3

E: 无法下载 https://mirrors.ustc.edu.cn/ubuntu/pool/universe/f/freeimage/libfreeimage-dev_3.18.0%2Bds2-6ubuntu5.1_amd64.deb 暂时不能解析域名“mirrors.ustc.edu.cn”
E: 无法下载 https://mirrors.ustc.edu.cn/ubuntu/pool/universe/o/ogre-1.9/libogre-1.9-dev_1.9.0%2Bdfsg1-12.1ubuntu1_amd64.deb 暂时不能解析域名“mirrors.ustc.edu.cn”
E: 无法下载 https://mirrors.ustc.edu.cn/ubuntu/pool/universe/libt/libtar/libtar-dev_1.2.20-8ubuntu0.22.04.1_amd64.deb 暂时不能解析域名“mirrors.ustc.edu.cn”

ROS2机器人开发：从入门到实践
D

友友们有使用过第四代控制器版本的睿尔曼机械臂吗，ros1版本控制，在跑官方ros包时出现Rviz中的姿态和真实机械臂姿态不一致的问题，利用rostopic echo /joint_states也没有数据反馈，一直处于待接收状态 ，但是虚拟机和机械臂可以ping通，不知道是什么原因如何解决。

机器人学
H

出错截图如下：
c6020ed3-713f-4843-8847-cfa67fc658dc-5657331a82cd254b005f37e06551d7e.png
编译的时候报错：src/main.cpp:45:5: error: 'set_microros_wifi_transports' was not declared in this scope，set_microros_wifi_transports函数未声明
635071ff-1004-4bda-9349-791640de5ee5-1754583071097.png

FishBot二驱机器人
Z

[-][1.00s] CMD Result:code:2

检测到程序发生异常退出，请打开：https://fishros.org.cn/forum 携带如下内容进行反馈

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 1478, in run_tool_file if tool.run()==False: return False File "/tmp/fishinstall/tools/tool_config_rosdep.py", line 94, in run self.install_rosdepc() File "/tmp/fishinstall/tools/tool_config_rosdep.py", line 85, in install_rosdepc PrintUtils.print_warning("安装失败，尝试使用其他方式安装...") AttributeError: type object 'PrintUtils' has no attribute 'print_warning'
一键安装
1

最后输入ros2 run demo_cpp_pkg cpp_node时报错是什么原因呢，应该怎么解决这种情况？局部截取_20250807_210846.png

ROS2机器人开发：从入门到实践
5
标题：[nav2导航时，局部地图异常偏移，导致导航失败] 问题描述：

[自己用gazebo创建了个环境，用nav2进行导航， 给定目标点后，小车在行走过程中，局部膨胀地图随着激光雷达出现了偏移，将路线给挡住了，导致导航失败]

具体细节和上下文：

1,机器人的仿真模型是根据鱼哥的视频一步步走下来的；
2.我的param.yaml对全局和局部的配置如下：
2.1 全局配置：
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 2.0 #1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_footprint
use_sim_time: True
# robot_radius: 0.2
footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 6.0 #3.0
inflation_radius: 0.35 #0.15
always_send_full_costmap: True

2.2 局部配置：
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 2.0 #2.0 #5.0
publish_frequency: 0.5 #2.0
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: True
rolling_window: true
width: 5 #3
height: 5 #3
resolution: 0.02 #0.05
robot_radius: 0.46 #robot_radius: 0.2
footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 6.0 #3.0
inflation_radius: 0.45 #0.35 # 0.2 #0.15
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True

出现异常的图片：
a818fc44-b97e-41dc-8db9-ba8c1c59aa45-image.png 尝试过的解决方法：

我尝试将全局和局部地图的更新频率设置成一样的，但是没有效果。不知道是什么原因，求大佬帮忙分析下。

VIP问答专区
1
背景(可选)： 问题描述：docker容器里装了ros2，现在sudo apt update显示ros2的清华源密钥过期了

root@6c45ca8f7aff:/home/yby# sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://mirrors.aliyun.com/docker-ce/linux/ubuntu/gpg |
sudo gpg --dearmor -o /etc/apt/keyrings/docker.asc
root@6c45ca8f7aff:/home/yby# sudo apt update
Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4682 B]
Err:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease
The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org
Hit:2 https://mirrors.ustc.edu.cn/ubuntu jammy InRelease
Hit:3 https://mirrors.ustc.edu.cn/ubuntu jammy-updates InRelease
Hit:4 https://mirrors.ustc.edu.cn/ubuntu jammy-backports InRelease
Get:5 https://mirrors.aliyun.com/docker-ce/linux/ubuntu focal InRelease [57.7 kB]
Hit:6 https://mirrors.ustc.edu.cn/ubuntu jammy-security InRelease
Err:5 https://mirrors.aliyun.com/docker-ce/linux/ubuntu focal InRelease
The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 7EA0A9C3F273FCD8
Reading package lists... Done
W: http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
W: GPG error: http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics info@osrfoundation.org
E: The repository 'http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.
W: GPG error: https://mirrors.aliyun.com/docker-ce/linux/ubuntu focal InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 7EA0A9C3F273FCD8
E: The repository 'https://mirrors.aliyun.com/docker-ce/linux/ubuntu focal InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.
root@6c45ca8f7aff:/home/yby# ^C
root@6c45ca8f7aff:/home/yby#

具体细节和上下文：

按照教程一键安装docker+ros，在sudo apt update时出现问题，显示ros2所用的清华源已经过期。因为不知道如何修改容器里的ros源，所以想着修改docker源，修改后觉得不太对。

