # distributed under the License is distributed on an "AS IS" BASIS,
     
    
   

    

     

    
    

     

      # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     
    
   

    

     

    
    

     

      # See the License for the specific language governing permissions and
     
    
   

    

     

    
    

     

      # limitations under the License.
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      import os
     
    
   

    

     

    
    

     

      import subprocess
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      from rosidl_cmake import generate_files
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def generate_dds_opensplice_cpp(
     
    
   

    

     

    
    

     

       pkg_name, dds_interface_files, dds_interface_base_path, deps, output_basepath, idl_pp
     
    
   

    

     

    
    

     

      ):
     
    
   

    

     

    
    

     

       include_dirs = [dds_interface_base_path]
     
    
   

    

     

    
    

     
 for dep in deps:
     
    
   

    

     

    
    

     
 # only take the first : for separation, as Windows follows with a C:\
     
    
   

    

     

    
    

     

       dep_parts = dep.split(':', 1)
     
    
   

    

     

    
    

     
 assert len(dep_parts) == 2, "The dependency '%s' must contain a double colon" % dep
     
    
   

    

     

    
    

     

       idl_path = dep_parts[1]
     
    
   

    

     

    
    

     

       idl_base_path = os.path.dirname(
     
    
   

    

     

    
    

     

       os.path.dirname(os.path.dirname(os.path.normpath(idl_path))))
     
    
   

    

     

    
    

     
 if idl_base_path not in include_dirs:
     
    
   

    

     

    
    

     

       include_dirs.append(idl_base_path)
     
    
   

    

     

    
    

     
 if 'OSPL_TMPL_PATH' in os.environ:
     
    
   

    

     

    
    

     

       include_dirs.append(os.environ['OSPL_TMPL_PATH'])
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 for idl_file in dds_interface_files:
     
    
   

    

     

    
    

     
 assert os.path.exists(idl_file), 'Could not find IDL file: ' + idl_file
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 # get two level of parent folders for idl file
     
    
   

    

     

    
    

     

       folder = os.path.dirname(idl_file)
     
    
   

    

     

    
    

     

       parent_folder = os.path.dirname(folder)
     
    
   

    

     

    
    

     

       output_path = os.path.join(
     
    
   

    

     

    
    

     

       output_basepath,
     
    
   

    

     

    
    

     

       os.path.basename(parent_folder),
     
    
   

    

     

    
    

     

       os.path.basename(folder))
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 try:
     
    
   

    

     

    
    

     

       os.makedirs(output_path)
     
    
   

    

     

    
    

     
 except FileExistsError:
     
    
   

    

     

    
    

     
 pass
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 # idlpp doesn't like long path arguments over 256 chars, get just the filename
     
    
   

    

     

    
    

     

       filename = os.path.basename(idl_file)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       cmd = [idl_pp]
     
    
   

    

     

    
    

     
 for include_dir in include_dirs:
     
    
   

    

     

    
    

     

       cmd += ['-I', include_dir]
     
    
   

    

     

    
    

     

       cmd += [
     
    
   

    

     

    
    

     
 '-S',
     
    
   

    

     

    
    

     
 '-l', 'cpp',
     
    
   

    

     

    
    

     
 '-N',
     
    
   

    

     

    
    

     
 '-d', output_path,
     
    
   

    

     

    
    

     
 '-o', 'maintain-include-namespace',
     
    
   

    

     

    
    

     

       filename
     
    
   

    

     

    
    

     

       ]
     
    
   

    

     

    
    

     
 if os.name == 'nt':
     
    
   

    

     

    
    

     

       cmd[-1:-1] = [
     
    
   

    

     

    
    

     
 '-P',
     
    
   

    

     

    
    

     
 'ROSIDL_TYPESUPPORT_OPENSPLICE_CPP_PUBLIC_%s,%s' % (
     
    
   

    

     

    
    

     

       pkg_name,
     
    
   

