安装的Ubuntu系统版本为22.04（默认），
尝试通过修改系统配置项解决，但还是会卡在图中的界面处，需要按电源键进行关机!8aacc052392553fe7b379380b09ace72.jpg
安装的Ubuntu系统版本为22.04（默认），
尝试通过修改系统配置项解决，但还是会卡在图中的界面处，需要按电源键进行关机!8aacc052392553fe7b379380b09ace72.jpg
c46e83a1-861d-40b8-a134-ea70c788037a-image.png
报错显示这样
8684ffa7-b145-4abc-9bcc-a2281d1aa2ca-image.png
黑屏是这样
已下载models，重装也尝试了，没有用，还是这样。佬们这是什么错误啊
在launch文件中加载命名空间下的gazebo机器人模型时控制器无法获取update_rate参数，但是在yaml文件中正常设置了该参数，且在其他非命名空间下的launch文件进行启动就不会有该问题能够正常启动，鱼哥，这是什么问题呢
日志：
[gzserver-2] [INFO] [1743648186.768197312] [robot2.gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-2] [INFO] [1743648186.774441017] [robot2.gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-2] [INFO] [1743648186.774570288] [robot2.gazebo_ros2_control]: Loading parameter files /home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description/config/track_car_ros2_controller.yaml [gzserver-2] [INFO] [1743648186.785325792] [robot2.gazebo_ros2_control]: Loading joint: left_wheel_joint [gzserver-2] [INFO] [1743648186.785424816] [robot2.gazebo_ros2_control]: State: [gzserver-2] [INFO] [1743648186.785438451] [robot2.gazebo_ros2_control]: position [gzserver-2] [INFO] [1743648186.785449251] [robot2.gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1743648186.789883244] [robot2.gazebo_ros2_control]: effort [gzserver-2] [INFO] [1743648186.789891189] [robot2.gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1743648186.789919331] [robot2.gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1743648186.790143749] [robot2.gazebo_ros2_control]: effort [gzserver-2] [INFO] [1743648186.790156363] [robot2.gazebo_ros2_control]: Loading joint: right_wheel_joint [gzserver-2] [INFO] [1743648186.790162734] [robot2.gazebo_ros2_control]: State: [gzserver-2] [INFO] [1743648186.790168756] [robot2.gazebo_ros2_control]: position [gzserver-2] [INFO] [1743648186.790174326] [robot2.gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1743648186.790179756] [robot2.gazebo_ros2_control]: effort [gzserver-2] [INFO] [1743648186.790184926] [robot2.gazebo_ros2_control]: Command: [gzserver-2] [INFO] [1743648186.790191789] [robot2.gazebo_ros2_control]: velocity [gzserver-2] [INFO] [1743648186.790228076] [robot2.gazebo_ros2_control]: effort [gzserver-2] [INFO] [1743648186.790315619] [resource_manager]: Initialize hardware 'TrackCarGazeboSystem' [gzserver-2] [INFO] [1743648186.790485555] [resource_manager]: Successful initialization of hardware 'TrackCarGazeboSystem' [gzserver-2] [INFO] [1743648186.790567368] [resource_manager]: 'configure' hardware 'TrackCarGazeboSystem' [gzserver-2] [INFO] [1743648186.790576875] [resource_manager]: Successful 'configure' of hardware 'TrackCarGazeboSystem' [gzserver-2] [INFO] [1743648186.790582496] [resource_manager]: 'activate' hardware 'TrackCarGazeboSystem' [gzserver-2] [INFO] [1743648186.790588126] [resource_manager]: Successful 'activate' of hardware 'TrackCarGazeboSystem' [gzserver-2] [INFO] [1743648186.790664048] [robot2.gazebo_ros2_control]: Loading controller_manager [gzserver-2] [WARN] [1743648186.821653458] [robot2.controller_manager]: 'update_rate' parameter not set, using default value. [gzserver-2] [ERROR] [1743648186.836982336] [robot2.gazebo_ros2_control]: controller manager doesn't have an update_rate parameterlaunch文件代码：
