ros不能正常打开模型，gazebo正常打开，但显示不出机器模型
1.png

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2024-11-20-23-24-23-788430-user-Dell-G15-5510-38654
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Setting logging gazebo verbosity to error
[INFO] [robot_state_publisher-1]: process started with pid [38668]
[INFO] [gzserver-2]: process started with pid [38670]
[INFO] [gzclient-3]: process started with pid [38672]
[INFO] [spawn_entity.py-4]: process started with pid [38674]
[robot_state_publisher-1] [INFO] [1732116264.465605083] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1732116264.465738227] [robot_state_publisher]: got segment left_foot
[robot_state_publisher-1] [INFO] [1732116264.465745475] [robot_state_publisher]: got segment left_hip_base
[robot_state_publisher-1] [INFO] [1732116264.465765370] [robot_state_publisher]: got segment left_shank
[robot_state_publisher-1] [INFO] [1732116264.465768695] [robot_state_publisher]: got segment left_thigh
[robot_state_publisher-1] [INFO] [1732116264.465771839] [robot_state_publisher]: got segment right_foot
[robot_state_publisher-1] [INFO] [1732116264.465775017] [robot_state_publisher]: got segment right_hip_base
[robot_state_publisher-1] [INFO] [1732116264.465778220] [robot_state_publisher]: got segment right_shank
[robot_state_publisher-1] [INFO] [1732116264.465781369] [robot_state_publisher]: got segment right_thigh
[robot_state_publisher-1] [INFO] [1732116264.465784476] [robot_state_publisher]: got segment world
[spawn_entity.py-4] [INFO] [1732116264.774096644] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1732116264.774348788] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4] warnings.warn(
[spawn_entity.py-4] [INFO] [1732116264.775528902] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1732116264.788524210] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1732116264.789360778] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [ERROR] [1732116294.843599865] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-4] [ERROR] [1732116294.844905741] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-4]: process has died [pid 38674, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic robot_description -entity my_bot --ros-args'].

从git上clone的[外骨骼](https://github.com/MaxLewter16/LLEAP)源代码，运行rviz没问题，运行gazebo出现如上报错，gazebo版本正确，求助:face_with_thermometer:

Run CMD Task:[sudo apt search python3-rosdep ]
[/][0.62s] python3-rosdep-modules/focal,focal,now 0.25.1-1 all [installed,automa[-][0.62s] CMD Result:success

Run CMD Task:[sudo apt install python3-rosdep -y]
[-][0.52s] CMD Result:success

Run CMD Task:[ls /opt/ros/galactic/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/galactic/setup.bash': No such file or dir[-][0.00s] CMD Result:code:2

安装失败了,请打开鱼香社区：https://fishros.org.cn/forum 在一键安装专区反馈问题...
Run CMD Task:[ls /opt/ros/galactic/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/galactic/setup.bash': No such file or dir[-][0.00s] CMD Result:code:2

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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
这种情况怎么解决，之前安装成功过，但是在装就失败了

问题描述：

在本小节的最后一步去启动rvzi时，终端报错：

[ERROR] [robot_state_publisher-1]: process has died [pid 12124, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_06nznk6j'].

具体细节和上下文：

1.base.urdf.xacro
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="base_xacro" params="length radius">
<!-- 机器人的身体部分 -->
<link name="base_link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<cylinder radius="${radius}" length="${length}"/>
</geometry>
<!--材质颜色-->
<material name="white">
<color rgba="1.0 1.0 1.0 0.5"/>
</material>
</visual>
</link>
</xacro:macro>
</robot>

2.laser.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="laser_xacro" params="xyz">
<!--雷达支撑杆-->
<link name="laser_cylinder_link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<cylinder radius="0.01" length="0.10"/>
</geometry>
<!--材质颜色-->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>

