今天在新的笔记本电脑上进行catkin_make的编译过程中遇到了报错，这个报错在之前也遇到过，但是，我却忘了怎么解决。很是头痛！

经过多篇博客的查询，特此解决了这个编译报错的问题，于此特地记录！！！

整体报错信息如下：

<code>Base path: /home/hjx/hjx_file/URDF_model/catkin_ws

Source space: /home/hjx/hjx_file/URDF_model/catkin_ws/src

Build space: /home/hjx/hjx_file/URDF_model/catkin_ws/build

Devel space: /home/hjx/hjx_file/URDF_model/catkin_ws/devel

Install space: /home/hjx/hjx_file/URDF_model/catkin_ws/install

####

#### Running command: "cmake /home/hjx/hjx_file/URDF_model/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/hjx/hjx_file/URDF_model/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/hjx/hjx_file/URDF_model/catkin_ws/install -G Unix Makefiles" in "/home/hjx/hjx_file/URDF_model/catkin_ws/build"

####

-- Using CATKIN_DEVEL_PREFIX: /home/hjx/hjx_file/URDF_model/catkin_ws/devel

-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic

-- This workspace overlays: /opt/ros/noetic

-- Found PythonInterp: /home/hjx/anaconda3/bin/python3 (found suitable version "3.11.7", minimum required is "3")

-- Using PYTHON_EXECUTABLE: /home/hjx/anaconda3/bin/python3

-- Using Debian Python package layout

-- Using empy: /home/hjx/anaconda3/lib/python3.11/site-packages/em.py

-- Using CATKIN_ENABLE_TESTING: ON

-- Call enable_testing()

-- Using CATKIN_TEST_RESULTS_DIR: /home/hjx/hjx_file/URDF_model/catkin_ws/build/test_results

-- Forcing gtest/gmock from source, though one was otherwise available.

-- Found gtest sources under '/usr/src/googletest': gtests will be built

-- Found gmock sources under '/usr/src/googletest': gmock will be built

-- Found PythonInterp: /home/hjx/anaconda3/bin/python3 (found version "3.11.7")

-- Using Python nosetests: /usr/bin/nosetests3

-- catkin 0.8.10

-- BUILD_SHARED_LIBS is on

-- BUILD_SHARED_LIBS is on

/opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em:2:1: error: RuntimeError: ImportError: "from catkin_pkg.topological_order import topological_order" failed: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)

Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.

<root>:1:1: from this context

Traceback (most recent call last):

File "<string>", line 8, in <module>

File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/topological_order.py", line 39, in <module>

from .packages import find_packages

File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/packages.py", line 38, in <module>

from .package import _get_package_xml

File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/package.py", line 44, in <module>

from catkin_pkg.condition import evaluate_condition

File "/home/hjx/anaconda3/lib/python3.11/site-packages/catkin_pkg/condition.py", line 17, in <module>

import pyparsing as pp

File "/home/hjx/anaconda3/lib/python3.11/site-packages/pyparsing/__init__.py", line 140, in <module>

from .core import __diag__, __compat__

File "/home/hjx/anaconda3/lib/python3.11/site-packages/pyparsing/core.py", line 31, in <module>

from pathlib import Path

File "/home/hjx/anaconda3/lib/python3.11/site-packages/pathlib.py", line 10, in <module>

from collections import Sequence

ImportError: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 6323, in <module>

if __name__ == '__main__': main()

^^^^^^

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 6320, in main

exitCode = invoke(sys.argv[1:], executable=sys.argv[0], errors=None)

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 6280, in invoke

interp.go(

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4724, in go

self.protect(name, method, file)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4740, in protect

callable(*args, **kwargs)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4758, in file

self.fileChunks(file, config.buffering, locals, dispatcher)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4804, in fileChunks

while not self.safe(scanner, done, locals, dispatcher):

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4862, in safe

if dispatcher():

^^^^^^^^^^^^

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 5800, in dispatch

self.handle((type, error, traceback), fatal)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4843, in safe

return self.parse(scanner, locals)

^^^^^^^^^^^^^^^^^^^^^^^^^^^

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4874, in parse

self.run(token, locals)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 5115, in run

token.run(self, locals)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 2571, in run

interp.execute(self.code, locals)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 5178, in execute

self.core.execute(statements, self.globals, locals)

File "/home/hjx/anaconda3/lib/python3.11/site-packages/em.py", line 4228, in execute

execFunc(code, globals)

File "<string>", line 10, in <module>

RuntimeError: ImportError: "from catkin_pkg.topological_order import topological_order" failed: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)

Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.

CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

execute_process(/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/env_cached.sh

"/home/hjx/anaconda3/bin/python3"

"/home/hjx/anaconda3/lib/python3.11/site-packages/em.py" "--raw-errors"

"-F"

"/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.py"

"-o"

"/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.cmake"

"/opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em") returned

error code 1

Call Stack (most recent call first):

/opt/ros/noetic/share/catkin/cmake/em_expand.cmake:25 (safe_execute_process)

/opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:35 (em_expand)

CMakeLists.txt:69 (catkin_workspace)

-- Configuring incomplete, errors occurred!

See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeOutput.log".

See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeError.log".

Invoking "cmake" failed

关于报错界面的部分截图：

关于我在执行catkin_make是遇到的报错关键信息如下：

<code>RuntimeError: ImportError: "from catkin_pkg.topological_order import topological_order" failed: cannot import name 'Sequence' from 'collections' (/home/hjx/anaconda3/lib/python3.11/collections/__init__.py)

Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.

CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

execute_process(/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/env_cached.sh

"/home/hjx/anaconda3/bin/python3"

"/home/hjx/anaconda3/lib/python3.11/site-packages/em.py" "--raw-errors"

"-F"

"/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.py"

"-o"

"/home/hjx/hjx_file/URDF_model/catkin_ws/build/catkin_generated/order_packages.cmake"

"/opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em") returned

error code 1

Call Stack (most recent call first):

/opt/ros/noetic/share/catkin/cmake/em_expand.cmake:25 (safe_execute_process)

/opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:35 (em_expand)

CMakeLists.txt:69 (catkin_workspace)

-- Configuring incomplete, errors occurred!

See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeOutput.log".

See also "/home/hjx/hjx_file/URDF_model/catkin_ws/build/CMakeFiles/CMakeError.log".

Invoking "cmake" failed

其实，关键的报错点如下:

CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

根据这个报错提示，我找到了几篇相关的博客：

Ubuntu20.04安装Ros Noetic版本，在catkin_make编译时出现的问题_could not find py_em (missing: py_em)-CSDN博客

Ubuntu 20.04 ROS noetic 问题解决_cmake error at /opt/ros/noetic/share/catkin/cmake/-CSDN博客

 根据上面这2篇博客其实就可以解决问题了

下面为给出解决这个报错的终端指令：

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

 便可完成工作空间的创建！

下图是我catkin_make成功的页面截图：

 后面再次进行catkin_make编译时就不会再出现报错了