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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：
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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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如图所示，按书中6.2.3章修改代码之后，报错：No link elements found in urdf file。ros版本是：ROS2-jazzy 24.04。请问如何解决呢？谢谢！

鱼哥 我是想写一个自己的局部路径规划器，具体功能是这样的，在没有碰到新添加的障碍物时就是用路径跟踪的方法进行移动，如果扫描到新障碍物就调用局部路径规划器进行避障，前一部分已经完成了，现在小车遇到新障碍物会自动调用全局路径规划器进行避障，而我想要的是用局部路径规划器就是ros2_navigation里面那个dwb局部控制器来进行避障，我想问一下，如何在我的代码就比如以您课程里面的代码局部规划器代码为例子，如何在我的代码的基础上调用dwb控制器的插件来完成避障，主要是这个调用问题怎么解决，是要重新再写一个控制器插件吗，如果是的话 又要怎样来写这个新的控制器插件呢

Screenshot from 2025-05-16 13-48-38.png
如图所示，按书中6.2.3章修改代码之后，报错：No link elements found in urdf file。ros版本是：ROS2-jazzy 24.04。请问如何解决呢？谢谢！

我这边只有热点，可不可以直接用串口与ros进行节点通信啊

小鱼哥，我想问一下买的这个小车咋实现多点导航时，在中间点停下几秒，再继续之前的导航🥺🥺🥺简单易行的方法有吗

小鱼哥，我想问一下买的这个fishbot二轮小车咋实现多点导航时，在中间点停下几秒，再继续之前的导航🥺🥺🥺🥺

moveit 添加障碍物路径规划如何有时会碰撞有时不会,咋调节，使用的默认ompl的geometric::RRTConnect，之前尝试设置过collision的padding但是还是一样

e061e652-e318-48b1-acd9-bd3bfb82d252-image.png
上图蓝色线段是teb规划的路径（仿真环境）

2f5d56cb-d451-4b79-8f8d-c00aaf2cacb4-image.png
上图黑色线段是teb规划的路径（实车环境）
我想请教以下，可以修改哪些参数增加路径的平滑性

我将两个单线激光雷达的数据传入cartographer，设置了num_laser_scans = 2,将话题进行了重映射，小车静止不动，定位结果也会乱飞，这个是什么问题？

ros aruco识别不上

相机内参标定好之后，更改了文件，aruco识别不上标定板

背景：

我正在做机械臂的手眼标定，相机采用单目相机，我首先完成了棋盘格的相机内参标定，在相机启动launch文件下添加了内参标定的文件，同样在小鱼gitee上提供的手眼标定文件中aruco识别文件改了标定的参数，及地址。采用的是ID0

问题：

运行程序后，将板子放置摄像头前面，丝毫没有变化

如果有人能够解释为什么会发生这种情况，或者我的理解有误，我将非常感激！

Nav2启动时Rviz2里无法正常加载地图。
系统配置如下：
Linux：Ubuntu 22.04
ROS2：Humble
雷达话题：/scan
里程计话题：bringup发布的是/odom1，和IMU通过ekf融合后输出的话题是/odom

配置文件如下：
amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"

pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 1.0 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 scan_topic: scan

amcl_map_client:
ros__parameters:
use_sim_time: False

amcl_rclcpp_node:
ros__parameters:
use_sim_time: False

bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
# default_bt_xml_filename: "/home/hermes/161/fishbot/src/fishbot_navigation2/xml/my_xml.xml"
# default_nav_to_pose_bt_xml: "/home/hermes/161/fishbot/src/fishbot_navigation2/xml/my_xml.xml"
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node

bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False

controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.001
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.9
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]

# Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 3.14 movement_time_allowance: 50.0 # Goal checker parameters #precise_goal_checker: # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 # stateful: True general_goal_checker: stateful: True plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 # DWB parameters FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: -0.0 min_vel_y: -0.0 max_vel_x: 0.23 max_vel_y: 0.0 max_vel_theta: 0.81 # 修改最大角速度 min_speed_xy: -0.0 max_speed_xy: 0.22 min_speed_theta: -0.11 acc_lim_x: 1.0 acc_lim_y: 1.0 acc_lim_theta: 6.1 # 修改角速度加速度限制 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -0.3 # 修改角速度减速度限制 vx_samples: 30 # 增加线速度样本数量 vy_samples: 10 vtheta_samples: 20 sim_time: 3.0 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.2 xy_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.01 # 减小与障碍物距离的权重 PathAlign.scale: 48.0 # 增加与路径对齐的权重 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 36.0 # 增加与目标对齐的权重 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 48.0 # 增加路径距离的权重 GoalDist.scale: 36.0 # 增加目标距离的权重 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False