<!--雷达--> <link name="laser_link"> <!--部件的外观描述--> <visual> <!--沿着自己几何中心的偏移和旋转量--> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <!--几何形状--> <geometry> <cylinder radius="0.02" length="0.02"/> </geometry> <!--材质颜色--> <material name="black"> <color rgba="0.0 0.0 0.0 1.0"/> </material> </visual> </link> <!--机器人的关节：用于组合机器人的部件(即上述的雷达和支撑杆)--> <joint name="laser_joint" type="fixed"> <parent link="laser_cylinder_link"/> <child link="laser_link"/> <origin xyz="0.0 0.0 0.05" rpy="0.0 0.0 0.0"/> </joint> <joint name="laser_cylinder_joint" type="fixed"> <parent link="base_link"/> <child link="laser_cylinder_link"/> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> </joint>

</xacro:macro>

</robot>

3.imu.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="imu_xacro" params="xyz">
<!--机器人的IMU部件，惯性测量传感器-->
<link name="imu__link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
<!--材质颜色-->
<material name="black">
<color rgba="0.0 0.0 0.0 0.5"/>
</material>
</visual>
</link>

<!--机器人的关节：用于组合机器人的部件(即上述的机器人的身体和其传感器)--> <joint name="imu_joint" type="fixed"> <parent link="base_link"/> <child link="imu_link"/> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> </joint>

</xacro:macro>

</robot>
4.camera.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="camera_xacro" params="xyz">
<!--机器人的IMU部件，惯性测量传感器-->
<link name="camera_link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
<!--材质颜色-->
<material name="black">
<color rgba="0.0 0.0 0.0 0.5"/>
</material>
</visual>
</link>

<!--机器人的关节：用于组合机器人的部件(即上述的机器人的身体和其传感器)--> <joint name="camera_joint" type="fixed"> <parent link="base_link"/> <child link="camera_link"/> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> </joint>

</xacro:macro>

</robot>
5.fishbot.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firstbot">
<!-- 基础部分 base_link -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro"/>
<!-- 传感器部分 -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro"/>
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro"/>
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro"/>

<xacro:base_xacro length="0.12" radius="0.10" />
<xacro:imu_xacro xyz="0.0 0.0 0.02" />
<xacro:camera_xacro xyz="0.10 0.0 0.075" />
<xacro:laser_xacro xyz="0.0 0.0 0.10" />

</robot>

c0a8513c-9eb9-481c-9045-70187d341fbc-image.png 一开始是这样的，然后运行setupbashc9a8a315-7d4c-4189-8a28-e69eb4998c18-image.png 就会导致过长，bashrc也是过长，但两个path并未改变。我的bashrc目前的状况是这样的147f58dd-40a1-4f30-89e3-22321e4107ad-image.png 请问这种情况该如何解决

背景(可选)： 问题描述：

在本小节的最后一步去启动rvzi时，终端报错：

wlz@ros2:~/chapt6/chapt6_ws$ ros2 launch fishibot_description display_robot.launch.py model:=/home/wlz/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro
Package 'fishibot_description' not found: "package 'fishibot_description' not found, searching: ['/home/wlz/chapt6/chapt6_ws/install/fishbot_description', '/opt/ros/humble']"

具体细节和上下文：

1.base.urdf.xacro
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="base_xacro" params="length radius">
<!-- 机器人的身体部分 -->
<link name="base_link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<cylinder radius="${radius}" length="${length}"/>
</geometry>
<!--材质颜色-->
<material name="white">
<color rgba="1.0 1.0 1.0 0.5"/>
</material>
</visual>
</link>
</xacro:macro>
</robot>

2.laser.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="laser_xacro" params="xyz">
<!--雷达支撑杆-->
<link name="laser_cylinder_link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<cylinder radius="0.01" length="0.10"/>
</geometry>
<!--材质颜色-->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>

<!--雷达--> <link name="laser_link"> <!--部件的外观描述--> <visual> <!--沿着自己几何中心的偏移和旋转量--> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <!--几何形状--> <geometry> <cylinder radius="0.02" length="0.02"/> </geometry> <!--材质颜色--> <material name="black"> <color rgba="0.0 0.0 0.0 1.0"/> </material> </visual> </link> <!--机器人的关节：用于组合机器人的部件(即上述的雷达和支撑杆)--> <joint name="laser_joint" type="fixed"> <parent link="laser_cylinder_link"/> <child link="laser_link"/> <origin xyz="0.0 0.0 0.05" rpy="0.0 0.0 0.0"/> </joint> <joint name="laser_cylinder_joint" type="fixed"> <parent link="base_link"/> <child link="laser_cylinder_link"/> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> </joint> </xacro:macro>

