我试图构建一个ROS 2网络，其中服务服务器节点从www.example.com脚本读取数据sensor.py，并将其提供给定制服务。当我试图从我所在的包文件夹导入我的.srv文件时，我收到一个错误
bin/python3 /home/name/ros2_ws/src/dof_filter_service_pkg/dof_filter_service_pkg/service_server.py
Traceback (most recent call last):
File "/home/name/ros2_ws/src/dof_filter_service_pkg/dof_filter_service_pkg/service_server.py", line 7, in <module>
from dof_filter_service_pkg import dof_filter
ImportError: cannot import name 'dof_filter' from 'dof_filter_service_pkg' (/home/name/ros2_ws/install/dof_filter_service_pkg/lib/python3.10/site-packages/dof_filter_service_pkg/__init__.py)下面是我的service_server.py文件的设置：
import rclpy
import numpy as np
import socket
import time
from rclpy.node import Node
from dof_filter_service_pkg import dof_filter
class ServiceServer(Node):
def __init__(self):
super().__init__('service_server')
self.service = self.create_service(dof_filter, 'service_server_topic',self.service_callback)下面是我的dof_filter.srv文件，它位于一个srv文件夹中
# service_client sends an empty request
# number_of_samples is a fixed amount handled in service_server
---
# Response message:
float32 filtered_data我的package.xml文件：
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>dof_filter_service_pkg</name>
<version>0.0.0</version>
<description>3-DOF ROS2 Package</description>
<maintainer email="name@todo.todo">name</maintainer>
<license>TODO: License declaration</license>
<build_depend>rclpy</depend>
<exec_depend>rclpy</exec_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_generators</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>我在执行colcon build时没有收到任何错误，只有在尝试运行service_server. py时才收到。所有这些文件都在我的src > dof_filter_service_pkg > dof_filter_service_pkg文件夹中。使用Ubuntu 22.04、ROS 2 Humble和Python 3.10。谢谢大家！
”
我尝试过colconbuild，将dof_filter.srv移出文件夹并放入包目录，然后将from dof_filter_service_pkg import dof_filter更改为from dof_filter_service_pkg.srv import dof_filter
1条答案
按热度按时间tf7tbtn21#
根据您的评论，似乎您在
ament_python包中包含了srv文件。通常，建议您专门为消息和服务文件定义创建一个包。您可以通过以下方式创建一个新的ament_cmake包：ros2 pkg create --build-type ament_cmake tutorial_interfaces。接下来，您应该使用mkdir srv创建您的srv文件目录，并将您的服务定义放在那里。然后编辑您的CMakeLists.txt以包含服务的构建步骤：最后，确保
package.xml中包含默认生成器然后你可以像其他colcon软件包一样构建它。