想用ros和unity进行仿真，在github上找的项目运行不下去，放假回来电脑崩溃了要重新开始，有没有人可以帮帮我！！可以有偿咨询。

求救求救，呜呜呜

fishbot_ros2_controller.yaml文件内容：

controller_manager: ros__parameters: update_rate: 100 # Hz use_sim_time: true fishbot_joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster use_sim_time: true fishbot_effort_controller: type: effort_controllers/JointGroupEffortController fishbot_effort_controller: ros__parameters: joints: - left_wheel_joint - right_wheel_joint command_interfaces: - effort state_interfaces: - position - velocity - effort

gazebo_sim.launch.py文件内容：

import launch import launch_ros from ament_index_python.packages import get_package_share_directory import os def generate_launch_description(): # 获取功能包的share路径 urdf_package_path = get_package_share_directory('fishbot_description') defualt_xacro_path = os.path.join(urdf_package_path, 'urdf', 'fishbot/fishbot.urdf.xacro') defualt_gazebo_world_path = os.path.join(urdf_package_path, 'world', 'custom_room.world') # 声明一个urdf目录的参数，方便修改 action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument( name='model', default_value=str(defualt_xacro_path), description='加载的模型文件路径' ) # 通过文件路径，获取内容，并转换成参数值对象，以供传入 robot_state_publisher substitutions_command_result = launch.substitutions.Command(['xacro ', launch.substitutions.LaunchConfiguration('model')]) robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result, value_type=str) action_robot_state_publisher = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description':robot_description_value}] ) action_launch_gazebo = launch.actions.IncludeLaunchDescription( launch.launch_description_sources.PythonLaunchDescriptionSource( [get_package_share_directory('gazebo_ros'),'/launch','/gazebo.launch.py'] ), launch_arguments=[('world',defualt_gazebo_world_path),('verbose','true')] ) action_spawm_entity = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', arguments=['-topic','/robot_description','-entity','fishbot'] ) action_load_joint_state_controller = launch.actions.ExecuteProcess( cmd='ros2 control load_controller fishbot_joint_state_broadcaster --set-state active'.split(' '), output='screen' ) action_load_effort_controller = launch.actions.ExecuteProcess( cmd='ros2 control load_controller fishbot_effort_broadcaster --set-state active'.split(' '), output='screen' ) return launch.LaunchDescription([ action_declare_arg_mode_path, action_robot_state_publisher, action_launch_gazebo, action_spawm_entity, launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_spawm_entity, on_exit=[action_load_joint_state_controller], ) ), launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_load_joint_state_controller, on_exit=[action_load_effort_controller], ) ), ])

