@2290305520 是不是没有图像数据
背景：
我想使用 MoveIt Servo 来控制 servo_example.launch.py 中的示例机器人，使其到达一系列路径点。同时，我需要实时读取机器人的位置，以便可以在每个路径点前暂停或进行一些处理，然后继续移动到下一个路径点。
问题描述：当我启动 servo_example.launch.py 并运行我的节点以读取机器人状态时，遇到了以下错误：
[current_endeffector_pose_publisher-5] [ERROR] [1732470180.400202271] [current_endeffector_pose_publisher]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds. [current_endeffector_pose_publisher-5] Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0 [current_endeffector_pose_publisher-5] at line 732 in /home/lsc/ws_moveit/src/srdfdom/src/model.cpp [current_endeffector_pose_publisher-5] [ERROR] [1732470180.406341033] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF [current_endeffector_pose_publisher-5] [FATAL] [1732470180.406906166] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server. [current_endeffector_pose_publisher-5] terminate called without an active exception 具体细节和上下文：我检查了互联网上相关问题的解决方案，比如在 servo_example.launch.py 中的 moveit_config 添加以下代码：
.planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True )但该方法对我的问题没有效果。
我进一步发现可能是某些话题缺失导致的，因此我检查了当前的 ROS 话题列表。发现没有 /robot_description_semantic 话题，只有 /robot_description。
但是，当我运行其他启动文件（例如 demo.launch.py）时，话题列表中会同时出现 /robot_description 和 /robot_description_semantic 当我仅运行 servo_example.launch.py 并使用键盘控制时，系统可以正常工作，没有报错。这表明问题可能不是来自 servo_example.launch.py 本身的基础配置，而是与我额外添加的节点（用于读取机器人状态）或其交互方式有关。
目前我不清楚如何生成 /robot_description_semantic 话题。
尝试过的解决方法：按照网上的建议尝试在 servo_example.launch.py 中添加相关配置项，但未解决问题。
检查话题列表后发现缺少 /robot_description_semantic，并尝试对比其他启动文件的行为，但尚未找到问题的根源。
操作系统：Ubuntu 22.04
ROS 版本：Humble
下列软件包有未满足的依赖关系：
libgazebo-dev : 依赖: libignition-transport8-dev 但是它将不会被安装
依赖: libignition-msgs5-dev (>= 5.1) 但是它将不会被安装
依赖: libignition-fuel-tools4-dev 但是它将不会被安装
rviz2-2] [INFO] [1732484845.426017323] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.518 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484845.572651185] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 545.823 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484845.637770069] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.688 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484845.707385596] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484845.848445499] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.858 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484846.038628123] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.062 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484846.053953157] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732484846.054966341] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484846.242471585] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.266 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484846.451308193] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.436 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484846.654262998] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732484846.679002829] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484846.696645310] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.810 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484846.925902445] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.014 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.155021021] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.184 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.326624273] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 547.423 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.476204844] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.354 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.505351397] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 547.623 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.591526874] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.524 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.791706188] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.728 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484848.535838870] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732484848.944317423] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484849.027245119] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 549.022 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.245868994] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.054 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.691144242] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.394 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.818732816] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.598 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.874183562] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.802 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484850.145950567] [rviz2]: Message Filter dropping message: frame 'odom' at time 560.006 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
在rviz界面，tf和LaserScan反复闪烁，忽正常忽错误
因为使用amcl的时候转弯，软件里程计就没有了导致导航失败。所以想换成纯激光雷达定位
f097b1d2-ed7e-4a7d-9d72-9d8c0ab81b80-6874357a2616b81e63936685cb6654e.png
一的第2章编程基础部分的1.使用g++编译ROS2节点中，在指令
cd /opt/ros/jazzy/include/rclcpp（我是jazzy，就把humble都改了）
ls rclcpp/* | grep rclcpp.h
执行后可以找到rclcpp/rclcpp.hpp
但下一步执行 g++ first_ros2_node.cpp -I /opt/ros/jazzy/include/rclcpp/时，没有出现教程上的报错（rcl/guard_condition.h），输出依然是
cc1plus: fatal error: first_ros2_node.cpp: No such file or directory
compilation terminated.