import launch import launch_ros import os from ament_index_python.packages import get_package_share_directory from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import Command, LaunchConfiguration import launch_ros.parameter_descriptions from ament_index_python.packages import get_package_prefix from launch.actions import TimerAction def generate_launch_description(): # pkg_robot1_path = get_package_share_directory('fishbot_description') pkg_robot2_path = get_package_share_directory('car_description') # urdf_robot1_path = os.path.join(pkg_robot1_path, 'urdf', 'fishbot', 'fishbot.urdf.xacro') urdf_robot2_path = os.path.join(pkg_robot2_path, 'urdf', 'car_urdf', 'trackcar.urdf.xacro') #获取模型文件目录 package_name = 'car_description' pkg_share = os.pathsep + os.path.join(get_package_prefix(package_name), 'share') if 'GAZEBO_MODEL_PATH' in os.environ: # 如果你修改了~/.bashrc, 就会执行这个 os.environ['GAZEBO_MODEL_PATH'] += pkg_share else: # 注意此处gazebo-11修改为你的gazebo版本 os.environ['GAZEBO_MODEL_PATH'] = "/usr/share/gazebo-11/models" + pkg_share default_world_path = os.path.join(pkg_robot2_path, 'world', 'custom_room.world') # action_declare_arg_mode1path = launch.actions.DeclareLaunchArgument( # name='robot1', # default_value=urdf_robot1_path # ) action_declare_arg_mode2path = launch.actions.DeclareLaunchArgument( name='robot2', default_value=urdf_robot2_path ) # robot1_description = launch_ros.parameter_descriptions.ParameterValue( # Command(['xacro ', LaunchConfiguration("robot1")]) # ) robot2_description = launch_ros.parameter_descriptions.ParameterValue( Command(['xacro ', LaunchConfiguration("robot2")]) ) # robot1_state_publisher_node = launch_ros.actions.Node( # package='robot_state_publisher', # executable='robot_state_publisher', # parameters=[{ # 'robot_description': robot1_description # }], # namespace='robot1', # output='screen' # ) robot2_state_publisher_node = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{ 'robot_description': robot2_description }], namespace='robot2', output='screen' ) action_launch_gazebo = launch.actions.IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join( get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py' ) ), launch_arguments=[ ('world', default_world_path), ('verbose', 'true'), ('use_sim_time', 'true') ] ) # action_spawn1_entity = launch_ros.actions.Node( # package='gazebo_ros', # executable='spawn_entity.py', # arguments=[ # '-topic', 'robot1/robot_description', # '-entity', 'myrobot1', # '-robot_namespace', 'robot1' # ], # output='screen' # ) action_spawn2_entity = launch_ros.actions.Node( package='gazebo_ros', executable='spawn_entity.py', arguments=[ '-topic', 'robot2/robot_description', '-entity', 'myrobot2', '-robot_namespace', 'robot2', '-x','1.0', '-y','0.5', '-z','0.0' ], output='screen' ) # 为每个机器人单独启动 joint_state_publisher # joint_state_publisher_robot1 = launch_ros.actions.Node( # package='joint_state_publisher', # executable='joint_state_publisher', # namespace='robot1', # parameters=[{'source_list': ['robot1/joint_states']}] # ) joint_state_publisher_robot2 = launch_ros.actions.Node( package='joint_state_publisher', executable='joint_state_publisher', namespace='robot2', parameters=[{'source_list': ['/joint_states']}] ) action_robot2node_joint_state = launch.actions.ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--controller-manager', 'robot2/controller_manager', # <--- **指定目标服务** 'track_car_joint_state_broadcaster', '--set-state', 'active'], output='screen' ) action_robot2node_diff_drive_controller = launch.actions.ExecuteProcess( # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'track_car_diff_drive_controller'], # 旧命令，缺少--controller-manager cmd=['ros2', 'control', 'load_controller', '--controller-manager', 'robot2/controller_manager', # <--- **指定目标服务** 'track_car_diff_drive_controller', '--set-state', 'active'], output='screen' ) # 发 return launch.LaunchDescription([ # action_declare_arg_mode1path, action_declare_arg_mode2path, # robot1_state_publisher_node, robot2_state_publisher_node, action_launch_gazebo, # action_spawn1_entity, action_spawn2_entity, # joint_state_publisher_robot1, launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_spawn2_entity, on_exit=[ TimerAction( period=5.0, actions=[action_robot2node_joint_state] # Timer结束后执行加载 broadcaster ) ], ) ), launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=action_robot2node_joint_state, on_exit=[action_robot2node_diff_drive_controller], ) ) , ])控制器URDF文件：
