Libexec directory does not exists

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1

I ran colcon build and then sourced setup.sh and then ran launch file. I am getting the error below.

ros2 launch follow_wall follow_wall_launch_file.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2024-05-25-17-10-30-812530-3_xterm-6835
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): package ‘follow_wall’ found at ‘/home/user/ros2_ws/install/follow_wall’, butlibexec directory ‘/home/user/ros2_ws/install/follow_wall/lib/follow_wall’ does not exist

import rclpy
# import the ROS2 python libraries
from rclpy.node import Node
# import the Twist module from geometry_msgs interface
from geometry_msgs.msg import Twist
# import the LaserScan module from sensor_msgs interface
from sensor_msgs.msg import Odometry
from rclpy.qos import ReliabilityPolicy, QoSProfile
# import numpy to calculate the qauternion
import numpy as np

class FollowWall(Node):

    def __init__(self):
        # Here you have the class constructor
        # call the class constructor
        super().__init__('follow_wall')
        # create the publisher object
        self.publisher_ = self.create_publisher(Twist, 'cmd_vel', 10)
        # create the subscriber object
        # Create the subscriber for the odom topic
        self.odom_subscriber = rclpy.Subscriber("/odom", Odometry, self.odom_callback, QoSProfile(depth=10, reliability=ReliabilityPolicy.RELIABLE))
        # define the timer period for 0.5 seconds
        self.timer_period = 0.5
        # define the variable to save the received info
        self.laser_forward = 0
        # create a Twist message
        self.cmd = Twist()
        self.timer = self.create_timer(self.timer_period, self.motion)

    def odom_callback(self, data):
        # Get the orientation of the robot from the odometry message
        quaternion = data.pose.pose.orientation

        # Convert the quaternion to Euler angles using the HINT 1 function
        roll, pitch, yaw = euler_from_quaternion(quaternion)

        # Calculate the robot's position and orientation
        x = data.pose.pose.position.x
        y = data.pose.pose.position.y
        z = data.pose.pose.position.z

        # Check if the robot is in parallel with the opening
        if x > 0 and y < 1:
            # If it is, move forward until it goes past the opening
            self.cmd_vel_publisher.publish(Twist(linear=Vector3(x=1, y=0, z=0)))
            rclpy.loginfo("Robot is in parallel with the opening.")
        else:
            # If it isn't, rotate 90º and then move forward
            self.cmd_vel_publisher.publish(Twist(angular=Vector3(z=1.57)))
            rclpy.loginfo("Robot is not in parallel with the opening.")
        
def euler_from_quaternion(self, quaternion):
        """
        Converts quaternion (w in last place) to euler roll, pitch, yaw
        quaternion = [x, y, z, w]
        Below should be replaced when porting for ROS2 Python tf_conversions is done.
        """
        x = quaternion[0]
        y = quaternion[1]
        z = quaternion[2]
        w = quaternion[3]

        sinr_cosp = 2 * (w * x + y * z)
        cosr_cosp = 1 - 2 * (x * x + y * y)
        roll = np.arctan2(sinr_cosp, cosr_cosp)

        sinp = 2 * (w * y - z * x)
        pitch = np.arcsin(sinp)

        siny_cosp = 2 * (w * z + x * y)
        cosy_cosp = 1 - 2 * (y * y + z * z)
        yaw = np.arctan2(siny_cosp, cosy_cosp)

        return roll, pitch, yaw

            
def main(args=None):
    # initialize the ROS communication
    rclpy.init(args=args)
    # declare the node constructor
    FollowWall = FollowWall()       
    # pause the program execution, waits for a request to kill the node (ctrl+c)
    rclpy.spin(FollowWall)
    # Explicity destroy the node
    FollowWall.destroy_node()
    # shutdown the ROS communication
    rclpy.shutdown()

if __name__ == '__main__':
    main()


from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='follow_wall',
            executable='follow_wall',
            output='screen'),
    ])


from setuptools import setup
import os
from glob import glob

package_name = 'follow_wall'

setup(
    name=package_name,
    version='0.0.0',
    packages=[package_name],
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),(os.path.join('share', package_name), glob('launch/*.launch.py'))
    ],
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='user',
    maintainer_email='user@todo.todo',
    description='TODO: Package description',
    license='TODO: License declaration',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
        ],
    },
)
2

Let me know if you need anything else to help me troubleshoot this.

3

Based on the error message (package not found), it is either is not properly built or is not sourced.

You may have built and sourced on one terminal, but you also need to source on every other terminal where you want to run terminal.

Or perhaps there’s a typo in package name.

See this post for further details:

4

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