尝试过的解决方法：

修改 Docker 源为阿里云（Ubuntu 20.04）

编辑 docker.list
bash
复制
sudo nano /etc/apt/sources.list.d/docker.list 替换为阿里云 Docker CE 源
把原来的：
deb [arch=amd64 signed-by=/etc/apt/keyrings/docker.asc] https://mirrors.tuna.tsinghua.edu.cn/docker-ce/linux/ubuntu focal stable
改成：
deb [arch=amd64 signed-by=/etc/apt/keyrings/docker.asc] https://mirrors.aliyun.com/docker-ce/linux/ubuntu focal stable
注意：保留 signed-by=/etc/apt/keyrings/docker.asc，确保用的是官方 GPG 密钥。
社区运营
2

截图 2025-08-05 18-13-59.png 截图 2025-08-05 18-14-25.png 截图 2025-08-05 18-14-25.png

社区运营
S

fishbot四驱机器人V2的里程计和激光雷达数据在时间上有做同步吗？
如果时间上不同不，会影响到建图吗？
如果做了同步，请问是怎么做的时间同步的？

FishBot四驱机器人V2
9

1、我现在遇到了 在设备上发布ROS2相机话题，本机可以顺畅的收到。局域网里的设备可以收到，但是非常卡顿，丢帧验证的问题。当减小到data大小为115200byte时，局域网也可以顺畅接收
2、发布端关键代码如下：
// 构造函数修改：添加NodeOptions设置DDS参数
CCameraPublisher::CCameraPublisher(std::string name)
: rclcpp::Node(
"Image_publisher_" + sanitizeNodeName(name),
// 配置节点选项，设置DDS参数
&{
rclcpp::NodeOptions options;
// 设置FastDDS最大消息大小（字节），4MB = 4194304
options.append_parameter_override("fastrtps.fragment_size", 1400); // 分片大小 < MTU（如1400，留足IP头空间）
options.append_parameter_override("rmw_fastrtps_max_message_size", 10 * 1024 * 1024); // 大于实际消息大小
// 发布端和订阅端均需添加：
options.append_parameter_override("fastrtps.sendBufferSize", 8 * 1024 * 1024); // 发送缓冲区8MB
options.append_parameter_override("fastrtps.receiveBufferSize", 8 * 1024 * 1024); // 接收缓冲区8MB
options.append_parameter_override("ros_network_receive_buffer_size", 10 * 1024 * 1024); // ROS层缓冲区
// 禁用DDS域名自动发现，避免多播冲突
options.append_parameter_override("rmw_fastrtps_discovery_servers", std::vectorstd::string());
return options;
}()
)
{
// QoS配置保持不变，但建议显式设置历史深度
auto qos = rclcpp::SensorDataQoS()
.keep_last(10) // 队列深度
.best_effort() // 尽力而为模式
.durability_volatile() // volatile耐用性（不存储历史数据）
.deadline(rclcpp::Duration(std::chrono::milliseconds(100))); // 使用std::chrono兼容方式.deadline(rclcpp::Duration(std::chrono::milliseconds(100))); // 使用std::chrono兼容方式

tztek_info("QoS配置: best_effort, keep_last(10)"); m_Publisher = this->create_publisher<sensor_msgs::msg::CompressedImage>(name, qos); m_strTopic = name;

}
bool CCameraPublisher::Publisher(unsigned char *data, int datalen, int64_t tv_sec, int64_t tv_usec)
{
sensor_msgs::msg::CompressedImage image_msg;
image_msg.header.stamp.sec = static_cast<int32_t>(tv_sec);
image_msg.header.stamp.nanosec = static_cast<uint32_t>(tv_usec);
image_msg.header.frame_id = m_strTopic; // 设置帧ID
image_msg.data.resize(datalen);
image_msg.format = "jpg";
std::memcpy(image_msg.data.data(), (unsigned char *)data, image_msg.data.size()); // 填充压缩后的图像数据
m_Publisher->publish(image_msg);
// 更新帧信息
new_frame_ts_ = TZTEK_GetTime();
diff_time_ = new_frame_ts_ - old_frame_ts_; // 单位

tztek_dbg("%d.%09d, 发布 %s,datalen:%d 间隔: %dms",
image_msg.header.stamp.sec,
image_msg.header.stamp.nanosec,
image_msg.header.frame_id.c_str(),datalen,
diff_time_);

old_frame_ts_ = new_frame_ts_;

return true;
}

3、订阅端关键代码如下：
CompressedImageSubscriber() :
Node(
"compressed_image_subscriber",
// 配置节点选项，与发布端保持一致的DDS参数
{
rclcpp::NodeOptions options;
// 设置与发布端相同的最大消息大小（4MB）
options.append_parameter_override("fastrtps.fragment_size", 1400); // 分片大小 < MTU（如1400，留足IP头空间）
options.append_parameter_override("rmw_fastrtps_max_message_size", 10 * 1024 * 1024); // 大于实际消息大小
// 发布端和订阅端均需添加：
options.append_parameter_override("fastrtps.sendBufferSize", 8 * 1024 * 1024); // 发送缓冲区8MB
options.append_parameter_override("fastrtps.receiveBufferSize", 8 * 1024 * 1024); // 接收缓冲区8MB
options.append_parameter_override("ros_network_receive_buffer_size", 10 * 1024 * 1024); // ROS层缓冲区
// 禁用自动发现服务器，减少网络干扰
options.append_parameter_override("rmw_fastrtps_discovery_servers", std::vectorstd::string());
return options;
}()
),
first_callback_(true)
{
// 创建订阅者，使用与发布端完全匹配的QoS配置
auto qos = rclcpp::SensorDataQoS()
.keep_last(10) // 队列深度10，与发布端一致
.best_effort() // 尽力而为可靠性，与发布端匹配
.durability_volatile() // 不存储历史数据，减少内存占用
.deadline(rclcpp::Duration(std::chrono::milliseconds(100))); // 使用std::chrono兼容方式

subscriber_ = this->create_subscription<sensor_msgs::msg::CompressedImage>( "/cam1/compressed", qos, // 使用匹配的QoS配置 std::bind(&CompressedImageSubscriber::image_callback, this, std::placeholders::_1) ); RCLCPP_INFO(this->get_logger(), "Compressed image subscriber initialized with DDS params"); RCLCPP_INFO(this->get_logger(), "Subscribing to topic: %s", "/cam1/compressed"); RCLCPP_INFO(this->get_logger(), "QoS configuration: best_effort, keep_last(10)"); }