local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.45
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.6
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
local_costmap_client:
ros__parameters:
use_sim_time: False
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False

global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: False
robot_radius: 0.45
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: 3.0
inflation_radius: 0.6
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False

map_server:
ros__parameters:
use_sim_time: False
yaml_filename: "turtlebot3_world.yaml"

map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False

smoother_server:
ros__parameters:
use_sim_time: False
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True

behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2

robot_state_publisher:
ros__parameters:
use_sim_time: False

waypoint_follower:
ros__parameters:
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

报错如下：
[INFO] [launch]: All log files can be found below /home/agx/.ros/log/2025-05-14-08-08-56-824411-ubuntu-7779
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_isolated-1]: process started with pid [7792]
[INFO] [rviz2-2]: process started with pid [7794]
[component_container_isolated-1] [INFO] [1747224537.918626279] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_map_server/lib/libmap_server_core.so
[component_container_isolated-1] [INFO] [1747224537.962328846] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-1] [INFO] [1747224537.962416269] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-1] [INFO] [1747224537.962429933] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1747224537.962438829] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1747224537.976989477] [map_server]:
[component_container_isolated-1] map_server lifecycle node launched.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224537.977090020] [map_server]: Creating
[component_container_isolated-1] [INFO] [1747224537.983997123] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_amcl/lib/libamcl_core.so
[component_container_isolated-1] [INFO] [1747224537.997021194] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1747224537.997120297] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1747224538.011386499] [amcl]:
[component_container_isolated-1] amcl lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.016541139] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.031733797] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_lifecycle_manager/lib/libnav2_lifecycle_manager_core.so
[component_container_isolated-1] [INFO] [1747224538.035436258] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.035504577] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.049036003] [lifecycle_manager_localization]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.056538269] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1747224538.057436692] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_controller/lib/libcontroller_server_core.so
[component_container_isolated-1] [INFO] [1747224538.071887117] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1747224538.071976044] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1747224538.087189726] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1747224538.087283613] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-1] [INFO] [1747224538.087617402] [map_server]: Configuring
[component_container_isolated-1] [INFO] [1747224538.087746201] [map_io]: Loading yaml file: /home/agx/semantic_map_ws/install/bot_navigation2/share/bot_navigation2/maps/indoor_labelled.yaml
[component_container_isolated-1] [INFO] [1747224538.088744751] [map_io]: resolution: 0.05
[component_container_isolated-1] [INFO] [1747224538.088790319] [map_io]: origin[0]: -44.4
[component_container_isolated-1] [INFO] [1747224538.088801359] [map_io]: origin[1]: -50
[component_container_isolated-1] [INFO] [1747224538.088807951] [map_io]: origin[2]: 0
[component_container_isolated-1] [INFO] [1747224538.088813615] [map_io]: free_thresh: 0.25
[component_container_isolated-1] [INFO] [1747224538.088818702] [map_io]: occupied_thresh: 0.65
[component_container_isolated-1] [INFO] [1747224538.088827598] [map_io]: mode: trinary
[component_container_isolated-1] [INFO] [1747224538.088835342] [map_io]: negate: 0
[component_container_isolated-1] [INFO] [1747224538.094173052] [map_io]: Loading image_file: /home/agx/semantic_map_ws/install/bot_navigation2/share/bot_navigation2/maps/indoor.pgm
[component_container_isolated-1] [INFO] [1747224538.095581551] [controller_server]:
[component_container_isolated-1] controller_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.126407759] [controller_server]: Creating controller server
[component_container_isolated-1] [INFO] [1747224538.146205525] [local_costmap.local_costmap]:
[component_container_isolated-1] local_costmap lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.151738274] [local_costmap.local_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.159312699] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so
[component_container_isolated-1] [INFO] [1747224538.166488856] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1747224538.166576695] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1747224538.186081696] [smoother_server]:
[component_container_isolated-1] smoother_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.191682892] [smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.197455926] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so
[component_container_isolated-1] [INFO] [1747224538.201347089] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1747224538.201407857] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1747224538.217642233] [planner_server]:
[component_container_isolated-1] planner_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.223365731] [planner_server]: Creating
[component_container_isolated-1] [INFO] [1747224538.242474129] [global_costmap.global_costmap]:
