阿杰你好，我的wpr_simulation不能编译，好像是protobuf的问题，能帮我看看吗

[YuyuYueuyue]

-- +++ processing catkin package: 'wpr_simulation'
-- ==> add_subdirectory(wpr_simulation)
CMake Deprecation Warning at wpr_simulation/CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
The package name passed to find_package_handle_standard_args (PkgConfig)
does not match the name of the calling package (gazebo). This can lead to
problems in calling code that expects find_package result variables
(e.g., _FOUND) to follow a certain pattern.
Call Stack (most recent call first):
/usr/local/share/cmake-3.26/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include)
wpr_simulation/CMakeLists.txt:27 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Found DART: /usr/include (Required is at least version "6.6") found components: dart
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file):
file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be
read.
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math):
math cannot parse the expression: " / 1000000": syntax error, unexpected
exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math):
math cannot parse the expression: " / 1000 % 1000": syntax error,
unexpected exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math):
math cannot parse the expression: " % 1000": syntax error, unexpected
exp_MOD (2).
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Warning at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:524 (message):
Protobuf compiler version 3.6.1 doesn't match library version
ERROR.ERROR.ERROR
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

-- Looking for ignition-math6 -- found version 6.15.1
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Looking for ignition-math6 -- found version 6.15.1
-- Looking for ignition-transport8 -- found version 8.3.0
-- Searching for dependencies of ignition-transport8
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file):
file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be
read.
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math):
math cannot parse the expression: " / 1000000": syntax error, unexpected
exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math):
math cannot parse the expression: " / 1000 % 1000": syntax error,
unexpected exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math):
math cannot parse the expression: " % 1000": syntax error, unexpected
exp_MOD (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Warning at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:524 (message):
Protobuf compiler version 3.6.1 doesn't match library version
ERROR.ERROR.ERROR
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

-- Could NOT find Protobuf: Found unsuitable version "ERROR.ERROR.ERROR", but required is at least "3" (found /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread)
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.3.2
-- Checking for module 'uuid'
-- Found uuid, version 2.34.0
-- Looking for ignition-msgs5 -- found version 5.10.0
-- Searching for dependencies of ignition-msgs5
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file):
file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be
read.
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math):
math cannot parse the expression: " / 1000000": syntax error, unexpected
exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math):
math cannot parse the expression: " / 1000 % 1000": syntax error,
unexpected exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math):
math cannot parse the expression: " % 1000": syntax error, unexpected
exp_MOD (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

[zhangwanjie]

一般安装cartographer的时候安装了protobuf库就会这样，有个费时费力的办法是找原来版本的protobuf源码再编译安装。最省时省力的方法就是重装装系统。在 2025年2月2日，23:25，YuyuYueuyue ***@***.***> 写道： -- +++ processing catkin package: 'wpr_simulation' -- ==> add_subdirectory(wpr_simulation) CMake Deprecation Warning at wpr_simulation/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake. Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions. -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message): The package name passed to find_package_handle_standard_args (PkgConfig) does not match the name of the calling package (gazebo). This can lead to problems in calling code that expects find_package result variables (e.g., _FOUND) to follow a certain pattern. Call Stack (most recent call first): /usr/local/share/cmake-3.26/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include) wpr_simulation/CMakeLists.txt:27 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found DART: /usr/include (Required is at least version "6.6") found components: dart CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file): file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be read. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math): math cannot parse the expression: " / 1000000": syntax error, unexpected exp_DIVIDE (2). Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math): math cannot parse the expression: " / 1000 % 1000": syntax error, unexpected exp_DIVIDE (2). Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math): math cannot parse the expression: " % 1000": syntax error, unexpected exp_MOD (2). Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Warning at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:524 (message): Protobuf compiler version 3.6.1 doesn't match library version ERROR.ERROR.ERROR Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) -- Looking for ignition-math6 -- found version 6.15.1 -- Searching for dependencies of ignition-math6 -- Looking for OGRE... -- Found Ogre Ghadamon (1.9.0) -- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so -- Looking for OGRE_Paging... -- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so -- Looking for OGRE_Terrain... -- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so -- Looking for OGRE_Property... -- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so -- Looking for OGRE_RTShaderSystem... -- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so -- Looking for OGRE_Volume... -- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so -- Looking for OGRE_Overlay... -- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so -- Looking for ignition-math6 -- found version 6.15.1 -- Looking for ignition-transport8 -- found version 8.3.0 -- Searching for dependencies of ignition-transport8 CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file): file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be read. Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math): math cannot parse the expression: " / 1000000": syntax error, unexpected exp_DIVIDE (2). Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math): math cannot parse the expression: " / 1000 % 1000": syntax error, unexpected exp_DIVIDE (2). Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math): math cannot parse the expression: " % 1000": syntax error, unexpected exp_MOD (2). Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Warning at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:524 (message): Protobuf compiler version 3.6.1 doesn't match library version ERROR.ERROR.ERROR Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) -- Could NOT find Protobuf: Found unsuitable version "ERROR.ERROR.ERROR", but required is at least "3" (found /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread) -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.3.2 -- Checking for module 'uuid' -- Found uuid, version 2.34.0 -- Looking for ignition-msgs5 -- found version 5.10.0 -- Searching for dependencies of ignition-msgs5 CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file): file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be read. Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math): math cannot parse the expression: " / 1000000": syntax error, unexpected exp_DIVIDE (2). Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math): math cannot parse the expression: " / 1000 % 1000": syntax error, unexpected exp_DIVIDE (2). Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math): math cannot parse the expression: " % 1000": syntax error, unexpected exp_MOD (2). Call Stack (most recent call first): /usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package) /usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package) wpr_simulation/CMakeLists.txt:27 (find_package) —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[wangxiyi2000]

