执行使用自定义 snap 构建和安装的 ros noetic 项目时出现 roslaunch not found 错误（使用 snapcraft 工具）

Question

因此，我有这个多包 ros 项目，我想使用 snapcraft 构建它，以便我可以将其分发到客户端并更轻松地更新它。但是，我设法构建了它，但由于某种原因，应用程序找不到 roslaunch 命令。我使用脚本 (ros_start_script) 来选择要启动的节点。以下是 snapcraft.yaml 文件，我从中获取包含整个 ros 项目的 git，启动脚本（因为否则找不到它），诗歌（因为项目使用它并创建了一个应用程序来启动脚本）：

name: ss-delivery-robot
version: '1.0'
summary: ROS software for Sirsteward delivery robots
description: |
  This snap package provides the SS Delivery Robot ROS repository.

confinement: devmode
base: core20

parts:
  ss-delivery-robot:
    plugin: catkin
    source-type: git
    source: https://[email protected]/sirsteward/ss_delivery_robot.git
    #source: [email protected]:sirsteward/ss_delivery_robot.git
    source-branch: feature/snapcraft
    stage-packages:
      - ros-noetic-rosbash # for rosrun
      - ros-noetic-roslaunch # for roslaunch

  start-script:
    plugin: dump
    source: https://[email protected]/sirsteward/ss_delivery_robot.git
    source-branch: feature/snapcraft
    organize:
      ros_start_script.sh: bin/

  poetry:
    plugin: python
    python-packages: [poetry]
    stage-packages:
      - libyaml-cpp-dev

apps:
  ros-start-script:
    command: bin/ros_start_script.sh
    plugs: [network, network-bind]
    extensions: [ ros1-noetic ]

下面是导致错误的 roslaunch 行脚本内容：

#!/bin/bash
set -e

#sleep 90

# setup ros environment
source "/home/$USER/ROS_PROJECT/devel/setup.bash"
cd "/home/$USER/ROS_PROJECT/src/ss_delivery_robot/"
source ".env"
if [[ "$MODULES_SELECTOR" == "True" ]]; then
  source "robot_modules_selection.sh"
fi
source ".env"
dt=$(date '+%Y-%m-%d_%H:%M:%S')

if [[ "$ENVIRONMENT" != *"DEBUG"* ]]; then
  poetry run roslaunch node_manager_pkg node_manager.launch timestamp:=$dt
fi

exec "$@"

成功构建 snap 项目、安装并使用以下命令执行后，即可启动后者ss-delivery-robot.ros-start-script

我发现这个有用的网站，但即使浏览了它，我也无法修复我的错误：https://ubuntu.com/robotics/docs/faq-and-troubleshooting