[component_container_isolated-1] global_costmap lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.244314815] [global_costmap.global_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.254491968] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_behaviors/lib/libbehavior_server_core.so
[component_container_isolated-1] [INFO] [1747224538.268253279] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1747224538.268321567] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1747224538.284715461] [behavior_server]:
[component_container_isolated-1] behavior_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.296269241] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_bt_navigator/lib/libbt_navigator_core.so
[component_container_isolated-1] [INFO] [1747224538.304106480] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [INFO] [1747224538.304175119] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [INFO] [1747224538.321664651] [bt_navigator]:
[component_container_isolated-1] bt_navigator lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.321792426] [bt_navigator]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.325634406] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_waypoint_follower/lib/libwaypoint_follower_core.so
[component_container_isolated-1] [INFO] [1747224538.328594635] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [INFO] [1747224538.328644714] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [INFO] [1747224538.344109561] [waypoint_follower]:
[component_container_isolated-1] waypoint_follower lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.347691000] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.352402988] [nav2_container]: Load Library: /home/agx/nav2_ws/install/nav2_velocity_smoother/lib/libvelocity_smoother_core.so
[component_container_isolated-1] [INFO] [1747224538.356282727] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [INFO] [1747224538.356422374] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [INFO] [1747224538.375497492] [velocity_smoother]:
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
[component_container_isolated-1] velocity_smoother lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1747224538.378981395] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.379051154] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1747224538.393011536] [lifecycle_manager_navigation]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1747224538.397875298] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1747224538.401186307] [map_io]: Read map /home/agx/semantic_map_ws/install/bot_navigation2/share/bot_navigation2/maps/indoor.pgm: 1531 X 1510 map @ 0.05 m/cell
[component_container_isolated-1] [INFO] [1747224538.415737531] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-1] [INFO] [1747224538.415991641] [amcl]: Configuring
[component_container_isolated-1] [INFO] [1747224538.416156727] [amcl]: initTransforms
[component_container_isolated-1] [INFO] [1747224538.444377231] [amcl]: initPubSub
[component_container_isolated-1] [INFO] [1747224538.449217474] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1747224538.449367520] [lifecycle_manager_navigation]: Configuring controller_server
[component_container_isolated-1] [INFO] [1747224538.449921755] [controller_server]: Configuring controller interface
[component_container_isolated-1] [INFO] [1747224538.450360087] [controller_server]: getting goal checker plugins..
[component_container_isolated-1] [INFO] [1747224538.450577941] [controller_server]: Controller frequency set to 20.0000Hz
[component_container_isolated-1] [INFO] [1747224538.450642740] [local_costmap.local_costmap]: Configuring
[component_container_isolated-1] [INFO] [1747224538.458376652] [amcl]: Subscribed to map topic.
[component_container_isolated-1] [INFO] [1747224538.460541560] [local_costmap.local_costmap]: Using plugin "static_layer"
[component_container_isolated-1] [INFO] [1747224538.477393658] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[component_container_isolated-1] [INFO] [1747224538.482347596] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[component_container_isolated-1] [INFO] [1747224538.482412875] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[component_container_isolated-1] [INFO] [1747224538.484549463] [lifecycle_manager_localization]: Activating map_server
[component_container_isolated-1] [INFO] [1747224538.484803733] [map_server]: Activating
[component_container_isolated-1] [INFO] [1747224538.485179761] [local_costmap.local_costmap]: Subscribed to Topics: scan
[component_container_isolated-1] [INFO] [1747224538.486572388] [map_server]: Creating bond (map_server) to lifecycle manager.
[component_container_isolated-1] malloc(): invalid size (unsorted)
[component_container_isolated-1] Magick: abort due to signal 6 (SIGABRT) "Abort"...
[rviz2-2] [INFO] [1747224538.742160396] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1747224538.742477769] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1747224538.824175565] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [component_container_isolated-1]: process has died [pid 7792, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_02dgqwm7 --params-file /tmp/launch_params_tcc1vpuj -r /tf:=tf -r /tf_static:=tf_static'].
[rviz2-2] [INFO] [1747224539.960257189] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.063 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.055364491] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.150 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.119518419] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.230 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.215937772] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.310 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.279572121] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.390 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.375857876] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.469 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1747224540.439654143] [rviz2]: Message Filter dropping message: frame 'laser' at time 1747224539.555 for reason 'discarding message because the queue is full'