之后的按教程，执行结果就都不一样了，基本上都是这个输出
请您指教，谢谢
7841c728-436e-41e6-bb31-786e478f6331-375c9b706e891817969b86852fe9cb0.png
[Connecting to mirrors.tuna.tsinghua.edu.cn (2402:f000:1:400::2)]3de73437-835f-44f2-89d9-455a343da2a8-image.png 鱼香ros安装完ros后，无法替换坏掉的源。
截图 2024-11-23 14-09-19.png 截图 2024-11-23 14-09-10.png
bash输入命令gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so 启动gazebo后会返回警告
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
此时若通过rqt调用服务/spawn_entity在gazebo生成机器人后gazebo就会闪退
求求各位大佬指点一下为什么会出现这个情况，我该如何解决
下面是我加载模型的urdf文件内容，里面有一个相机camera模块，如果添加gazebo就会闪退，删除后导入就不会。
错误日志上传成功，反馈码: 1732334442
shine@shine:~$ wget http://fishros.com/install -O fishros && . fishros
--2024-11-23 11:57:42-- http://fishros.com/install
Resolving fishros.com (fishros.com)... 47.119.165.169
Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
--2024-11-23 11:57:43-- http://fishros.com/install/
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... 200 OK
Length: 387 [application/octet-stream]
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[sudo] password for shine:
E: Could not get lock /var/lib/dpkg/lock-frontend - open (11: Resource temporarily unavailable)
E: Unable to acquire the dpkg frontend lock (/var/lib/dpkg/lock-frontend), is another process using it?
--2024-11-23 11:57:47-- http://mirror.fishros.com/install/tools/base.py
Resolving mirror.fishros.com (mirror.fishros.com)... 47.119.165.169
Connecting to mirror.fishros.com (mirror.fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 51464 (50K) [application/octet-stream]
Saving to: ‘/tmp/fishinstall//tools/base.py’
/tmp/fishinstall//t 100%[===================>] 50.26K --.-KB/s in 0.09s
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Run CMD Task:[dpkg --print-architecture]
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[/][0.00s] --2024-11-23 11:57:48-- http://mirror.fishros.com/install/tools/tran[|][0.10s] Connecting to mirror.fishros.com (mirror.fishros.com)|47.119.165.169|[-][0.10s] CMD Result:success
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[/][0.00s] --2024-11-23 11:57:49-- http://mirror.fishros.com/install/tools/tran[|][0.10s] Connecting to mirror.fishros.com (mirror.fishros.com)|47.119.165.169|[-][0.10s] CMD Result:success
Run CMD Task:[wget https://fishros.org.cn/forum/topic/1733 -O /tmp/t1733 -q --timeout 10 && rm -rf /tmp/t1733]
[-][0.00s] CMD Result:code:4
基础检查通过... ======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!=======
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配置工具:
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请输入[]内的数字以选择:8
Run CMD Task:[wget http://mirror.fishros.com/install/tools/tool_install_docker.py -O /tmp/fishinstall/tools/tool_install_docker.py --no-check-certificate]
[/][0.00s] --2024-11-23 11:59:43-- http://mirror.fishros.com/install/tools/tool[|][0.10s] Connecting to mirror.fishros.com (mirror.fishros.com)|47.119.165.169|[-][0.10s] CMD Result:success
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开始根据系统架构,为你下载对应版本的docker~
Run CMD Task:[sudo apt update]
[][1.27s] Hit:2 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InReleas[-][3.25s] CMD Result:success hem.
Run CMD Task:[apt-get update]
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Reading package lists... Done
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ca-certificates is already the newest version (20230311ubuntu0.18.04.1).
curl is already the newest version (7.58.0-2ubuntu3.24).
The following packages were automatically installed and are no longer required:
gir1.2-goa-1.0 gir1.2-snapd-1
Use 'sudo apt autoremove' to remove them.
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Run CMD Task:[echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/docker.asc] https://mirrors.tuna.tsinghua.edu.cn/docker-ce/linux/ubuntu $(lsb_release -cs) stable" > /etc/apt/sources.list.d/docker.list]
下载完成,接下来升级apt索引~
Run CMD Task:[apt-get update ]
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开始安装最新版本docker CE~
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Selecting previously unselected package git.
Preparing to unpack .../9-git_1%3a2.17.1-1ubuntu0.18_amd64.deb ...
Unpacking git (1:2.17.1-1ubuntu0.18) ...
Setting up git-man (1:2.17.1-1ubuntu0.18) ...
Setting up containerd.io (1.6.21-1) ...
Created symlink /etc/systemd/system/multi-user.target.wants/containerd.service → /lib/systemd/system/containerd.service.
Setting up liberror-perl (0.17025-1) ...
Setting up docker-ce-rootless-extras (5:24.0.2-1~ubuntu.18.04~bionic) ...
Setting up docker-buildx-plugin (0.10.5-1~ubuntu.18.04~bionic) ...
Setting up docker-compose-plugin (2.18.1-1~ubuntu.18.04~bionic) ...
Setting up docker-ce-cli (5:24.0.2-1~ubuntu.18.04~bionic) ...
Setting up pigz (2.4-1) ...
Setting up git (1:2.17.1-1ubuntu0.18) ...
Setting up docker-ce (5:24.0.2-1~ubuntu.18.04~bionic) ...
Created symlink /etc/systemd/system/multi-user.target.wants/docker.service → /lib/systemd/system/docker.service.
Created symlink /etc/systemd/system/sockets.target.wants/docker.socket → /lib/systemd/system/docker.socket.