4、这个数据的 Data size: 576000 bytes，这个尺寸会异常丢帧，但是如果我修改
image_msg.data.resize(datalen/5);
std::memcpy(image_msg.data.data(), (unsigned char *)data, image_msg.data.size()/5);
局域网的设备也可以顺畅接收
5、订阅端的回调函数仅仅是打印
6、请主要关注为啥局域网的设备是否顺畅，与data size有关
7、网络带宽为
[ 5] local 192.168.37.96 port 39468 connected to 192.168.37.167 port 5201
[ ID] Interval Transfer Bitrate Retr Cwnd
[ 5] 0.00-1.00 sec 12.0 MBytes 101 Mbits/sec 0 206 KBytes
8、发布端发布1路数据，帧率为12.5fps,订阅端仅仅订阅一路
9、局域网的订阅端带宽：
jixufang@jixufang-Latitude-5401:~/ros2_workspace$ ros2 topic bw cam1/compressed
Subscribed to [cam1/compressed]
2.88 MB/s from 4 messages
Message size mean: 0.58 MB min: 0.58 MB max: 0.58 MB
1.28 MB/s from 4 messages
Message size mean: 0.58 MB min: 0.58 MB max: 0.58 MB
10、本机的订阅端带宽：
root@hobot:/map/ywy/cam_b24cf85b# ros2 topic bw cam1/compressed
Subscribed to [cam1/compressed]
5.78 MB/s from 13 messages
Message size mean: 0.44 MB min: 0.44 MB max: 0.44 MB
5.51 MB/s from 25 messages
Message size mean: 0.44 MB min: 0.44 MB max: 0.44 MB
5.56 MB/s from 38 messages
Message size mean: 0.44 MB min: 0.44 MB max: 0.44 MB

11、scp测试丢包情况：
root@hobot:/map/ywy/cam_b24cf85b# dd if=/dev/zero of=test.bin bs=576000 count=100
100+0 records in
100+0 records out
57600000 bytes (58 MB, 55 MiB) copied, 0.0404203 s, 1.4 GB/s
root@hobot:/map/ywy/cam_b24cf85b# ls
case_tztek cfg demo init_env.sh J6_Cam_User_Guide_V1.0.pdf test.bin tools tztek_camera.sh version
root@hobot:/map/ywy/cam_b24cf85b# scp test.bin jixufang@192.168.37.96:~/
Warning: Permanently added '192.168.37.96' (ED25519) to the list of known hosts.
jixufang@192.168.37.96's password:
test.bin 没看出来丢包