    

     

    
    

     
 '%s/msg/rosidl_typesupport_opensplice_cpp__visibility_control.h' % pkg_name)]
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       subprocess.check_call(cmd, cwd=folder)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 # modify generated code to
     
    
   

    

     

    
    

     
 # remove path information of the building machine as well as timestamps
     
    
   

    

     

    
    

     

       msg_name = os.path.splitext(filename)[0]
     
    
   

    

     

    
    

     

       idl_path = os.path.join(
     
    
   

    

     

    
    

     

       pkg_name, os.path.basename(parent_folder), filename)
     
    
   

    

     

    
    

     

       h_filename = os.path.join(output_path, '%s.h' % msg_name)
     
    
   

    

     

    
    

     

       _modify(h_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
     
    
   

    

     

    
    

     

       cpp_filename = os.path.join(output_path, '%s.cpp' % msg_name)
     
    
   

    

     

    
    

     

       _modify(cpp_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
     
    
   

    

     

    
    

     

       dcps_h_filename = os.path.join(output_path, '%sDcps.h' % msg_name)
     
    
   

    

     

    
    

     

       _modify(dcps_h_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
     
    
   

    

     

    
    

     

       dcps_cpp_filename = os.path.join(output_path, '%sDcps.cpp' % msg_name)
     
    
   

    

     

    
    

     

       _modify(dcps_cpp_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 return 0
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def _modify(filename, msg_name, callback, idl_path=None):
     
    
   

    

     

    
    

     
 with open(filename, 'r') as h:
     
    
   

    

     

    
    

     

       lines = h.read().split('\n')
     
    
   

    

     

    
    

     

       modified = callback(lines, msg_name, idl_path=idl_path)
     
    
   

    

     

    
    

     
 if modified:
     
    
   

    

     

    
    

     
 with open(filename, 'w') as h:
     
    
   

    

     

    
    

     

       h.write('\n'.join(lines))
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def _replace_path_and_timestamp(lines, msg_name, idl_path):
     
    
   

    

     

    
    

     

       found_source = False
     
    
   

    

     

    
    

     
 for i, line in enumerate(lines):
     
    
   

    

     

    
    

     
 if line.startswith('// Source: '):
     
    
   

    

     

    
    

     
 assert not found_source, "More than one '// Source: ' line was found"
     
    
   

    

     

    
    

     

       found_source = True
     
    
   

    

     

    
    

     

       lines[i] = '// Source: ' + idl_path
     
    
   

    

     

    
    

     
 continue
     
    
   

    

     

    
    

     
 if line.startswith('// Generated: '):
     
    
   

    

     

    
    

     
 assert found_source, "No '// Source: ' line was found before"
     
    
   

    

     

    
    

     

       lines[i] = '// Generated: timestamp removed to make the build reproducible'
     
    
   

    

     

    
    

     
 break
     
    
   

    

     

    
    

     
 return lines
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def generate_typesupport_opensplice_cpp(arguments_file):
     
    
   

    

     

    
    

     

       mapping = {
     
    
   

    

     

    
    

     
 'idl__rosidl_typesupport_opensplice_cpp.hpp.em':  # noqa
     
    
   

    

     

    
    

     
 '%s__rosidl_typesupport_opensplice_cpp.hpp',
     
    
   

    

     

    
    

     
 'idl__dds_opensplice__type_support.cpp.em': 'dds_opensplice/%s__type_support.cpp',
     
    
   

    

     

    
    

     

       }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       generate_files(arguments_file, mapping)
     
    
  
 

https://github.com/ros2/rosidl_typesupport_opensplice/blob/master/rosidl_typesupport_opensplice_cpp/rosidl_typesupport_opensplice_cpp/__init__.py

具体原因分析参考：

1. https://github.com/ADLINK-IST/opensplice/issues/92

2. https://github.com/ros2/rosidl_typesupport_opensplice/pull/33

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/98500543