TF树如下：
a7556c33-0e45-4740-ba9b-b19930cc832d-image.png

节点话题关系如下：
af370d86-a40f-4dfa-abfa-903eda274481-image.png

我在使用键盘控制节点的时候，按键盘的i车向前走，然后我又按j建，但是这个时候车还是向前走，电机的布局就是你们教程中的那样

编译的时候报错信息如下

CMake Error at flow/CMakeLists.txt:17 (target_link_libraries): Error evaluating generator expression: $<TARGET_PROPERTY:fastcdr,TYPE> Target "fastcdr" not found.

感觉和dds相关，有人遇到过吗

按照教程一步步操作了，也在社区看了很多帖子，依然没有什么头绪，不得已请假下各位大佬们

环境 2驱差速fishbot，EAI S2 雷达 树莓派4b 、ubuntu22.04桌面版、ros2 humb git clone 源码编译 ydlidar_ros2 已做的工作

1、按照教程，使用工具给雷达板刷好了固件
489b8f8c-c578-4523-8661-0b51307ccf3d-image.png

2、雷达转接板在刷好固件后，跳线帽切换了USB模式，并使用串口助手，验证了雷达转接板在115200波特率下，有二进制数据不断输出
8e2c0134-79a5-4c4e-abd1-57166c35d96b-image.png

3、确认插上串口后，驱动正常，并修改yml配置文件为下面设备 /dev/ttyUSB0
52709014-09be-4a46-8924-01b302373bc9-image.png
8af014ed-afbd-41ab-afd8-5044382afa68-image.png

4、正确编译了雷达驱动并sudo chmod 666 /dev/ttyUSB0 给予了权限，执行ros2 launch ydlidar ydlidar_launch.py 失败，信息如下
7805a94c-73e2-4a3f-90ba-031174c8ea3e-image.png

5、重试，插拔串口、反复操作，成功了一次，过十秒左右但是又开始报错
6bc31183-9357-4365-b1bc-66c36d845b1c-image.png
此时的topic
3426d3c7-0f6e-4299-aea2-2e42f9e9ad99-image.png

6、启动rviz2 ，配置好后也没有任何反应，画面里无雷达数据
6b5ac07e-fef5-4d10-a969-10fa4b2d3d3b-image.png

遇到的问题总结

由于wifi的方式也试过了，也是这个问题，于是使用了usb串口直连，排除网络问题，仍然这样子
每次启动后一会儿就报错，rviz2无任何数据显示
[ydlidar_node-1] [ERROR] [1747213588.454829551] [ydlidar_node]: Failed to get scan

由于使用树莓派，无法使用docker启动雷达建图案例，特此求助各位大佬。

进行第二轮尝试

使用树莓派无果，进行第二种方案尝试

window11下在笔记本 Vmware 安装虚拟机ubuntu22.04 1、USB串口直连

已确保usb被正常扫描出来了，板子跳线帽插在了EN、USBT、USBR
c1ac05bb-7e6a-49ca-b334-f571532f3fcd-image.png

使用github的v1.0.0/fishbot雷达驱动，编辑了配置重新编译过
90baaffc-f814-42dd-9646-59fbbb8c82c2-image.png

启动后，几秒钟开始报错
34266f09-3f84-4d7d-8467-b923ef20171c-image.png
新开一个终端查看topic
ff665e1c-03ef-4bb5-9886-8a9f195465ec-image.png

rviz2配置完成无数据显示。。。

2、使用docker 走 WIFI 网络连接

配置虚拟机NAT模式端口映射 TCP+UDP (8889 -> 8889、8888 -> 8888），并使用同一局域网下的设备测试telnet能够连接到虚拟机内docker启动的8889端口

雷达板跳线帽插到WIFI模式

d8689232-e9f2-4453-b1a3-27220a31097e-image.png

此时雷达板显示
1334c811-907e-4c01-990b-8dd6046c13a6-1065568140ffd544914fc8b31c68cf3.jpg

编写了python脚本在8889端口开启tcp服务器，能检测到雷达板自动连接上来
dc67fabc-0db9-4479-a137-cdc27755f1d4-image.png