ROS 2相关问题
W

wzy@DESKTOP-AOGOC7F:~/ws_moveit2$ ros2 launch moveit2_tutorials demo.launch.py
[INFO] [launch]: All log files can be found below /home/wzy/.ros/log/2025-08-02-09-38-00-675071-DESKTOP-AOGOC7F-27823
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [27824]
[INFO] [static_transform_publisher-2]: process started with pid [27826]
[INFO] [robot_state_publisher-3]: process started with pid [27828]
[INFO] [move_group-4]: process started with pid [27830]
[INFO] [ros2_control_node-5]: process started with pid [27832]
[INFO] [spawner-6]: process started with pid [27834]
[INFO] [spawner-7]: process started with pid [27836]
[INFO] [spawner-8]: process started with pid [27838]
[static_transform_publisher-2] [WARN] [1754098680.948028663] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1754098680.982169551] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'panda_link0'
[robot_state_publisher-3] [INFO] [1754098681.018522512] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-3] [INFO] [1754098681.018726372] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-3] [INFO] [1754098681.018737042] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-3] [INFO] [1754098681.018742690] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-3] [INFO] [1754098681.018747510] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-3] [INFO] [1754098681.018752171] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-3] [INFO] [1754098681.018757723] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-3] [INFO] [1754098681.018762458] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-3] [INFO] [1754098681.018767225] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-3] [INFO] [1754098681.018771981] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-3] [INFO] [1754098681.018776685] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-3] [INFO] [1754098681.018781409] [robot_state_publisher]: got segment panda_rightfinger
[ros2_control_node-5] [WARN] [1754098681.025856905] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-5] [INFO] [1754098681.026141049] [resource_manager]: Loading hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027842303] [resource_manager]: Initialize hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027915165] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027931621] [resource_manager]: Loading hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027939477] [resource_manager]: Initialize hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027947482] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027976540] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027981912] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027985447] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027989407] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027992411] [resource_manager]: 'configure' hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027995490] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.027999716] [resource_manager]: 'activate' hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.028002784] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1754098681.034155736] [controller_manager]: update rate is 100 Hz
[ros2_control_node-5] [INFO] [1754098681.034214457] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-5] [WARN] [1754098681.034386819] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[move_group-4] [INFO] [1754098681.078095853] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0255684 seconds
[move_group-4] [INFO] [1754098681.078675744] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[move_group-4] [INFO] [1754098681.159887565] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1754098681.160116226] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1754098681.162039400] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1754098681.162783887] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1754098681.162818359] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1754098681.163241146] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1754098681.163270066] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1754098681.163695220] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1754098681.164021427] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1754098681.167018499] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1754098681.167064034] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1754098681.168733346] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-4] [INFO] [1754098681.211638444] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[ros2_control_node-5] [INFO] [1754098681.220138025] [controller_manager]: Loading controller 'joint_state_broadcaster'
[move_group-4] [INFO] [1754098681.220852886] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.220880861] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.220885140] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1754098681.220908528] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1754098681.220917648] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1754098681.220922362] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.220929114] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.220933191] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1754098681.220944635] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1754098681.220951632] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1754098681.220956643] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-4] [INFO] [1754098681.220959223] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1754098681.220961888] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1754098681.220964287] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1754098681.220966792] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1754098681.225317516] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[ros2_control_node-5] [INFO] [1754098681.235021707] [controller_manager]: Loading controller 'panda_arm_controller'
[move_group-4] [INFO] [1754098681.239313157] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-4] [INFO] [1754098681.244663501] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.244708580] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1754098681.244714472] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1754098681.244730843] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1754098681.244744931] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1754098681.244750070] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.244760039] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.244765007] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1754098681.244770836] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1754098681.244780921] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1754098681.244785540] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1754098681.244789277] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1754098681.244792610] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1754098681.244796390] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1754098681.246144820] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[spawner-6] [INFO] [1754098681.253890689] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[move_group-4] [INFO] [1754098681.257121138] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-4] [WARN] [1754098681.258871006] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[move_group-4] [WARN] [1754098681.258911933] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[ros2_control_node-5] [WARN] [1754098681.259039619] [panda_arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-5] [INFO] [1754098681.264976958] [controller_manager]: Loading controller 'panda_hand_controller'
[move_group-4] [INFO] [1754098681.268577785] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1754098681.268612215] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-4] [INFO] [1754098681.272577957] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-4] [INFO] [1754098681.272618693] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-4] [INFO] [1754098681.274551799] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-4] [INFO] [1754098681.274577013] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1754098681.276563181] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-4] [INFO] [1754098681.276630936] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[spawner-7] [INFO] [1754098681.279872189] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[move_group-4] [INFO] [1754098681.281572348] [moveit_ros.fix_workspace_bounds]: Param 'pilz_industrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1754098681.281615441] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000
[move_group-4] [INFO] [1754098681.281641781] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.281656825] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1754098681.281660870] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1754098681.281666019] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1754098681.281673578] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1754098681.281677581] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1754098681.281680160] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1754098681.281682815] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[ros2_control_node-5] [INFO] [1754098681.284886675] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1754098681.285011676] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-5] [INFO] [1754098681.295113767] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-5] [INFO] [1754098681.295307382] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1754098681.295334232] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1754098681.295371273] [panda_arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1754098681.296666165] [panda_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1754098681.299208427] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-8] [INFO] [1754098681.302633400] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-5] [INFO] [1754098681.314797380] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-5] [INFO] [1754098681.314898344] [panda_hand_controller]: Action status changes will be monitored at 20.000000 Hz.
[move_group-4] [INFO] [1754098681.340365531] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[move_group-4] [INFO] [1754098681.340436450] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-4] [INFO] [1754098681.343265394] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[move_group-4] [INFO] [1754098681.343448181] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1754098681.343482037] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1754098681.344029485] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1754098681.344054030] [move_group.move_group]: MoveGroup debug mode is ON
[spawner-7] [INFO] [1754098681.345556897] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller
[spawner-8] [INFO] [1754098681.365403658] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[move_group-4] [INFO] [1754098681.373568953] [move_group.move_group]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] * - ApplyPlanningSceneService
[move_group-4] * - ClearOctomapService
[move_group-4] * - CartesianPathService
[move_group-4] * - ExecuteTrajectoryAction
[move_group-4] * - GetPlanningSceneService
[move_group-4] * - KinematicsService
[move_group-4] * - MoveAction
[move_group-4] * - MotionPlanService
[move_group-4] * - QueryPlannersService
[move_group-4] * - StateValidationService
[move_group-4] ********************************************************
[move_group-4]
[move_group-4] [INFO] [1754098681.373633024] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1754098681.373640361] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4]
[move_group-4] You can start planning now!
[move_group-4]
[spawner-6] [INFO] [1754098681.395830899] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-7]: process has finished cleanly [pid 27836]
[INFO] [spawner-8]: process has finished cleanly [pid 27838]
[INFO] [spawner-6]: process has finished cleanly [pid 27834]
[rviz2-1] [INFO] [1754098682.876993663] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1754098682.877202779] [rviz2]: OpenGl version: 4.2 (GLSL 4.2)
[rviz2-1] [INFO] [1754098682.939618229] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1754098684.391233886] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1754098684.416077505] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1754098684.439471913] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.019429 seconds
[rviz2-1] [INFO] [1754098684.439552867] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1754098684.924842025] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0057921 seconds
[rviz2-1] [INFO] [1754098684.924890851] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1754098685.030988045] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1754098685.031812303] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1754098685.033134825] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1754098685.034485947] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1754098685.046524906] [interactive_marker_display_109031445708608]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1754098685.056351081] [moveit_ros_visualization.motion_planning_frame]: group panda_arm
[rviz2-1] [INFO] [1754098685.056388669] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[rviz2-1] [INFO] [1754098685.068290581] [move_group_interface]: Ready to take commands for planning group panda_arm.
[rviz2-1] [INFO] [1754098685.069730020] [interactive_marker_display_109031445708608]: Sending request for interactive markers
[rviz2-1] [INFO] [1754098685.093844896] [interactive_marker_display_109031445708608]: Service response received for initialization
整个运行信息看着是正常的。有朋友遇到这个问题吗，是怎么解决的

