@2431039560 你好请问解决了吗我也有这个问题
CMake Error at CMakeLists.txt:15 (find_package):
By not providing "Findserial.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "serial", but
CMake did not find one.
Could not find a package configuration file provided by "serial" with any
of the following names:
Add the installation prefix of "serial" to CMAKE_PREFIX_PATH or set
"serial_DIR" to a directory containing one of the above files. If "serial"
provides a separate development package or SDK, be sure it has been
installed.
home/zztg/桌面/zztg_robot_node/src/Robot_SeeWorld.cpp: In member function ‘void CameraPublisherNode::timerCallback()’:
/home/zztg/桌面/zztg_robot_node/src/Robot_SeeWorld.cpp:47:28: error: no matching function for call to ‘rclcpp::Publisher<sensor_msgs::msg::Image_<std::allocator<void> > >::publish(sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr&)’
47 | image_pub_->publish(msg);
| ~~~~~~~~~~~~~~~^
In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
感觉像是docker出错了，没能拉到合适的下载源
Unable to find image 'fishros2/ros:noetic-desktop-full' locally
docker: Error response from daemon: Get "https://registry-1.docker.io/v2/": net/http: request canceled while waiting for connection (Client.Timeout exceeded while awaiting headers)
Run 'docker run --help' for more information
Run CMD Task:[docker exec -it noetic1 /bin/bash -c "echo -e '
source /opt/ros/noetic/setup.bash' >> ~/.bashrc" ]
Error response from daemon: No such container: noetic1
Run CMD Task:[xhost +local:]
non-network local connections being added to access control list
0ca60c4698972232a8b3eb1a04321da.jpg
*
代码直接从gitee上拷贝的。
车子直线行驶 两个轮子转动圈数不同 并且有蜂鸣声响
https://fishros.com/d2lros2/#/humble/chapt16/10.控制速度-PID控制器实现
c8d4524a-f1e8-470d-847e-755bfcccda16-image.png
c63e26b4-a255-4e24-a53e-c6fa4a295703-image.png
https://gitee.com/qq724789975/rostest.git
car_platformio
教程中源码 打印
f2a54523-3fa7-4f8c-98f1-6778004a5e9c-image.png
使用的是C++，在进行colcon build时出现：Starting >>> demo_cpp_pkg
[14.821s] WARNING:colcon.colcon_cmake.task.cmake.build:Could not build CMake package 'demo_cpp_pkg' because the CMake cache has no 'CMAKE_PROJECT_NAME' variable
--- stderr: demo_cpp_pkg
请问这是怎么回事，怎么解决？
xiexie
382bf550-36b9-4e33-b87d-d955da7660dc-image.png 0d76188d-240f-497c-82ad-cd84302585e8-image.png 3d66dc16-107d-46fa-8bfe-48d7dd4c432e-image.png 976e2cf0-dd6e-4401-94b4-fe05849b00b8-image.png
求解，着急，一直说我时间戳不对，/scan发布的比/tf早，但是我把这俩发布放同一个进程里面了，/tf发布以后睡眠1ms后再发布的/scan，并且使用了同一个时间戳值，时间戳延后什么的，加快/tf发布频率等方式都试过了，还是解决不了7c8cbab3-6ba2-49ba-bd93-7081fb47b779-image.png
电脑品牌 联想
Ubuntu 20.04系统
准备安装ROS1
在更换系统源并清理第三方源的时候，中间出现了这条红色的信息，我想请问一下，这是什么错误。我看到下面还有一条一样的命令，是不是又重新操作一遍，使结果成功了？
会不会对我后续使用ROS1有什么影响？
Screenshot from 2025-02-23 11-44-51.png
(base) zztg@zztg:~/桌面/ZZTG_ROBOT$ colcon build
WARNING: Package name "ZZTG_ROBOT" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
Starting >>> ZZTG_ROBOT
--- stderr: ZZTG_ROBOT
Traceback (most recent call last):
File "/opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 22, in <module>
from catkin_pkg.package import parse_package_string
ModuleNotFoundError: No module named 'catkin_pkg'
CMake Error at /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:95 (message):
execute_process(/home/zztg/anaconda3/bin/python3
/opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
/home/zztg/桌面/ZZTG_ROBOT/package.xml
/home/zztg/桌面/ZZTG_ROBOT/build/ZZTG_ROBOT/ament_cmake_core/package.cmake)
returned error code 1
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
/opt/ros/humble/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:31 (ament_package_xml)
CMakeLists.txt:24 (ament_lint_auto_find_test_dependencies)
Failed <<< ZZTG_ROBOT [0.74s, exited with code 1]
ac2c6870-d247-408e-9f1c-5d79497a2aec-图片.png
an@ubuntu:~/chat2_cpp/chapt2_ws$ ros2 run demo_python_pkg person_node
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
No executable found
版本
Ubuntu 22.04 ROS2 humble ignition gazebo 6.17问题描述：
尝试使用plugin来控制场景的model来构建一个有动态障碍物场景，sdf文件如下： <?xml version="1.0" ?> <sdf version="1.7"> <world name="dynamic_world"> <physics name="1ms" type="ignored"> <max_step_size>0.001</max_step_size> <real_time_factor>1.0</real_time_factor> </physics> <!-- 插入天空环境 --> <atmosphere type="adiabatic"/> <!-- 插入一个光源 --> <light name="sun_light" type="directional"> <cast_shadows>true</cast_shadows> <pose>0 0 10 0 0 0</pose> <diffuse>1 1 1 1</diffuse> <specular>0.1 0.1 0.1 1</specular> <direction>-0.5 0.5 -1</direction> </light> <!-- 插入地面平面 --> <model name="ground_plane"> <static>true</static> <link name="link"> <collision name="collision"> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> </collision> <visual name="visual"> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> <material> <ambient>0.5 0.5 0.5 1</ambient> <diffuse>0.5 0.5 0.5 1</diffuse> </material> </visual> </link> </model> <model name="pedestrian_0"> <static>false</static> <link name="link_p0"> <pose>-4 7 0 0 0 0</pose> <inertial> <mass>55</mass> <inertia> <ixx>14.86</ixx><ixy>0</ixy><ixz>0</ixz> <iyy>16.23</iyy><iyz>0</iyz> <izz>2.36</izz> </inertia> </inertial> <collision name="box"> <pose>0 0 0.9 0 0 0</pose> <geometry> <cylinder> <radius>0.17</radius> <length>1.77</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.17</radius> <length>1.77</length> </cylinder> </geometry> <material> <ambient>0.8 0.2 0.2 1</ambient> <diffuse>0.8 0.2 0.2 1</diffuse> </material> </visual> </link> <plugin filename="libignition-gazebo-velocity-control-system.so" name="ignition::gazebo::systems::VelocityControl"> <initial_linear>0.0 0.0 0.0</initial_linear> <initial_angular>0.0 0.0 0.0</initial_angular> <topic>/pedestrian_0/cmd_vel</topic> <link_name>link_p0</link_name> </plugin> <plugin filename="libignition-gazebo-pose-publisher-system.so" name="ignition::gazebo::systems::PosePublisher"> <publish_link_pose>true</publish_link_pose> <publish_model_pose>true</publish_model_pose> </plugin> </model> </world> </sdf> 但是ign topic -e -t /model/pedestrian_0/pose一直只输出model的初始位置，如下： ... header { stamp { sec: 20 nsec: 985000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } header { stamp { sec: 20 nsec: 986000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } header { stamp { sec: 20 nsec: 987000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } header { stamp { sec: 20 nsec: 988000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } ...这个怎么解决呢，怎么实时输出场景中model的pose呢😧
e1056530-d089-4389-8c6c-107e33f413cb-image.png
已经安装了包espeakng
