ImportError：无法从“nav2_msgs.action”导入名称“NavigateThroughPoses”

Question

我正在尝试关注https://github.com/SteveMacenski/nav2_rosdevday_2021/tree/main/nav2_rosdevday_2021

当我运行 robot_navigator.py 时，我得到了

ImportError: cannot import name 'NavigateThroughPoses' from 'nav2_msgs.action' (/opt/ros/foxy/lib/python3.8/site-packages/nav2_msgs/action/__init__.py)

问题在

from nav2_msgs.action import NavigateThroughPoses, NavigateToPose, FollowWaypoints, ComputePathToPose, ComputePathThroughPoses

找不到 NavigateThroughPoses 和 ComputePathThroughPoses（同时找到其余部分）。

当我按照init.py，我看到：

from nav2_msgs.action._back_up import BackUp  # noqa: F401
from nav2_msgs.action._compute_path_to_pose import ComputePathToPose  # noqa: F401
from nav2_msgs.action._dummy_recovery import DummyRecovery  # noqa: F401
from nav2_msgs.action._follow_path import FollowPath  # noqa: F401
from nav2_msgs.action._follow_waypoints import FollowWaypoints  # noqa: F401
from nav2_msgs.action._navigate_to_pose import NavigateToPose  # noqa: F401
from nav2_msgs.action._spin import Spin  # noqa: F401
from nav2_msgs.action._wait import Wait  # noqa: F401

所以 NavigateThroughPoses 和 ComputePathThroughPoses 确实不存在。

知道哪里出了问题以及如何解决吗？ 谢谢。