动手学ROS2
31470563493

0caaca3f-f361-45bc-91ba-14684f4604cc-image.png c4b71b08-7d03-4dc5-8e2c-63aa1bbdaa28-image.png

问题描述：

出现了如图所示的报错
[ERROR] [1753779025.670329548] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
active samplers with a different type refer to the same texture image unit
，此后自己在进行仿真建图时，出现的地图如图二所示很杂乱

具体细节和上下文：

在准备好gazebo环境，使用命令行ros2 launch slam_box online_async_launch.py use_sim_time:=True
后，再打开rviz2开始map插件，并将topic话题选择/map过后，便出现了如图所示的报错，此后自己在进行仿真建图时，出现的地图如图二所示很杂乱 ，而且地图更新的很慢

尝试过的解决方法：

自己后来根据ai的解决方案，排除了环境的原因也尝试重新安装rviz2，且采用强制兼容的模式MESA_GL_VERSION_OVERRIDE=3.3，也没能解决

Nav2
31470563493

[ERROR] [1753779025.670329548] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
active samplers with a different type refer to the same texture image unit

Nav2
O
问题描述：

在安装的navigation2中没有nav2_simple_commander这个命令，from nav2_simple_commander.robot_navigator import BasicNavigator输入该行代码时，下面一直有波浪线，下载navigation2也是跟着教程下载的，我的版本是foxy。

具体细节和上下文：

这是终端提示的错误：Traceback (most recent call last):
File "/home/ros2/chapt7/chapt7_ws/install/fishbot_application/lib/fishbot_application/init_robot_pose", line 11, in <module>
load_entry_point('fishbot-application==0.0.0', 'console_scripts', 'init_robot_pose')()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point
return ep.load()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load
return self.resolve()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve
module = import(self.module_name, fromlist=['name'], level=0)
File "/home/ros2/chapt7/chapt7_ws/install/fishbot_application/lib/python3.8/site-packages/fishbot_application/init_robot_pose.py", line 2, in <module>
from nav2_simple_commander.robot_navigator import BasicNavigator
ModuleNotFoundError: No module named 'nav2_simple_commander'

尝试过的解决方法：

重新克隆nav2包，但还是不行。

机器人学
Y
9.33pid控制电机出现震荡，跟鱼哥的kp差挺多 背景：代码都校对过了是一样的，小车是鱼哥的两轮小车，硬件都一样，kp跟鱼哥一样是0.625，ki0.125，kd0.0，但就会震荡，具体表现为轮子快速正转后反转，始终无法自调到100，kp降到0.4，就好了，求解决 调试： 自己调pid 亲测只有<0.45左右才不会出现震荡的情况，且没报错，只要kp<0.45，pid就能很快调到100 疑问：怀疑是否虽然是同一个硬件，但是硬件有微小差异，导致0.625用不了，虽然同一小车，但是具体kp 多少还得自己调出来 ros2新人，以下为代码求解答 #include <Arduino.h> #include <Esp32PcntEncoder.h> #include <Esp32McpwmMotor.h> #include <PidController.h> Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器 Esp32McpwmMotor motors; PidController pid_controller[2]; int32_t last_tick[2] = {0, 0}; int32_t delta_tick[2] = {0, 0}; uint32_t last_update_time = 0; float current_speed[2] = {0, 0}; void setup() { // 1.初始化串口 Serial.begin(115200); // 初始化串口通信，设置通信速率为115200 motors.attachMotor(0, 22, 23); // 将电机0连接到引脚 motors.attachMotor(1, 12, 13); // 将电机1连接到引脚 // 2.设置编码器 encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接 encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接 // motors.updateMotorSpeed(0,50); //设置两个电机pwm占空比 // motors.updateMotorSpeed(1,50); // piccontroller参数 初始化 pid_controller[0].update_pid(0.425, 0.125, 0.0); // 设置PID参数 kp ki kd pid_controller[1].update_pid(0.425, 0.125, 0.0); // pid_controller[0].out_limit(-100, 100); pid_controller[1].out_limit(-100, 100); pid_controller[0].update_target(100); // 使用mm/s为单位，为了提高精度 pid_controller[1].update_target(100); // } // 用于控制电机的速度/闭环控制pid void motorSpeedControl() { // 计算tick差 delta_tick[0] = encoders[0].getTicks() - last_tick[0]; delta_tick[1] = encoders[1].getTicks() - last_tick[1]; // 计算速度 dt为毫秒 毫米/毫秒 -> 毫米/秒 int16_t dt = millis() - last_update_time; current_speed[0] = (delta_tick[0] * 0.105805) * 1000 / dt; //mm/s current_speed[1] = (delta_tick[1] * 0.105805) * 1000 / dt; //mm/s // 调用pid，获取动态的输出值 motors.updateMotorSpeed(0, pid_controller[0].update(current_speed[0])); motors.updateMotorSpeed(1, pid_controller[1].update(current_speed[1])); // // 打印距离 // Serial.printf("左轮已行驶路程距离=%f cm ", (encoders[0].getTicks()) * 0.105849 / 10); // delay(100); // Serial.printf("右轮已行驶路程距离=%f cm ", (encoders[1].getTicks()) * 0.105849 / 10); // delay(100); // 打印速度 last_tick[0] = encoders[0].getTicks(); last_tick[1] = encoders[1].getTicks(); last_update_time = millis(); } void loop() { delay(10); // 等待10毫秒 motorSpeedControl(); Serial.printf("左轮实时速度=%f m/s", current_speed[0]/1000);//mm/s->m/s delay(100); Serial.printf("右轮实时速度=%f m/s\n", current_speed[1]/1000); delay(100); }
FishBot二驱机器人
Y