报错内容：

charlie@charlie-VirtualBox:~/chapt6/chapt6_ws$ ros2 launch fishbot_description gazebo_sim.launch.py [INFO] [launch]: All log files can be found below /home/charlie/.ros/log/2025-08-14-13-26-32-002900-charlie-VirtualBox-14576 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [14582] [INFO] [gzserver-2]: process started with pid [14584] [INFO] [gzclient-3]: process started with pid [14586] [INFO] [spawn_entity.py-4]: process started with pid [14588] [robot_state_publisher-1] [INFO] [1755149192.409618885] [robot_state_publisher]: got segment back_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409707476] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1755149192.409716020] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1755149192.409720830] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1755149192.409725466] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-1] [INFO] [1755149192.409730113] [robot_state_publisher]: got segment front_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409734683] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1755149192.409739214] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-1] [INFO] [1755149192.409743668] [robot_state_publisher]: got segment laser_link [robot_state_publisher-1] [INFO] [1755149192.409748291] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-1] [INFO] [1755149192.409752794] [robot_state_publisher]: got segment right_wheel_link [gzclient-3] Gazebo multi-robot simulator, version 11.10.2 [gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-3] Released under the Apache 2 License. [gzclient-3] http://gazebosim.org [gzclient-3] [gzserver-2] Gazebo multi-robot simulator, version 11.10.2 [gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-2] Released under the Apache 2 License. [gzserver-2] http://gazebosim.org [gzserver-2] [spawn_entity.py-4] [INFO] [1755149192.721795812] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1755149192.722152998] [spawn_entity]: Loading entity published on topic /robot_description [spawn_entity.py-4] [INFO] [1755149192.723538076] [spawn_entity]: Waiting for entity xml on /robot_description [spawn_entity.py-4] [INFO] [1755149192.737648830] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1755149192.737973586] [spawn_entity]: Waiting for service /spawn_entity [gzserver-2] [Wrn] [gazebo_ros_init.cpp:178] [gzserver-2] # # ####### ####### ### ##### ####### [gzserver-2] ## # # # # # # # # [gzserver-2] # # # # # # # # # [gzserver-2] # # # # # # # # ##### [gzserver-2] # # # # # # # # # [gzserver-2] # ## # # # # # # # [gzserver-2] # # ####### # ### ##### ####### [gzserver-2] [gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life [gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo [gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli) [gzserver-2] [gzserver-2] [spawn_entity.py-4] [INFO] [1755149193.630002076] [spawn_entity]: Calling service /spawn_entity [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 10.0.2.15 [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in "" [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 10.0.2.15 [gzserver-2] [Msg] Loading world file [/home/charlie/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [gzserver-2] [INFO] [1755149194.040022442] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-2] [INFO] [1755149194.041348511] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1755149194.041969718] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [spawn_entity.py-4] [INFO] [1755149194.167642949] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot] [gzserver-2] [INFO] [1755149194.188820356] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-2] [INFO] [1755149194.196361687] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-2] [INFO] [1755149194.196411774] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-2] [INFO] [1755149194.202945161] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1755149194.204511542] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1755149194.204661865] [gazebo_ros2_control]: Loading parameter files /home/charlie/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml [gzserver-2] [INFO] [1755149194.216888925] [gazebo_ros2_control]: Loading joint: left_wheel_joint [gzserver-2] [INFO] [1755149194.216973229] [gazebo_ros2_control]: State: [gzserver-2] [INFO] [1755149194.216996699] [gazebo_ros2_control]: position [gzserver-2] [INFO] [1755149194.217017614] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.217035265] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.217410237] [gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1755149194.217472195] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.217882558] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.217932050] [gazebo_ros2_control]: Loading joint: right_wheel_joint [gzserver-2] [INFO] [1755149194.217953011] [gazebo_ros2_control]: State: [gzserver-2] [INFO] [1755149194.217970816] [gazebo_ros2_control]: position [gzserver-2] [INFO] [1755149194.217992609] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.218018592] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.218073496] [gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1755149194.218104275] [gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1755149194.218310209] [gazebo_ros2_control]: effort [gzserver-2] [INFO] [1755149194.218444212] [resource_manager]: Initialize hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.218787765] [resource_manager]: Successful initialization of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219203076] [resource_manager]: 'configure' hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219228919] [resource_manager]: Successful 'configure' of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219242935] [resource_manager]: 'activate' hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219255560] [resource_manager]: Successful 'activate' of hardware 'FishBotGazeboSystem' [gzserver-2] [INFO] [1755149194.219508454] [gazebo_ros2_control]: Loading controller_manager [gzserver-2] [WARN] [1755149194.240378504] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-2] [INFO] [1755149194.240584522] [gazebo_ros2_control]: Loaded gazebo_ros2_control. [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 14588] [INFO] [ros2-5]: process started with pid [14745] [gzserver-2] [INFO] [1755149195.120629564] [controller_manager]: Loading controller 'fishbot_joint_state_broadcaster' [gzserver-2] [INFO] [1755149195.145931071] [controller_manager]: Configuring controller 'fishbot_joint_state_broadcaster' [gzserver-2] [INFO] [1755149195.146586668] [fishbot_joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ros2-5] Successfully loaded controller fishbot_joint_state_broadcaster into state active [gzclient-3] context mismatch in svga_surface_destroy [gzclient-3] context mismatch in svga_surface_destroy [INFO] [ros2-5]: process has finished cleanly [pid 14745] [INFO] [ros2-6]: process started with pid [14781] [gzserver-2] [ERROR] [1755149196.607657076] [controller_manager]: The 'type' param was not defined for 'fishbot_effort_broadcaster'. [ros2-6] Error loading controller, check controller_manager logs [ERROR] [ros2-6]: process has died [pid 14781, exit code 1, cmd 'ros2 control load_controller fishbot_effort_broadcaster --set-state active'].

