rl_sim包catkin build编译时find_package找不到一系列功能包

[Wwwwjunjie]

rl_sim包中的CMakeLists出现问题，find_package所有包都找不到，换catkin_make出现以下报错

home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: In member function ‘virtual std::shared_ptr<torch::jit::SugaredValue> torch::jit::TensorCastValue::call(const torch::jit::SourceRange&, torch::jit::GraphFunction&, c10::ArrayRef<torch::jit::NamedValue>, c10::ArrayRef<torch::jit::NamedValue>, size_t)’: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:555:60: error: cannot convert ‘const torch::jit::SourceRange’ to ‘int’ 555 | Value* dtype_const = m.graph()->insertConstant(dtype_, loc); | ^~~ | | | const torch::jit::SourceRange In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:1371:7: note: initializing argument 2 of ‘torch::jit::Value* torch::jit::Graph::insertConstant(const c10::IValue&, int)’ 1371 | std::optional<SourceRange> loc = c10::nullopt, | ^~~~~~~~~~~~~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:562:19: error: cannot convert ‘const torch::jit::SourceRange’ to ‘int’ 562 | /*range=*/loc); | ^~~ | | | const torch::jit::SourceRange In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:1385:7: note: initializing argument 4 of ‘torch::jit::Value* torch::jit::Graph::insert(c10::Symbol, c10::ArrayRef<torch::jit::NamedValue>, c10::ArrayRef<torch::jit::NamedValue>, int)’ 1385 | const std::optional<SourceRange>& range = {}); | ^~~~~~~~~~~~~~~~~~~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: At global scope: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:641:12: error: ‘std::optional’ has not been declared 641 | std::optional<int64_t> static_len = c10::nullopt); | ^~~~~~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:641:20: error: expected ‘,’ or ‘...’ before ‘<’ token 641 | std::optional<int64_t> static_len = c10::nullopt); | ^ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:657:8: error: ‘optional’ in namespace ‘std’ does not name a template type 657 | std::optional<int64_t> staticLen() override { | ^~~~~~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:657:3: note: ‘std::optional’ is only available from C++17 onwards 657 | std::optional<int64_t> staticLen() override { | ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:670:8: error: ‘optional’ in namespace ‘std’ does not name a template type 670 | std::optional<int64_t> static_len_; | ^~~~~~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:670:3: note: ‘std::optional’ is only available from C++17 onwards 670 | std::optional<int64_t> static_len_; | ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:715:8: error: ‘optional’ in namespace ‘std’ does not name a template type 715 | std::optional<int64_t> staticLen() override { | ^~~~~~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:715:3: note: ‘std::optional’ is only available from C++17 onwards 715 | std::optional<int64_t> staticLen() override { | ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:733:8: error: ‘optional’ in namespace ‘std’ does not name a template type 733 | std::optional<int64_t> unroll_length_ = c10::nullopt; | ^~~~~~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:733:3: note: ‘std::optional’ is only available from C++17 onwards 733 | std::optional<int64_t> unroll_length_ = c10::nullopt; | ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: In member function ‘virtual std::shared_ptr<torch::jit::SugaredValue> torch::jit::SimpleSelf::makeSugared(torch::jit::Value*) const’: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:747:16: error: cannot convert ‘const ClassTypePtr’ {aka ‘const std::shared_ptr<c10::ClassType>’} to ‘c10::TypePtr’ {aka ‘c10::Type::SingletonOrSharedTypePtr<c10::Type>’} 747 | v->setType(classType_); | ^~~~~~~~~~ | | | const ClassTypePtr {aka const std::shared_ptr<c10::ClassType>} In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:1504:38: note: initializing argument 1 of ‘torch::jit::Value* torch::jit::Value::setType(c10::TypePtr)’ 1504 | inline Value* Value::setType(TypePtr type) { | ~~~~~~~~^~~~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: In member function ‘virtual std::shared_ptr<torch::jit::SugaredValue> torch::jit::ExceptionValue::call(const torch::jit::SourceRange&, torch::jit::GraphFunction&, c10::ArrayRef<torch::jit::NamedValue>, c10::ArrayRef<torch::jit::NamedValue>, size_t)’: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:797:74: error: cannot convert ‘const torch::jit::SourceRange’ to ‘int’ 797 | auto exception_message = insertConstant(*m.graph(), message_ + ": ", loc); | ^~~ | | | const torch::jit::SourceRange In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/named_value.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/constants.h:28:5: note: initializing argument 3 of ‘torch::jit::Value* torch::jit::insertConstant(torch::jit::Graph&, const c10::IValue&, int)’ 28 | std::optional<SourceRange> loc = c10::nullopt, | ^~~~~~~~~~~~~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:800:43: error: no match for ‘operator*’ (operand type is ‘c10::StringTypePtr’ {aka ‘c10::SingletonTypePtr<c10::StringType>’}) 800 | if (!input_str->type()->isSubtypeOf(*StringType::get())) { | ^~~~~~~~~~~~~~~~~~

[Wwwwjunjie]

换了一个设备没有出现这个问题

[fan-ziqi]

若换设备可以解决，则不是代码库的问题，请检查是否按照README配置了环境。