45c742d2-d58b-488c-a87c-c339a826d78f-image.png 这是什么问题，建图时候有错误吗？还是在设置属性时有错误

ROS2机器人开发：从入门到实践
H

屏幕截图 2025-07-26 104436.png主控节点使用树莓派5安装的jazzy版本，机械臂为humble版本，我在连接机械臂的时候发现能找到动作但是查找不到节点，求解答

ROS2机器人开发：从入门到实践
3

手动添加环境变量
7bab8f1a-bc1a-4c98-a9ca-845c15d5c177-image.png
source添加环境变量
c6cd6eb5-01ef-4f56-bbf0-8a9d70053a5b-image.png

机器人学
2

我想用机器人做给定角度的旋转，下面是我的代码

void Motor::spin_with_angle(float angle, int speed_ratio, bool clockwise) { spin_mode(speed_ratio, clockwise); if(!clockwise){ angle = -angle; // If not clockwise, reverse the angle } Serial.printf("Spinning with angle: %.2f degrees, speed: %d, clockwise: %d\n", angle, speed_ratio, clockwise); imu.mpu.update(); // Update the IMU data float present_angle = imu.getAngle('z'); // Get the current angle from the IMU float target_angle = _calTargetAngle(angle, present_angle); // Calculate the target angle printf("Current angle: %.2f, Target angle: %.2f\n", imu.getAngle('z'), target_angle); while( clockwise ? imu.getAngle() < target_angle : imu.getAngle() > target_angle ) { printf("Current angle: %.2f, Target angle: %.2f\n", imu.getAngle('z'), target_angle); // Continuously check the angle until the target angle is reached delay(10); imu.mpu.update(); // Update the IMU data } spin_mode(0, true); // Stop the motors after reaching the target angle // Implement the actual spinning logic here }

他的逻辑很简单，就是先算当前角跟目标角，然后开始转，并持续跟踪，等到到达后就停止，但结果我发现无论怎么设置，甚至我人为给目标角加上一个修正项（大概-20°），他还是会在我设置90度时转动到100多度，我测试下是每10次90°旋转大概转3圈（这个还挺精准的，我试过多次，都是大概10次3圈，相差不会大于+-10°），也就是每次大约都会转108°，即使我设置让他转70°，他还是会转这么多。这有什么解决的办法吗

我把mpu封装到了Imu类里，这个类只有一个mpu的实例和一些函数的简单再封装，而Motor类就定义了一些操作马达的函数，spin_mode就是设置pwmratio和顺时针还是逆时针。

我比较希望有离线的方案，因为我需要用到的测试软件只能在windows下用，但如果要无线链接又得用linux版本，而且我期望的测试目标是绕一个固定的路线，所以期望他的旋转角能精度比较高。

FishBot四驱机器人V2
L

这是我在将宇树四足机器人go2的ros1开源代码移植到ros2时遇到的问题。

造成这个问题的原因是，在ros2的launch启动文件中，写入了加载控制器节点，但是ros2的controller_manager在搜索控制器时却搜索不到。所以解决本问题的思路是如何让controller_manager知道在哪搜索控制器。

1）新建xacro文件，添加ros2_control标签，并在标签中定义控制器，并加入你的yaml文件路径。注：如果你也是ros1移植ros2，要注意ros1定义控制器的标签是transmission，在ros2中已经替换成了ros2_control标签，你需要将transmission标签换成ros2_control标签，包括里面的内容也可能需要修改

<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <!-- 声明宏 --> <xacro:macro name="your_controller" params="name"> <!-- 需要替换成你的名字，可随便起 --> <ros2_control name="your_hardware_interface" type="system"> <!-- 需要替换成你的名字，可随便起 --> <hardware> <plugin>gazebo_ros2_control/GazeboSystem</plugin> </hardware> <joint name= "your_joint"> <!-- 需要替换成你的名字，需与模型文件里的关节名一致 --> <!-- 命令接口：力矩控制 --> <command_interface name="effort"> <param name="min">-10.0</param> <!-- 实际值需根据电机调整 --> <param name="max">10.0</param> <!-- 单位：牛顿米(N·m) --> </command_interface> <!-- 状态反馈接口 --> <state_interface name="position"/> <!-- 关节位置 --> <state_interface name="velocity"/> <!-- 关节速度 --> <state_interface name="effort"/> <!-- 关节力矩 --> </joint> </ros2_control> </xacro:macro> <gazebo> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <parameters>$(find your_pkg)/config/your_config.yaml</parameters> <!-- 需要替换成你的包名和路径 --> </plugin> </gazebo> </robot>

2）修改yaml文件格式，确保格式正确

controller_manager: ros__parameters: update_rate: 100 # Hz use_sim_time: true # 控制器列表及类型 joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster your_controller: type: unitree_legged_control/UnitreeJointController # 各个控制器的具体配置 joint_state_broadcaster: ros__parameters: # No specific parameters needed for the broadcaster usually update_rate: 1000 # FL Controllers Parameters your_controller: ros__parameters: joint: your_joint command_interfaces: - effort state_interfaces: - effort - position - velocity #!!!your_controller名字需一致

3）如果你也是ros1迁移ros2，需要注意在xacro文件里的很多插件，如gazebo_ros_control，是ros1提供的插件，但是在ros2中是不能使用的，所以需要对其注释掉或者修改

动手学ROS2
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
 提问前必看的发帖注意事项： 社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

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  • 社区运营&开源工具

    学习资源 社区运营 一键安装 FishROS2GO
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    D