ed95aaf0-b965-4ce8-8195-bbb2655b797b-image.png
系统是22.04
在wsl2，ubuntu22.04，ros2-humble中，输入rqt命令，提示：
could not connect to display
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
终端运行指令
ros2 run v4l2_camera v4l2_camera_node然后终端输出
[INFO] [1740129310.150471961] [v4l2_camera]: Driver: uvcvideo [INFO] [1740129310.151033248] [v4l2_camera]: Version: 331688 [INFO] [1740129310.151131432] [v4l2_camera]: Device: USB Camera: USB Camera [INFO] [1740129310.151178135] [v4l2_camera]: Location: usb-0000:01:00.0-1.2 [INFO] [1740129310.151216116] [v4l2_camera]: Capabilities: [INFO] [1740129310.151256263] [v4l2_camera]: Read/write: NO [INFO] [1740129310.151294726] [v4l2_camera]: Streaming: YES [INFO] [1740129310.151354058] [v4l2_camera]: Current pixel format: MJPG @ 1920x1080 [INFO] [1740129310.151693294] [v4l2_camera]: Available pixel formats: [INFO] [1740129310.151753626] [v4l2_camera]: MJPG - Motion-JPEG [INFO] [1740129310.151794755] [v4l2_camera]: YUYV - YUYV 4:2:2 [INFO] [1740129310.151832773] [v4l2_camera]: Available controls: [INFO] [1740129310.151887587] [v4l2_camera]: Brightness (1) = 0 [INFO] [1740129310.151939845] [v4l2_camera]: Contrast (1) = 34 [INFO] [1740129310.151990789] [v4l2_camera]: Saturation (1) = 56 [INFO] [1740129310.152039881] [v4l2_camera]: Hue (1) = 0 [INFO] [1740129310.152087954] [v4l2_camera]: White Balance, Automatic (2) = 1 [INFO] [1740129310.152136453] [v4l2_camera]: Gamma (1) = 100 [INFO] [1740129310.152183989] [v4l2_camera]: Gain (1) = 0 [INFO] [1740129310.152231563] [v4l2_camera]: Power Line Frequency (3) = 1 [INFO] [1740129310.152658352] [v4l2_camera]: White Balance Temperature (1) = 4000 [inactive] [INFO] [1740129310.152733444] [v4l2_camera]: Sharpness (1) = 2 [INFO] [1740129310.152827553] [v4l2_camera]: Backlight Compensation (1) = 0 [ERROR] [1740129310.152889515] [v4l2_camera]: Failed getting value for control 10092545: Permission denied (13); returning 0! [INFO] [1740129310.152935329] [v4l2_camera]: Camera Controls (6) = 0 [INFO] [1740129310.152987162] [v4l2_camera]: Auto Exposure (3) = 3 [INFO] [1740129310.153370119] [v4l2_camera]: Exposure Time, Absolute (1) = 313 [inactive] [INFO] [1740129310.153436433] [v4l2_camera]: Exposure, Dynamic Framerate (2) = 1 [ERROR] [1740129310.154025368] [v4l2_camera]: Failed getting value for control 10094856: Input/output error (5); returning 0! [INFO] [1740129310.154085033] [v4l2_camera]: Pan, Absolute (1) = 0 [ERROR] [1740129310.154709412] [v4l2_camera]: Failed getting value for control 10094857: Input/output error (5); returning 0! [INFO] [1740129310.154836244] [v4l2_camera]: Tilt, Absolute (1) = 0 [WARN] [1740129310.156985969] [v4l2_camera]: Control type not currently supported: 6, for control: Camera Controls terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException' what(): parameter 'pan_absolute' could not be set: Parameter {pan_absolute} doesn't comply with integer range. [ros2run]: Aborted当前用户是有操作摄像头的权限的，但依然还是出现这些问题，请各位大佬帮忙看看
a62806d8-b04f-4097-a0e2-0f028d309dc3-image.png 求大佬帮我看看，/tf发布了三个变换，/odom也正常发布了，/scan不知道什么原因没有在这里显示出来，但是使用echo可以打印发布的内容，内容频率什么的已经问过gpt了，tf树也可视化过了，都没什么问题。但是就/odom没法接收，一直报错。有试过将odom设置成base_frame，没报错了，但是/map不发布。求解😩
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