<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="track_car_ros2_control"> <ros2_control name="TrackCarGazeboSystem" type="system"> <hardware> <plugin>gazebo_ros2_control/GazeboSystem</plugin> </hardware> <joint name="left_wheel_joint"> <!-- 命令接口 --> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <!-- 状态接口 --> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> <joint name="right_wheel_joint"> <command_interface name="velocity"> <param name="min">-1</param> <param name="max">1</param> </command_interface> <command_interface name="effort"> <param name="min">-0.1</param> <param name="max">0.1</param> </command_interface> <state_interface name="position" /> <state_interface name="velocity" /> <state_interface name="effort" /> </joint> </ros2_control> <gazebo> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <robot_namespace>/robot2</robot_namespace> <parameters>$(find car_description)/config/track_car_ros2_controller.yaml</parameters> <ros> <remapping>/track_car_diff_drive_controller/odom:=/odom</remapping> <remapping>/track_car_diff_drive_controller/cmd_vel_unstamped:=/cmd_vel</remapping> </ros> </plugin> </gazebo> </xacro:macro> </robot>param参数文件：
controller_manager: ros__parameters: update_rate: 1000 # Hz use_sim_time: true track_car_joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster track_car_effort_controller: type: effort_controllers/JointGroupEffortController track_car_diff_drive_controller: type: diff_drive_controller/DiffDriveController track_car_effort_controller: ros__parameters: joints: - left_wheel_joint - right_wheel_joint command_interfaces: - effort state_interfaces: - position - velocity - effort track_car_diff_drive_controller: ros__parameters: left_wheel_names: ["left_wheel_joint"] right_wheel_names: ["right_wheel_joint"] wheel_separation: 0.20 #wheels_per_side: 1 # actually 2, but both are controlled by 1 signal wheel_radius: 0.05 wheel_separation_multiplier: 1.0 left_wheel_radius_multiplier: 1.0 right_wheel_radius_multiplier: 1.0 publish_rate: 50.0 odom_frame_id: odom base_frame_id: base_footprint pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01] twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01] open_loop: true enable_odom_tf: true cmd_vel_timeout: 0.5 #publish_limited_velocity: true use_stamped_vel: false #velocity_rolling_window_size: 10不会报错，会卡那不动，不显示任何消息，订阅雷达和里程信息正常，发布速度信息也正常，怎么回事呢
一键安装ROS1 noetic失败，我是虚拟机VMware17，Ubuntu20.04，已经换源了，前面都很顺利，到这里突然就报错了。咋回事呢。求大佬指点。
d204aa29-36cf-40d6-b8ed-019a8043368a-image.png
这是我的控制器yaml文件
controller_manager:
ros__parameters:
update_rate: 10
不知道为什么怎么修改都一直显示Wheel names parameters are empty!，我的ros2版本是foxy，求助大佬这是为什么
每次出现该报错小车在rivz2中就开始旋转漂移，求助！
[2025-04-02 12:10:47][error] Check Sum 0x477A != 0x7EA2
[cartographer_node-3] [WARN] [1743595847.976712172] [cartographer logger]: W0402 12:10:47.000000 1335 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1743595848.419307060] [cartographer logger]: W0402 12:10:48.000000 1335 range_data_collator.cc:82] Dropped 1 earlier points.
[rviz2-5] [INFO] [1743595848.492249747] [rviz2]: Trying to create a map of size 234 x 174 using 1 swatches
[cartographer_node-3] [WARN] [1743595848.712889688] [cartographer logger]: W0402 12:10:48.000000 1335 range_data_collator.cc:82] Dropped 5 earlier points.