    友友们有使用过第四代控制器版本的睿尔曼机械臂吗，ros1版本控制，在跑官方ros包时出现Rviz中的姿态和真实机械臂姿态不一致的问题，利用rostopic echo /joint_states也没有数据反馈，一直处于待接收状态 ，但是虚拟机和机械臂可以ping通，不知道是什么原因如何解决。

  • 460
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    H

    @hello_clover
    头文件没有问题，只有set_microros_wifi_transports这个函数有问题
    1bf7bb48-38c6-4beb-b249-fad669186ee1-1754583182167.png

  • 针对社区VIP用户问答专区

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    5

    标题：[nav2导航时，局部地图异常偏移，导致导航失败] 问题描述：

    [自己用gazebo创建了个环境，用nav2进行导航， 给定目标点后，小车在行走过程中，局部膨胀地图随着激光雷达出现了偏移，将路线给挡住了，导致导航失败]

    具体细节和上下文：

    1,机器人的仿真模型是根据鱼哥的视频一步步走下来的；
    2.我的param.yaml对全局和局部的配置如下：
    2.1 全局配置：
    global_costmap:
    global_costmap:
    ros__parameters:
    update_frequency: 2.0 #1.0
    publish_frequency: 1.0
    global_frame: map
    robot_base_frame: base_footprint
    use_sim_time: True
    # robot_radius: 0.2
    footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
    resolution: 0.05
    track_unknown_space: true
    plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
    obstacle_layer:
    plugin: "nav2_costmap_2d::ObstacleLayer"
    enabled: True
    observation_sources: scan
    scan:
    topic: /scan
    max_obstacle_height: 2.0
    clearing: True
    marking: True
    data_type: "LaserScan"
    raytrace_max_range: 3.0
    raytrace_min_range: 0.0
    obstacle_max_range: 2.5
    obstacle_min_range: 0.0
    static_layer:
    plugin: "nav2_costmap_2d::StaticLayer"
    map_subscribe_transient_local: True
    inflation_layer:
    plugin: "nav2_costmap_2d::InflationLayer"
    cost_scaling_factor: 6.0 #3.0
    inflation_radius: 0.35 #0.15
    always_send_full_costmap: True

    2.2 局部配置：
    local_costmap:
    local_costmap:
    ros__parameters:
    update_frequency: 2.0 #2.0 #5.0
    publish_frequency: 0.5 #2.0
    global_frame: odom
    robot_base_frame: base_footprint
    use_sim_time: True
    rolling_window: true
    width: 5 #3
    height: 5 #3
    resolution: 0.02 #0.05
    robot_radius: 0.46 #robot_radius: 0.2
    footprint: "[[0.325,-0.275],[0.325,0.275],[-0.325,0.275],[-0.325,-0.275]]"
    plugins: ["voxel_layer", "inflation_layer"]
    inflation_layer:
    plugin: "nav2_costmap_2d::InflationLayer"
    cost_scaling_factor: 6.0 #3.0
    inflation_radius: 0.45 #0.35 # 0.2 #0.15
    obstacle_layer:
    plugin: "nav2_costmap_2d::ObstacleLayer"
    enabled: True
    observation_sources: scan
    scan:
    topic: /scan
    max_obstacle_height: 2.0
    clearing: True
    marking: True
    data_type: "LaserScan"
    raytrace_max_range: 3.0
    raytrace_min_range: 0.0
    obstacle_max_range: 2.5
    obstacle_min_range: 0.0
    voxel_layer:
    plugin: "nav2_costmap_2d::VoxelLayer"
    enabled: True
    publish_voxel_map: True
    origin_z: 0.0
    z_resolution: 0.05
    z_voxels: 16
    max_obstacle_height: 2.0
    mark_threshold: 0
    observation_sources: scan
    scan:
    topic: /scan
    max_obstacle_height: 2.0
    clearing: True
    marking: True
    data_type: "LaserScan"
    raytrace_max_range: 3.0
    raytrace_min_range: 0.0
    obstacle_max_range: 2.5
    obstacle_min_range: 0.0
    static_layer:
    plugin: "nav2_costmap_2d::StaticLayer"
    map_subscribe_transient_local: True
    always_send_full_costmap: True

    出现异常的图片：
    a818fc44-b97e-41dc-8db9-ba8c1c59aa45-image.png 尝试过的解决方法：

    我尝试将全局和局部地图的更新频率设置成一样的，但是没有效果。不知道是什么原因，求大佬帮忙分析下。

  • 《ROS2机器人开发：从入门到实践》书籍配套资料答疑专区

    ROS 2相关问题
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    X

    @小伊 我自启动发现功能正常，但是用ros2 node list没办法看到正在运行的程序，也没法主动关掉，怎么办

  • 综合问题讨论版块 | 版主 @吴凯荣 @小鱼

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    7

    我有遇到和你相同的报错：[WARN]: Messages of type 0 arrived out of order (will print only once)，使用情景是ros2下使用rosbag播放预先录制的摄像头拍摄画面，当播放指令为循环播放时：ros2 bag play -l，代码中同步器会在当前这一次循环结束时产生这种报错。

  • 机械臂力控板块 | 版主： @陆门马

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    24310882892

    400f79ff-8a2f-4584-b099-ffe7dbc31462.jpeg

    机械臂，遥操作+加力反馈，如何实现？

    遥操作：通过手柄，手机，或者任何形式的“遥控器”遥控机械臂的运动。最简单的形式就是以一个机械臂（主臂）遥控另一个机械臂（从臂）。

    力反馈：当从臂碰到障碍物时，主臂可以以力的形式感受到这个障碍物，所谓“感受”就是操作者感受到主臂的力。

    代码：https://gitee.com/qingqing-gaq/feel_force.git

    视频：https://www.bilibili.com/video/BV1KoEqzyEFR/?vd_source=36451ca805358187c4a0efa1c5694b35

