虚拟环境下编译ros2节点需注意的地方

问题1：编译后运行发现虚拟环境里的依赖modules没有加载进来
原因，使用了colcon build直接进行的编译，导致local_setup.bash里

# check environment variable for custom Python executable
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
    return 1
  fi
  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
else
  # try the Python executable known at configure time
  #问题在这里应用的是/usr/bin/python3
  _colcon_python_executable="/usr/bin/python3"
  # if it doesn't exist try a fall back
  if [ ! -f "$_colcon_python_executable" ]; then
    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
      echo "error: unable to find python3 executable"
      return 1
    fi
    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
  fi
fi

我们要在虚拟环境下 这样执行才能对,

python3 -m colcon build

在虚拟环境下调用了虚拟环境里的python3 这样在生成local_setup.bash的时候是这样的

# check environment variable for custom Python executable
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
    return 1
  fi
  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
else
  # try the Python executable known at configure time
  _colcon_python_executable="/root/ros2_ws/rail/robotenv/bin/python3"
  # if it doesn't exist try a fall back
  if [ ! -f "$_colcon_python_executable" ]; then
    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
      echo "error: unable to find python3 executable"
      return 1
    fi
    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
  fi
fi

实际最终移植我还是会担心root/ros2_ws/rail 找不到的问题。