[rviz2-5] [ERROR] [1743595849.036769175] [rviz2]: Lookup would require extrapolation into the future. Requested time 1743595849.059730 but the latest data is at time 1743595849.059730, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743595849.160105109] [cartographer logger]: W0402 12:10:49.000000 1335 range_data_collator.cc:82] Dropped 139 earlier points.
[cartographer_node-3] [WARN] [1743595849.457432841] [cartographer logger]: W0402 12:10:49.000000 1335 range_data_collator.cc:82] Dropped 2 earlier points.
[rviz2-5] [INFO] [1743595849.483899761] [rviz2]: Trying to create a map of size 275 x 187 using 1 swatches
!eef757d9-4a52-404b-8d14-21ac1e3daddf-a47299173c1257ee03b22597aa20cd4.png
955a1d77-60ca-47c2-a8ca-4824e6cc053f-image.png ，代码也是best _effort,也可以用键盘控制节点控制小车运行，并且运行ros2 topic echo /odom --once也是有数据的，67881d83-4d17-4e58-840b-4e29f3443533-image.png
0a1dd83c-643d-4e74-8f5a-c4e78d3ea6e3-image.png ，然后在rviz2里面没有显示是什么原因呀？
手眼标定得到的矩阵是眼到手还是手到眼的关系，使用的鱼香ros标定程序
如题，如果想在fishbot中使用在ros1中写好的rrt导航包如何使用呢？
问题概述：
如题，或者在需要基于反馈计算控制点的时候，如何实现使用action连续执行多段控制任务？情况描述：
我需要使用ros2控制ur5e机器人，用的是ros2的action，我希望能够让机器人依次到达几个目标点，但是直接写的话，由于async_send_goal函数是异步的，所以会在很快的时间内把目标点都发给服务端，就会只执行最后一个目标。尝试1：
我尝试修改的方法是将目标点串成一串控制序列（就会在最开始就生成控制轨迹）并且在程序里设置一个flag表示机器人是否在移动，然后定时触发控制函数，如果机器人没动了就给他发控制序列中的下一个元素，这样的方式对于写死的轨迹是没问题的。但是如果机器人的目标位置需要在读取当前位置的基础上计算的话又会有问题，因为目标位置的生成远早于移动。尝试2：
同样的，我还试过单独在这个节点里放subscriber读取机器人状态实时更新，然后尝试在async_send_goal之后就先sleep_for相应的控制时间，意图是让后续的计算总是能够基于当前的状态进行，但是sleep_for会阻塞住所有的程序（包括subscriber），这样子在移动的时候就完全不更新位置。请问我应该怎么解决这个问题？
1、使用的是ubuntu22.04 真机，python3.10.12, Gazebo 11.10.2 ，ros2是humble版
2、问题描述：书籍第七章的巡检机器人小项目中，每次需要分别运行
ros2 launch fishbot_description gazebo_sim.launch.py
ros2 launch fishbot_navigation2 navigation2.launch.py
ros2 launch autopatrol_robot autopatrol.launch.py
来启动巡检仿真功能，我想在一个launch文件中包含这3个launch文件，出现报错，但是注释掉另外两个，只启动一个launch文件就能正常工作
3、实在想不到原因，已经问过chatgpt和deepseek
ccb9d4b4-edae-47f3-a7a4-acfdffd298a9-图片.png
报错
1a859ca1-45fa-44ac-8e75-cf6d67a130e3-图片.png
注释掉gazebo_sim.launch.py
70a6cbc4-acec-4634-9bfd-357f756fe87b-图片.png
注释掉gazebo_sim.launch.py
5a7857e3-e3d3-4822-981e-fabacb989618-图片.png
同时启动两个launch文件
c:\dev\ros2_jazzy\ros2-windows>local_setup.bat
c:\dev\ros2_jazzy\ros2-windows>ros2 run demo_nodes_py listener
Traceback (most recent call last):
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\rosidl_generator_py\import_type_support_impl.py", line 46, in import_type_support
return importlib.import_module(module_name, package=pkg_name)
File "C:\Python38\lib\importlib_init_.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
File "<frozen importlib._bootstrap>", line 991, in _find_and_load
File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 657, in _load_unlocked
File "<frozen importlib._bootstrap>", line 556, in module_from_spec
File "<frozen importlib._bootstrap_external>", line 1101, in create_module
File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
ImportError: DLL load failed while importing rcl_interfaces_s__rosidl_typesupport_c: 找不到指定的模块。
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "c:\dev\ros2_jazzy\ros2-windows\lib\demo_nodes_py\listener-script.py", line 33, in <module>
sys.exit(load_entry_point('demo-nodes-py==0.33.3', 'console_scripts', 'listener')())
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\demo_nodes_py\topics\listener.py", line 35, in main
node = Listener()
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\demo_nodes_py\topics\listener.py", line 25, in init
super().init('listener')
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\rclpy\node.py", line 211, in init
self._parameter_event_publisher = self.create_publisher(
