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 <pcap.h> | ^~~~~~~~ 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 <pcap.h> | ^~~~~~~~ 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 <pcap.h> | ^~~~~~~~ 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