e303b6248484e1f5a1c006982b7633b2.png :
ros，docker```
code_text

wros@wros-VirtualBox:~/chapt2$ make
Consolidate compiler generated dependencies of target ros2_cpp_node
[ 50%] Building CXX object CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o
/home/wros/chapt2/ros2_cpp_node.cpp: In function ‘int main(int, char**)’:
/home/wros/chapt2/ros2_cpp_node.cpp:5:22: error: parse error in template argument list
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/wros/chapt2/ros2_cpp_node.cpp:5:48: error: no matching function for call to ‘make_shared<<expression error> >(const char [9])’
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ~^~
In file included from /usr/include/c++/11/memory:77,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
from /home/wros/chapt2/ros2_cpp_node.cpp:1:
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’
875 | make_shared(_Args&&... __args)
| ^
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: template argument deduction/substitution failed:
/home/wros/chapt2/ros2_cpp_node.cpp:5:48: error: template argument 1 is invalid
5 | auto node = std::make_sharedrclcpp:::Node("cpp_node"); //创建节点
| ~^~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/wros/chapt2/ros2_cpp_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:531:81: error: template argument 1 is invalid
531 | ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>,
| ^~
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:531:97: error: template argument 1 is invalid
531 | ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>,
| ^~
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^~~~~
/opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:532:32: error: template argument 1 is invalid
532 | typename ::rclcpp::Logger>::value,
| ^
/home/wros/chapt2/ros2_cpp_node.cpp:6:5: note: in expansion of macro ‘RCLCPP_INFO’
6 | RCLCPP_INFO(node->get_logger(),"你好，C++节点！"); //打印日志
| ^~~~~~~~~~~
make[2]: *** [CMakeFiles/ros2_cpp_node.dir/build.make:76：CMakeFiles/ros2_cpp_node.dir/ros2_cpp_node.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:85：CMakeFiles/ros2_cpp_node.dir/all] 错误 2
make: *** [Makefile:101：all] 错误 2

系统：20.04，ros：noetic，使用一键安装指令安装rosdepc。
问题：尝试了所有的pip源，在执行sudo pip3 install -i https://mirrors.aliyun.com/pypi/simple rosdepc --break-system-packages失败
QQ图片20250812151116.png
打开终端执行这条指令显示没有--break-system-packages这个参数
QQ图片20250812151301.png

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'

本次运行详细日志文件已保存至 /tmp/fishros_install.log

sudo rosdep init
/usr/bin/rosdep:6: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
from pkg_resources import load_entry_point
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
<urlopen error <urlopen error [Errno 111] Connection refused> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list)>
配置ros源时：小鱼:检测当前系统ubuntu22.04:jammy 支持一键安装ROS
============正在添加ROS源密钥=================
Run CMD Task:[sudo apt update]
[-][11.15s] CMD Result:success

Run CMD Task:[sudo apt search curl ]
[-][0.45s] CMD Result:success

Run CMD Task:[sudo apt install curl -y]
[-][0.33s] CMD Result:success

Run CMD Task:[sudo apt search gnupg2 ]
[-][0.43s] CMD Result:success

Run CMD Task:[sudo apt install gnupg2 -y]
[-][0.31s] CMD Result:success

正在挑选最快的密钥服务:['https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc', 'https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc']

https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc 延时:0.33s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc 超时
已自动选择最快密钥服务:https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc
Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
[-][0.38s] CMD Result:success

Run CMD Task:[sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654]
[-][10.07s] CMD Result:code:2

Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo gpg --no-default-keyring --keyring gnupg-ring:/etc/apt/trusted.gpg.d/ros.gpg --import]
[-][0.36s] CMD Result:success

Run CMD Task:[sudo chmod 644 /etc/apt/trusted.gpg.d/ros.gpg]
[-][0.00s] CMD Result:success

Run CMD Task:[dpkg --print-architecture]
[-][0.00s] CMD Result:success

根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/']
创建文件:/etc/apt/sources.list.d/ros-fish.list
Run CMD Task:[sudo apt update]
[-][11.62s] CMD Result:success

Run CMD Task:[sudo apt search ros-base ]
[-][0.50s] CMD Result:success

恭喜，成功添加ROS源，接下来可以使用apt安装ROS或者使用[1]一键安装ROS安装！
欢迎加入机器人学习交流QQ群：438144612(入群口令：一键安装)
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

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

colcon build时find_package(OpenMP REQUIRED)报错，显示为：

CMake Error at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
Could NOT find OpenMP_CXX (missing: OpenMP_CXX_FLAGS OpenMP_CXX_LIB_NAMES)

已经安装了ibomp-dev (1:14.0-55~exp2)，编译器版本是g++ 11.4.0，ROS版本是Humble。


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”

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。

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

[-][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'

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

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。

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。

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

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？

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

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