Processing triggers for systemd (237-3ubuntu10.57) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for ureadahead (0.100.0-21) ...
Run CMD Task:[sudo groupadd docker]
groupadd: group 'docker' already exists
Run CMD Task:[sudo gpasswd -a shine docker]
Adding user shine to group docker
Run CMD Task:[sudo gpasswd -a root docker]
Adding user root to group docker
安装完成,接下来你可以尝试使用docker --version指令测试是有正常回显~
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鱼香小铺正式开业，最低499可入手一台能建图会导航的移动机器人，淘宝搜店：鱼香ROS 或打开链接查看：https://item.taobao.com/item.htm?id=696573635888
如在使用过程中遇到问题，请打开：https://fishros.org.cn/forum 进行反馈
标题：使用一键安装过程中遇到程序崩溃
Traceback (most recent call last): File "/tmp/fishinstall/install.py", line 134, in <module> main() File "/tmp/fishinstall/install.py", line 123, in main run_tool_file(tools[code]['tool'].replace("/",".")) File "/tmp/fishinstall/tools/base.py", line 1473, in run_tool_file tool = importlib.import_module(file.replace(".py","")).Tool() AttributeError: module 'tools.tool_config_system_source' has no attribute 'Tool'本次运行详细日志文件已保存至 /tmp/fishros_install.log
检测到本次运行出现失败命令,直接退出按Ctrl+C,按任意键上传日志并退出
看过论坛内有关n卡驱动的帖子但是NV settings中没有对应的选项不知道该怎么解决打不开rviz和gazebo的问题4e17dd3a-2be5-4820-bf3a-1b2a631508ab-image.png f4b4c2e3-b5bb-41dd-995d-bda98ed91eec-image.png
标题：[驱动雷达一直停留在Prepare to Accept connect!]
背景(可选)：
驱动雷达并建图
问题描述：启用雷达服务后，选择1驱动雷达，一直停留在Prepare to Accept connect!, 但是主控板和雷达控制板上面的IP我在电脑上都能Ping通，且运行McroRos服务也都有数据传输，键盘控制也没问题
尝试过的解决方法：重启过虚拟机和小车
报错内容：/home/john/ros2bookcode/chapt3/topic_practice_ws/install/status_display/lib/status_display/hello_qt: symbol lookup error: /snap/core20/current/lib/x86_64-linux-gnu/libpthread.so.0: undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE [ros2run]: Process exited with failure 127
46aef9f6-5d79-485b-97ba-de3b5fe5171c-图片.png
52baaaff-cbcf-4e79-87e7-80014492f9a5-图片.png
在视频6.2.2最后部分，输入 ros2 launch fishbot_description 后，出现报错
file 'NONE' was not found in the share directory of package 'fishbot_deescription'which is at '/home/saintoo/chapt7/chapt7_ws/install/fishbot_description/share/fishbot_description'
90253e7d-99a8-49e7-a5b7-e7f2493a6a7a-image.png
[ WARN] [1732267437.771779960, 5.001000000]: Waiting for arm_controller/follow_joint_trajectory to come up...
[ INFO] [1732267441.211594986, 8.428000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1732267441.211974507, 8.428000000]: Constructing new MoveGroup connection for group 'kr5_planning_group' in namespace ''
[ WARN] [1732267442.789623770, 10.001000000]: Waiting for arm_controller/follow_joint_trajectory to come up...
[ERROR] [1732267447.803488813, 15.001000000]: Action client not connected: arm_controller/follow_joint_trajectory
会报以上的错误，应该要怎么解决
标题：雷达建图漂移
背景(可选)：
想完成雷达建图
问题描述：启动建图后，RVIZ中的地图老是会漂移
具体细节和上下文：如图
dc2101b4-3d38-4292-b878-721d011eaeae-d80f05b10a74f915f3afdb5ea002302c.png
在CSDN查了一下，问题原因有很多，我无法确定是什么问题，有可能是陀螺仪飘了，但我也不知道怎么纠正
编译ros2消息通讯时，遇到CMake Error at /opt/ros/galactic/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:240 (list):list index: 1 out of range (-1, 0)；检查了所有的CmakeLists文件，xml文件，.msg文件（包括大小写），都未发现错误。翻阅各种材料也未找到原因，有谁遇到过此问题吗？
紧急通知：禁止一切关于政治&VPN翻墙等话题，发现相关帖子会立马删除封号
小鱼 ROS 2 新书上线！点击链接查看， 新书配套视频点击链接查看。
提问前必看的发帖注意事项—— 提问前必看！不符合要求的问题拒绝回答！！
社区使用指南—如何添加标签修改密码
小鱼 ROS 2 新书上线！点击链接查看， 新书配套视频点击链接查看。
提问前必看的发帖注意事项—— 提问前必看！不符合要求的问题拒绝回答！！
社区使用指南—如何添加标签修改密码
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