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python - 在终端上运行的 ros 命令找不到 python 包

问题描述

我与 anaconda 一起安装了 ros2（水晶）。我正在使用 PyCharm IDE 运行、开发和调试 ros 节点，一切都运行良好（PyCharm 解释器设置为 anaconda 环境）。我所有的 python 包都是使用 conda 包管理器安装的，很少使用 pip 安装。但是，如果我尝试在终端中运行 ros 节点，相同的代码会出现以下错误。

Traceback (most recent call last):
File "/home/developer/ros2_ws/install/state_machine_pkg/lib/state_machine_pkg/state_machine_node", line 11, in <module>
load_entry_point('state-machine-pkg', 'console_scripts', 'state_machine_node')()
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 480, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2693, in load_entry_point
return ep.load()
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2324, in load
return self.resolve()
File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2330, in resolve
module = __import__(self.module_name, fromlist=['__name__'], level=0)
File "/home/developer/ros2_ws/build/state_machine_pkg/state_machine_pkg/state_machine_node.py", line 3, in <module>
from IPython.display import Image, display
ModuleNotFoundError: No module named 'IPython'

运行其他节点会导致类似的错误，例如找不到 matplotlib、IPython 等模块。这是我的 .bashrc 的内容

# ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

# If not running interactively, don't do anything
case $- in
*i*) ;;
  *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

# set variable identifying the chroot you work in (used in the prompt below)
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
debian_chroot=$(cat /etc/debian_chroot)
fi

# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
xterm-color|*-256color) color_prompt=yes;;
esac

# uncomment for a colored prompt, if the terminal has the capability; turned
# off by default to not distract the user: the focus in a terminal window
# should be on the output of commands, not on the prompt
#force_color_prompt=yes
if [ -n "$force_color_prompt" ]; then
    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
        # We have color support; assume it's compliant with Ecma-48
        # (ISO/IEC-6429). (Lack of such support is extremely rare, and such
        # a case would tend to support setf rather than setaf.)
        color_prompt=yes
    else
        color_prompt=
    fi
fi



if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
fi
unset color_prompt force_color_prompt

# If this is an xterm set the title to user@host:dir
case "$TERM" in
xterm*|rxvt*)
    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
    ;;
*)
    ;;
esac

# enable color support of ls and also add handy aliases
if [ -x /usr/bin/dircolors ]; then
    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
    alias ls='ls --color=auto'
    #alias dir='dir --color=auto'
    #alias vdir='vdir --color=auto'
    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
fi

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'
# some more ls aliases
alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'

# Add an "alert" alias for long running commands.  Use like so:
#   sleep 10; alert

alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

# Alias definitions.
# You may want to put all your additions into a separate file like
# ~/.bash_aliases, instead of adding them here directly.
# See /usr/share/doc/bash-doc/examples in the bash-doc package.
if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
    if [ -f /usr/share/bash-completion/bash_completion ]; then
        . /usr/share/bash-completion/bash_completion
    elif [ -f /etc/bash_completion ]; then
        . /etc/bash_completion
    fi
fi

# >>> conda initialize >>>
# !! Contents within this block are managed by 'conda init' !!
__conda_setup="$('/home/developer/anaconda3/bin/conda' 'shell.bash' 'hook' 2> /dev/null)"
if [ $? -eq 0 ]; then
    eval "$__conda_setup"
else
    if [ -f "/home/developer/anaconda3/etc/profile.d/conda.sh" ]; then
        . "/home/developer/anaconda3/etc/profile.d/conda.sh"
    else
        export PATH="/home/developer/anaconda3/bin:$PATH"
    fi
fi
unset __conda_setup
# <<< conda initialize <<<

source /opt/ros/crystal/setup.bash

标签： pythonlinuxanacondaros

解决方案

用 Anaconda 试试：

conda install -c anaconda ipython

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