项目场景：

环境：ubuntu 20.04 ros2 foxy 安装雷达

问题描述

安装镭神M10串口版雷达，编译报错

m@r:~/ros2_ws$ colcon build --packages-select lslidar_driver

Starting >>> lslidar_driver

--- stderr: lslidar_driver                             

** WARNING ** io features related to pcap will be disabled

** WARNING ** io features related to png will be disabled

** WARNING ** io features related to libusb-1.0 will be disabled

In file included from /home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/src/input.cc:1:

/home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/include/lslidar_driver/input.h:32:10: fatal error: pcap.h: 没有那个文件或目录

   32 | #include

      |          ^~~~~~~~

compilation terminated.

make[2]: *** [CMakeFiles/lslidar_driver_node.dir/build.make:89：CMakeFiles/lslidar_driver_node.dir/src/input.cc.o] 错误 1

make[2]: *** 正在等待未完成的任务....

In file included from /home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h:37,

                 from /home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/src/lslidar_driver_node.cc:19:

/home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/include/lslidar_driver/input.h:32:10: fatal error: pcap.h: 没有那个文件或目录

   32 | #include

      |          ^~~~~~~~

In file included from /home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h:37,

                 from /home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/src/lslidar_driver.cc:31:

/home/m/ros2_ws/src/LSLIDAR_M10_ROS2/src/lslidar_driver/include/lslidar_driver/input.h:32:10: fatal error: pcap.h: 没有那个文件或目录

   32 | #include

      |          ^~~~~~~~

compilation terminated.

compilation terminated.

make[2]: *** [CMakeFiles/lslidar_driver_node.dir/build.make:76：CMakeFiles/lslidar_driver_node.dir/src/lslidar_driver.cc.o] 错误 1

make[2]: *** [CMakeFiles/lslidar_driver_node.dir/build.make:63：CMakeFiles/lslidar_driver_node.dir/src/lslidar_driver_node.cc.o] 错误 1

make[1]: *** [CMakeFiles/Makefile2:78：CMakeFiles/lslidar_driver_node.dir/all] 错误 2

make: *** [Makefile:141：all] 错误 2

---

Failed   <<< lslidar_driver [4.40s, exited with code 2]

                                

Summary: 0 packages finished [4.77s]

  1 package failed: lslidar_driver

  1 package had stderr output: lslidar_driver

原因分析：

这个报错是因为没有安装libcap造成的

解决方案：

sudo apt-get install libpcap-dev

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