经过多轮尝试，没有走通雷达显示数据和建图，不知道问题出在哪里，希望大佬给予指引，感激不尽！

代码清单 2-19
我的电脑colcon build 编译后生成的install/是setup.sh没有.bash结尾的文件，这两个文件有什么 区别吗？

我source install/setup.sh没有报错，但是ros2 run demo_python_pkg python_node还是找不到包。然后echo环境变量的路径，也没有导入我当前的路径。

ros2 run demo_python_topic novel_pub_node 命令输入后报错
错误信息:
Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 700, in urlopen
httplib_response = self._make_request(
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 383, in _make_request
self._validate_conn(conn)
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 1017, in validate_conn
conn.connect()
File "/usr/lib/python3/dist-packages/urllib3/connection.py", line 411, in connect
self.sock = ssl_wrap_socket(
File "/usr/lib/python3/dist-packages/urllib3/util/ssl.py", line 453, in ssl_wrap_socket
ssl_sock = ssl_wrap_socket_impl(sock, context, tls_in_tls)
File "/usr/lib/python3/dist-packages/urllib3/util/ssl.py", line 495, in _ssl_wrap_socket_impl
return ssl_context.wrap_socket(sock)
File "/usr/lib/python3.10/ssl.py", line 513, in wrap_socket
return self.sslsocket_class._create(
File "/usr/lib/python3.10/ssl.py", line 1100, in _create
self.do_handshake()
File "/usr/lib/python3.10/ssl.py", line 1371, in do_handshake
self._sslobj.do_handshake()
ssl.SSLError: [SSL: WRONG_VERSION_NUMBER] wrong version number (_ssl.c:1007)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/requests/adapters.py", line 439, in send
resp = conn.urlopen(
File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 756, in urlopen
retries = retries.increment(
File "/usr/lib/python3/dist-packages/urllib3/util/retry.py", line 576, in increment
raise MaxRetryError(_pool, url, error or ResponseError(cause))
urllib3.exceptions.MaxRetryError: HTTPSConnectionPool(host='0.0.0.0', port=8000): Max retries exceeded with url: /novel1.txt (Caused by SSLError(SSLError(1, '[SSL: WRONG_VERSION_NUMBER] wrong version number (_ssl.c:1007)')))

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/cxy/chapt3/topic_ws/install/demo_python_topic/lib/demo_python_topic/novel_pub_node", line 33, in <module>
sys.exit(load_entry_point('demo-python-topic==0.0.0', 'console_scripts', 'novel_pub_node')())
File "/home/cxy/chapt3/topic_ws/install/demo_python_topic/lib/python3.10/site-packages/demo_python_topic/novel_pub_node.py", line 32, in main
node.download_novel('https://0.0.0.0:8000/novel1.txt')
File "/home/cxy/chapt3/topic_ws/install/demo_python_topic/lib/python3.10/site-packages/demo_python_topic/novel_pub_node.py", line 16, in download_novel
response = requests.get(url)
File "/usr/lib/python3/dist-packages/requests/api.py", line 76, in get
return request('get', url, params=params, **kwargs)
File "/usr/lib/python3/dist-packages/requests/api.py", line 61, in request
return session.request(method=method, url=url, **kwargs)
File "/usr/lib/python3/dist-packages/requests/sessions.py", line 544, in request
resp = self.send(prep, **send_kwargs)
File "/usr/lib/python3/dist-packages/requests/sessions.py", line 657, in send
r = adapter.send(request, **kwargs)
File "/usr/lib/python3/dist-packages/requests/adapters.py", line 514, in send
raise SSLError(e, request=request)
requests.exceptions.SSLError: HTTPSConnectionPool(host='0.0.0.0', port=8000): Max retries exceeded with url: /novel1.txt (Caused by SSLError(SSLError(1, '[SSL: WRONG_VERSION_NUMBER] wrong version number (_ssl.c:1007)')))
[ros2run]: Process exited with failure 1

5be95947-1f38-49a1-a63d-a04e4073fa66-image.png
这一步之后怎么继续获取roscore呢

截图 2025-05-13 20-04-28.png 截图 2025-05-13 20-02-02.png