    我的实现思路：
    软件：rso2
    硬件：双通道usb转can模块，六个达妙4310电机。

    六个电机，组成两个三自由度机械臂。一个can通道控制一个机械臂。

    大体逻辑：
    主臂时重力补偿模式，因为只有重力补偿才能任意拖动。主臂把实时的关节位置，发送给从臂，因此从臂必然是位置控制模式，这样才能跟踪主臂的位置。
    那么主臂如何感受从臂的力呢？这里就需要电机有力矩接口了（达妙电机的mit模式），当从臂电机受到阻力时，pid控制力就会变大，电机反馈会的力也会变大，这个变大的值就是阻力了。把这个力反馈给主臂即可。
    程序运行逻辑：
    23467808-ec76-44af-b4b5-f339ae8f85d4.png
    操作逻辑的代码：

    std::cout << "JointPositionControl::execute..............." << std::endl; //从对应的can接收线程中读取电机状态，并更新到机械臂类储存关节状态的变量（下面会用到）中 arm->update_current_joint_states();//一定要在get_current_joint_states()之前执行 arm2->update_current_joint_states();//一定要在get_current_joint_states()之前执行 //从机械臂类里返回储存关节状态的变量 const auto &curret_joint_states = arm->get_current_joint_states(); const auto &curret_joint_states2 = arm2->get_current_joint_states(); //根据当前的关节状态，计算逆动力学，进行重力补偿。 arm->computeInverseDynamics(arm->current_joint_positions, arm->current_joint_velocities, arm->current_joint_acceleration, arm->gravity_joint_tauqes); arm2->computeInverseDynamics(arm2->current_joint_positions, arm2->current_joint_velocities, arm2->current_joint_acceleration, arm2->gravity_joint_tauqes); std::vector<float> pos1(arm->getDof(), 0.0f); std::vector<float> pos2(arm->getDof(), 0.0f); std::vector<float> vel(arm->getDof(), 0.0f); std::vector<float> vel2(arm->getDof(), 0.0f); std::vector<float> tor(arm->getDof(), 0.0f); std::vector<float> tor2(arm2->getDof(), 0.0f); for (size_t i = 0; i < arm->getDof(); i++) { if(i==2) {//三号电机转向和模型相反，所以要单独加一个负号 tor[i] = -arm->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 tor2[i] = -arm2->gravity_joint_tauqes(i);//发送给从臂的重力补偿力矩 } else { tor[i] = arm->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 tor2[i] = arm2->gravity_joint_tauqes(i);//发送给主臂的重力补偿力矩 } //主臂的关节速度，发送给从臂 vel2[i] = 0.10 * curret_joint_states.at(i).velocity; // 系数越大手感越硬。 //主臂的关节位置，发送给从臂 pos2[i] = curret_joint_states.at(i).position; } float torque_threshold = 0.04f; // 设置阈值 //从臂受到的阻力，返回给主臂 for (size_t i = 0; i < arm->getDof(); i++) { if (std::abs(curret_joint_states2.at(i).torque) > torque_threshold) { tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); // 如果超过阈值，按原逻辑计算 } else { tor[i] += 0.0f; // 否则赋值为 0 } } // pos2[0] = 0; tor2[0] = 0; arm->send_joint_states(pos1, vel, tor);//向主臂发送关节的状态 arm2->send_joint_states(pos2, vel2, tor2);//向从臂发送关节的状态

    其中：主臂位置发送给从臂的逻辑好理解。

    pos2[i] = curret_joint_states.at(i).position; //curret_joint_states.at(i).position：主臂的实时关节位置 //pos2[i]：发送给从臂的关节位置

    这一句是从臂的力矩反馈给主臂。有一步操作是从臂反馈的力矩减去了重力补偿力矩，这是因为，反馈的电机力矩是pid产生的。这个pid产生的控制力矩就包含重力力矩，如果把这个力也算上发送给主臂，那主臂就会变的很称，因为从臂把重力也传过来了。

    tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); //tor[i]： 发送给主臂的关节力矩 //curret_joint_states2.at(i).torque：从臂电机反馈会来的力矩 //tor2[i]：发送给从臂的重力补偿力矩。 //-0.5：缩放系数

    这个if判断的作用是，避免从臂传来的力一直在小幅度波动，只有从臂反馈的力大于一个值，这个力才会被加载到主臂上。

    float torque_threshold = 0.04f; // 设置阈值 //从臂受到的阻力，返回给主臂 for (size_t i = 0; i < arm->getDof(); i++) { if (std::abs(curret_joint_states2.at(i).torque) > torque_threshold) { tor[i] += -0.5 * (curret_joint_states2.at(i).torque - tor2[i]); // 如果超过阈值，按原逻辑计算 } else { tor[i] += 0.0f; // 否则赋值为 0 } }

    这又是一个神奇的操作。就是让从臂有期望速度。作用就是会影响操作手感。

    vel2[i] = 0.10 * curret_joint_states.at(i).velocity; // 系数越大手感越硬。

    ok这就是整个的实现逻辑，非常简陋。

    程序框架简介：https://zwf9l1z0bm3.feishu.cn/docx/Ee3EdW8meoy79uxzBQVcXe11nfh?from=from_copylink
    qq交流群：523255719

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    @3274759051 请查看一下下面链接里我的最新回复，里面有个网盘链接，下载后编译烧录固件尝试一下
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    https://fishros.org.cn/forum/topic/4289/stm32系列microros环境配置-更新-使用cmake管理/26?_=1753949287658

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