一般安装cartographer的时候安装了protobuf库就会这样，有个费时费力的办法是找原来版本的protobuf源码再编译安装。最省时省力的方法就是重装装系统。在 2025年2月2日，23:25，YuyuYueuyue @.***> 写道：
-- +++ processing catkin package: 'wpr_simulation'
-- ==> add_subdirectory(wpr_simulation)
CMake Deprecation Warning at wpr_simulation/CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.
Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
The package name passed to find_package_handle_standard_args (PkgConfig)
does not match the name of the calling package (gazebo). This can lead to
problems in calling code that expects find_package result variables
(e.g., _FOUND) to follow a certain pattern.
Call Stack (most recent call first):
/usr/local/share/cmake-3.26/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include)
wpr_simulation/CMakeLists.txt:27 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found DART: /usr/include (Required is at least version "6.6") found components: dart
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file):
file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be
read.
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math):
math cannot parse the expression: " / 1000000": syntax error, unexpected
exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math):
math cannot parse the expression: " / 1000 % 1000": syntax error,
unexpected exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math):
math cannot parse the expression: " % 1000": syntax error, unexpected
exp_MOD (2).
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Warning at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:524 (message):
Protobuf compiler version 3.6.1 doesn't match library version
ERROR.ERROR.ERROR
Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:203 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
-- Looking for ignition-math6 -- found version 6.15.1
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Looking for ignition-math6 -- found version 6.15.1
-- Looking for ignition-transport8 -- found version 8.3.0
-- Searching for dependencies of ignition-transport8
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file):
file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be
read.
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math):
math cannot parse the expression: " / 1000000": syntax error, unexpected
exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math):
math cannot parse the expression: " / 1000 % 1000": syntax error,
unexpected exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math):
math cannot parse the expression: " % 1000": syntax error, unexpected
exp_MOD (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Warning at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:524 (message):
Protobuf compiler version 3.6.1 doesn't match library version
ERROR.ERROR.ERROR
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
-- Could NOT find Protobuf: Found unsuitable version "ERROR.ERROR.ERROR", but required is at least "3" (found /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread)
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.3.2
-- Checking for module 'uuid'
-- Found uuid, version 2.34.0
-- Looking for ignition-msgs5 -- found version 5.10.0
-- Searching for dependencies of ignition-msgs5
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:493 (file):
file STRINGS file "/usr/include/google/protobuf/stubs/common.h" cannot be
read.
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:499 (math):
math cannot parse the expression: " / 1000000": syntax error, unexpected
exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:500 (math):
math cannot parse the expression: " / 1000 % 1000": syntax error,
unexpected exp_DIVIDE (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)
CMake Error at /usr/local/share/cmake-3.26/Modules/FindProtobuf.cmake:501 (math):
math cannot parse the expression: " % 1000": syntax error, unexpected
exp_MOD (2).
Call Stack (most recent call first):
/usr/share/cmake/ignition-cmake2/cmake2/FindIgnProtobuf.cmake:34 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-msgs5/ignition-msgs5-config.cmake:92 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/ignition-transport8/ignition-transport8-config.cmake:96 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:235 (find_package)
wpr_simulation/CMakeLists.txt:27 (find_package)

—Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you are subscribed to this thread.Message ID: @.***>

但是重装系统，自己电脑很多东西又需要重新安装和配置，也很麻烦

[shinedlc]

解决了，但我不知道具体那一步起作用了：

1197 cd ~/catkin_ws_test/
1198 catkin_make
1199 gazebo --version
1200 sudo apt install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
1201 catkin_make
1202 dpkg -l | grep protobuf
1203 sudo mv /usr/local/lib/cmake/protobuf /usr/local/lib/cmake/protobuf.bak
1204 sudo mv /usr/local/lib/libprotobuf* /usr/local/lib/libprotobuf.bak 2>/dev/null
1205 sudo mv /usr/local/bin/protoc /usr/local/bin/protoc.bak 2>/dev/null
1206 sudo mv /usr/local/include/google/protobuf /usr/local/include/google/protobuf.bak 2>/dev/null
1207 sudo ldconfig
1208 rm -rf build/ devel/
1209 catkin_make -DProtobuf_DIR=/usr/lib/x86_64-linux-gnu/cmake/protobuf -DCMAKE_PREFIX_PATH=/usr/lib/x86_64-linux-gnu/cmake/gazebo
1210 protoc --version
1211 sudo apt install --reinstall protobuf-compiler libprotobuf-dev
1212 protoc --version
1213 source /opt/ros/noetic/setup.bash
1214 echo $ROS_PACKAGE_PATH
1215 echo $CMAKE_PREFIX_PATH
1216 rm -rf build/ devel/
1217 catkin_make

[wangxiyi2000]

好的，收到！谢谢您！

…

---- 回复的原邮件 ---- | 发件人 | ***@***.***> | | 日期 | 2025年12月22日 23:29 | | 收件人 | ***@***.***> | | 抄送至 | Wang ***@***.***>***@***.***> | | 主题 | Re: [6-robot/wpr_simulation] 阿杰你好，我的wpr_simulation不能编译，好像是protobuf的问题，能帮我看看吗 (Issue #32) | shinedlc left a comment (6-robot/wpr_simulation#32) 解决了，但我不知道具体那一步起作用了： 1197 cd ~/catkin_ws_test/ 1198 catkin_make 1199 gazebo --version 1200 sudo apt install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control 1201 catkin_make 1202 dpkg -l | grep protobuf 1203 sudo mv /usr/local/lib/cmake/protobuf /usr/local/lib/cmake/protobuf.bak 1204 sudo mv /usr/local/lib/libprotobuf* /usr/local/lib/libprotobuf.bak 2>/dev/null 1205 sudo mv /usr/local/bin/protoc /usr/local/bin/protoc.bak 2>/dev/null 1206 sudo mv /usr/local/include/google/protobuf /usr/local/include/google/protobuf.bak 2>/dev/null 1207 sudo ldconfig 1208 rm -rf build/ devel/ 1209 catkin_make -DProtobuf_DIR=/usr/lib/x86_64-linux-gnu/cmake/protobuf -DCMAKE_PREFIX_PATH=/usr/lib/x86_64-linux-gnu/cmake/gazebo 1210 protoc --version 1211 sudo apt install --reinstall protobuf-compiler libprotobuf-dev 1212 protoc --version 1213 source /opt/ros/noetic/setup.bash 1214 echo $ROS_PACKAGE_PATH 1215 echo $CMAKE_PREFIX_PATH 1216 rm -rf build/ devel/ 1217 catkin_make — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: ***@***.***>