我有以下问题：我编写了一个简单的ROS2 / Qt5（机器人操作系统）项目来展示GUI中的发布者和订阅者。项目编译得很好，在将所有Qt5和ROS dll复制到可执行文件的目录后，应用程序启动但然后快速关闭/崩溃而不会给我任何错误。
尝试2：打开控制台并获取ROS2安装源（通过运行批处理脚本，我认为将环境变量加载到控制台中，对吧？）。如果我现在从ROS2控制台中启动可执行文件，一切正常。
所以我的假设是，当我编译我的项目并尝试启动它时，它会丢失所有环境变量然后崩溃。
有没有办法让我可以避免启动ROS2控制台？
用于获取ROS2安装的批处理脚本对我来说似乎也很复杂。 A无法真正理解它加载的变量类型。有没有办法使用该批处理脚本并将其“挂钩”到我的可执行文件，以便我不必找出这个脚本具体做什么？这是批处理脚本：
:: generated from colcon_core/shell/template/prefix.bat.em
@echo off
:: This script extends the environment with all packages contained in this
:: prefix path.
:: add this prefix to the COLCON_PREFIX_PATH
call:_colcon_prefix_bat_prepend_unique_value COLCON_PREFIX_PATH "%%~dp0"
:: get all packages in topological order
call:_colcon_get_ordered_packages _ordered_packages "%~dp0"
:: source packages
if "%_ordered_packages%" NEQ "" (
for %%p in ("%_ordered_packages:;=";"%") do (
call:_colcon_prefix_bat_call_script "%~dp0share\%%~p\package.bat"
)
set "_ordered_packages="
)
goto:eof
:: function to prepend a value to a variable
:: which uses semicolons as separators
:: duplicates as well as trailing separators are avoided
:: first argument: the name of the result variable
:: second argument: the value to be prepended
:_colcon_prefix_bat_prepend_unique_value
setlocal enabledelayedexpansion
:: arguments
set "listname=%~1"
set "value=%~2"
:: get values from variable
set "values=!%listname%!"
:: start with the new value
set "all_values=%value%"
:: skip loop if values is empty
if "%values%" NEQ "" (
:: iterate over existing values in the variable
for %%v in ("%values:;=";"%") do (
:: ignore empty strings
if "%%~v" NEQ "" (
:: ignore duplicates of value
if "%%~v" NEQ "%value%" (
:: keep non-duplicate values
set "all_values=!all_values!;%%~v"
)
)
)
)
:: set result variable in parent scope
endlocal & (
set "%~1=%all_values%"
)
goto:eof
:: Get the package names in topological order
:: using semicolons as separators and avoiding leading separators.
:: first argument: the name of the result variable
:: second argument: the base path to look for packages
:_colcon_get_ordered_packages
setlocal enabledelayedexpansion
:: check environment variable for custom Python executable
if "%COLCON_PYTHON_EXECUTABLE%" NEQ "" (
if not exist "%COLCON_PYTHON_EXECUTABLE%" (
echo error: COLCON_PYTHON_EXECUTABLE '%COLCON_PYTHON_EXECUTABLE%' doesn't exist
exit /b 1
)
set "_colcon_python_executable=%COLCON_PYTHON_EXECUTABLE%"
) else (
:: use the Python executable known at configure time
set "_colcon_python_executable=c:\python37\python.exe"
:: if it doesn't exist try a fall back
if not exist "!_colcon_python_executable!" (
python --version > NUL 2> NUL
if errorlevel 1 (
echo error: unable to find python executable
exit /b 1
)
set "_colcon_python_executable=python"
)
)
set "_colcon_ordered_packages="
for /f %%p in ('""%_colcon_python_executable%" "%~dp0_local_setup_util.py" --merged-install"') do (
if "!_colcon_ordered_packages!" NEQ "" set "_colcon_ordered_packages=!_colcon_ordered_packages!;"
set "_colcon_ordered_packages=!_colcon_ordered_packages!%%p"
)
endlocal & (
:: set result variable in parent scope
set "%~1=%_colcon_ordered_packages%"
)
goto:eof
:: call the specified batch file and output the name when tracing is requested
:: first argument: the batch file
:_colcon_prefix_bat_call_script
if exist "%~1" (
if "%COLCON_TRACE%" NEQ "" echo call "%~1"
call "%~1%"
) else (
echo not found: "%~1" 1>&2
)
goto:eof
不要修改ROS2的任何内部代码（即使是批处理文件），请按照他们的规则启动ros2应用程序。 ROS2设计在一个复杂的系统中，以动态加载不同类型的包。我认为你通过将dll复制到文件夹来打破它的库搜索规则。
我建议你通过调用来编写另一个更简单的批处理文件。
call <path-to-your-ros2-ws>/setup.bat
并使用官方ros2命令行工具来运行该应用程序。
ros2 run <your-package> <executable>