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\rclpy\node.py", line 1548, in create_publisher
check_is_valid_msg_type(msg_type)
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\rclpy\type_support.py", line 35, in check_is_valid_msg_type
check_for_type_support(msg_type)
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\rclpy\type_support.py", line 29, in check_for_type_support
msg_or_srv_type.class.import_type_support()
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\rcl_interfaces\msg_parameter_event.py", line 36, in import_type_support
module = import_type_support('rcl_interfaces')
File "c:\dev\ros2_jazzy\ros2-windows\Lib\site-packages\rosidl_generator_py\import_type_support_impl.py", line 48, in import_type_support
raise UnsupportedTypeSupport(pkg_name)
rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'rcl_interfaces'
[ros2run]: Process exited with failure 1
[sync_slam_toolbox_node-14] LaserRangeScan contains 500 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 499 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 500 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 500 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 501 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 501 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 500 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 500 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 500 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 502 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 503 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 499 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 499 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 499 range readings, expected 498
[sync_slam_toolbox_node-14] LaserRangeScan contains 500 range readings, expected 498
请问星海图A1 机械臂运行中出现机械臂关节没有订阅者的问题应该怎么解决？节点没有接收者导致信息发不出去，这应该从哪里入手解决bb1b354698be4ca1478507a8a1b9a29.png4acf616f6f88dd644797f8712caa0eb.png
正在解压 linux-tools-common (5.15.0-135.146) ...
dpkg: 处理归档 /var/cache/apt/archives/linux-tools-common_5.15.0-135.146_all.deb (--unpack)时出错：
正试图覆盖 /usr/bin/perf，它同时被包含于软件包 hobot-utils 3.0.1-20250110154647
dpkg-deb: 错误: 粘贴 子进程被信号(断开的管道) 终止了
在处理时有错误发生：
/var/cache/apt/archives/linux-tools-common_5.15.0-135.146_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)
已为你安装完成wechat-linux版本~
605c77fc-9393-4eb7-827d-c7924de76abb-image.png
尝试过在编译脚本中修改头文件环境、在cmakelists中添加绝对路径、动态寻找路径等方法，仍然无法解决。
安装完ros2 foxy后，使用ros2指令时报错：~$ ros2 topic
Failed to load entry point 'bw': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'delay': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'echo': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'find': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'hz': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'info': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'list': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'pub': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
Failed to load entry point 'type': /opt/ros/foxy/lib/librcl_logging_spdlog.so: undefined symbol: ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-38-x86_64-linux-gnu.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions
9C8D0952938B471589D393EBB990BEB2.png frames.png
模型是自己SW转的urdf,B站视频的模型可以建图，不知道哪里的问题
(penv) qq-linux@qqlinux-virtual-machine:~/chapt9/example_project$ pio run
Processing fishbot (platform: espressif32; board: esp32dev; framework: arduino)
Processing fishbot (platform: espressif32; board: esp32dev; framework: arduino)
InvalidJSONFile: Could not load broken JSON: /home/qq-linux/.platformio/packages/framework-arduinoespressif32/.piopm
以上错误，请帮忙，谢谢！
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