Ubuntu20.04安装FastRTPS，报错没有fastrtps-config.cmake

编译ros2 foxy报错：

1. CMake Error at CMakeLists.txt:26 (find_package):
2.   Could not find a package configuration file provided by "fastrtps" with any
3.   of the following names:
5.     fastrtpsConfig.cmake
6.     fastrtps-config.cmake
8.   Add the installation prefix of "fastrtps" to CMAKE_PREFIX_PATH or set
9.   "fastrtps_DIR" to a directory containing one of the above files.  If
10.   "fastrtps" provides a separate development package or SDK, be sure it has
11.   been installed.

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 按照https://agility6.site/blog/fast-dds/ 下载fastrtps源码，编译、安装后。发现依然没有fastrtps-config.cmake文件天生。
检测fastrtps源码的versions.md发现Version 2.14.0开始，最新的源码把fastrtps-config.cmake改名成fastdds-config.cmake了

1. * Migrate fastrtps namespace to fastdds
2. * Migrate fastrtps `ResourceManagement` API from `rtps/resources` to `rtps/attributes`.
3. * `const` qualify all data related inputs in DataWriter APIs
4. * New `DomainParticipantExtendedQos` that includes both `DomainId` and `DomainParticipantQos` (extends `DomainParticipantFactory` API).
5. * Make Blackbox tests not include any private API.
6. * Remove all the private API include from Blackbox tests.
7. * Discovery Server refactor:
8.   * Clients and Servers no longer need a known GUID to connect between them.
9.   * Servers are now configured specifying a LocatorList, instead of a RemoteServerAttributes list.
10.   * Servers connect through a mesh topology. For a new server to join the topology, it must be connected to any server in it.
11.   * Servers only redirect discovery information of their direct clients.
12.   * Remote Discovery servers connection list can now be updated and modified at runtime without restrictions.
13.   * Fast DDS CLI has been updated to allow the creation of servers without GUID.
14.   * Servers are responsible of answering TypeLookupRequests of others servers when working with X-Types.
15.   * Backup server is not compatible with X-Types.
16. * Refactor in XML Parser to return DynamicTypeBuilder instead of DynamicType
17. * Setting vendor_id in the received CacheChange_t for Data and DataFrag.
18. * Added new DynamicData to JSON serializer (`json_serialize`).
19. * Added new DynamicType to IDL serializer (`idl_serialize`).
20. * DDS implementation of `eprosima::fastdds::Time_t` moved to `eprosima::fastdds::dds::Time_t`.
21. * `TopicDataType::auto_fill_type_information` has been removed in favor of `fastdds.type_propagation` participant property.
22. * Add new custom pid PID_PRODUCT_VERSION.
23. * SHM locator kind is now linked to Fast DDS' major version.
25. Version 2.14.0
26. --------------
28. * Added authentication handshake properties.
29. * Added methods OpenOutputChannels and CloseOutputChannels to TransportInterface with LocatorSelectorEntry argument.
30. * Added `netmask_filter`, `allowlist` and `blocklist` transport configuration options.
31. * Added extra configuration options for the builitin transports.
32. * Limit the amount of listening ports for TCP servers to 1.

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所以应该把fastrtps源码切换到2.14之前的版本

1. suwei@SH-DZ0104348:~/work/source/Fast-DDS/Fast-RTPS$ git checkout v2.13.6

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然后再编译安装即可

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