ROS解决'[rosrun] Couldn't find executable named ...'

使用实验室电脑制作的镜像安装了Ubuntu之后新建终端出现bash文件路径报错，这里是因为实验室电脑的bashrc文件已经被修改，需要换成自己的工作空间路径，这也导致了后面找不到功能包，无法生成可执行文件。

1、建立自己的功能包

首先新建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

创建ROS功能包

cd ~/catkin_ws/src
catkin_create_pkg test std_msgs roscpp

2、检查下自己的功能包在不在路径里

echo $ROS_PACKAGE_PATH

如果你找不到功能包那一般是不在路径里的...

借鉴这个回答解决问题

Don't set ROS_PACKAGE_PATH yourself, let setup.bash of the appropriate workspace do that. Remove that line (export ROS_PACKAGE_PATH=..), and change source /opt/ros/hydro/setup.bash to source the setup.bash from your workspace (ie: devel/setup.bash). Then open new terminal, and try again.

具体操作参见3

3、将自己的工作空间添加到路径里

打开bashrc文件：

source gedit ~/.bashrc

打开的bashrc文件末尾显示如下，发现自己多次将source命令和export命令写进bashrc文件：

source /opt/ros/indigo/setup.bash
export TURTLEBOT_3D_SENSOR=kinect
source /home/lab404/turtlebot/devel/setup.bash

export TURTLEBOT_STAGE_MAP_FILE=/home/lab404/maps/office.yaml
 export TURTLEBOT_STAGE_WORLD_FILE=/home/lab404/maps/stage/office.world

export ROS_PACKAGE_PATH=~/catkin_ws:/home/amanda/dev/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
export ROS_PACKAGE_PATH=~/catkin_ws:/home/amanda/catkin_ws:/home/amanda/dev/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
export ROS_PACKAGE_PATH=~/dev/catkin_ws:/home/amanda/catkin_ws:/home/amanda/catkin_ws:/home/amanda/dev/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
export ROS_PACKAGE_PATH=~/ros_workspace:/home/amanda/dev/catkin_ws:/home/amanda/catkin_ws:/home/amanda/catkin_ws:/home/amanda/dev/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
export ROS_PACKAGE_PATH=~/dev/rosbook:/home/amanda/ros_workspace:/home/amanda/dev/catkin_ws:/home/amanda/catkin_ws:/home/amanda/catkin_ws:/home/amanda/dev/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

删掉多余的export语句，留下前三行，将第三行的路径改成自己的工作空间路径，我的是

source /home/amanda/catkin_ws/devel/setup.bash

（amanda是我自己的计算机名，可以到devel文件夹下的setup.bash文件右键属性看一下自己的路径）

4、编译功能包

cd ~/catkin_ws
catkin_make

5、在catkin_ws/test/src里面添加两个cpp

一个发布消息 一个接受消息 网上百度两个复制一下，参考这个博客

https://blog.csdn.net/poqiaomi5437/article/details/79660199

然后修改catkin_ws/test文件夹里面的CMakelist，在末尾加一下

add_executable(example_public src/example_publih.cpp)
add_executable(example_subscriber src/example_subscriber.cpp)
add_dependencies(example_public tutorials_generate_messages_cpp)
add_dependencies(example_subscriber tutorials_generate_messages_cpp)
target_link_libraries(example_public ${catkin_LIBRARIES})
target_link_libraries(example_subscriber ${catkin_LIBRARIES})

也是参考上面的博客。

6、让工作空间自己setup路径，不要手动source添加

cd ~/catkin_ws/devel
source setup.bash

（其实第3步就已经设置好路径了，如果没做第3步那么要执行第6步）

7、执行

cd ~/catkin_ws
catkin_make -j4

新开三个终端分别输入：

roscore
 
rosrun example_cpp example_public
 
rosrun example_cpp example_subscriber