</robot>

3.imu.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="imu_xacro" params="xyz">
<!--机器人的IMU部件，惯性测量传感器-->
<link name="imu__link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
<!--材质颜色-->
<material name="black">
<color rgba="0.0 0.0 0.0 0.5"/>
</material>
</visual>
</link>

<!--机器人的关节：用于组合机器人的部件(即上述的机器人的身体和其传感器)--> <joint name="imu_joint" type="fixed"> <parent link="base_link"/> <child link="imu_link"/> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> </joint> </xacro:macro>

</robot>
4.camera.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="camera_xacro" params="xyz">
<!--机器人的IMU部件，惯性测量传感器-->
<link name="camera_link">
<!--部件的外观描述-->
<visual>
<!--沿着自己几何中心的偏移和旋转量-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<!--几何形状-->
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
<!--材质颜色-->
<material name="black">
<color rgba="0.0 0.0 0.0 0.5"/>
</material>
</visual>
</link>

<!--机器人的关节：用于组合机器人的部件(即上述的机器人的身体和其传感器)--> <joint name="camera_joint" type="fixed"> <parent link="base_link"/> <child link="camera_link"/> <origin xyz="${xyz}" rpy="0.0 0.0 0.0"/> </joint> </xacro:macro>

</robot>
5.fishbot.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firstbot">
<!-- 基础部分 base_link -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro"/>
<!-- 传感器部分 -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro"/>
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro"/>
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro"/>

<xacro:base_xacro length="0.12" radius="0.10" />
<xacro:imu_xacro xyz="0.0 0.0 0.02" />
<xacro:camera_xacro xyz="0.10 0.0 0.075" />
<xacro:laser_xacro xyz="0.0 0.0 0.10" />

</robot>

尝试过的解决方法：

wlz@ros2:~/chapt6/chapt6_ws$ ros2 pkg list | grep fishbot_description
fishbot_description
wlz@ros2:~/chapt6/chapt6_ws$ ros2 launch fishibot_description display_robot.launch.py model:=/home/wlz/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro
Package 'fishibot_description' not found: "package 'fishibot_description' not found, searching: ['/home/wlz/chapt6/chapt6_ws/install/fishbot_description', '/opt/ros/humble']"
列出了以下功能包，显示存在

重新source了一下，仍然不行

回复: 重新扫描配置卡死有没有人能回答啊

cjyiok@cjyiok-VirtualBox:~$ cd ws01_plumbing/
cjyiok@cjyiok-VirtualBox:~/ws01_plumbing$ . install/setup.bash
not found: "/home/cjyiok/ws01_plumbing/install/cpp03_action/share/cpp03_action/local_setup.bash"
cjyiok@cjyiok-VirtualBox:~/ws01_plumbing$ code .
cjyiok@cjyiok-VirtualBox:~/ws01_plumbing$ colcon build --clean
usage: colcon [-h] [--log-base LOG_BASE] [--log-level LOG_LEVEL]
{build,extension-points,extensions,graph,info,list,metadata,test,test-result,version-check}
...
colcon: error: unrecognized arguments: --clean

6e5f788d-0a75-46be-a9e5-c72ef8c3ffdc-image.png

设置完主从机的bashrc和hosts之后，在终端用ping+ip指令可以看到连接有正常延迟，但从机rostopic list显示unable to cmmunicate with master。从机roscore 显示not set to the machine

fishbot重新扫描配置按下会卡死

在导航过程中总是频繁改变线路， 并且总在行走过程中出现掉头，转到150度后左右摆头

[component_container_isolated-1] [INFO] [1732006754.263911500] [bt_navigator]: Begin navigating from current location (0.00, 0.00) to (2.00, 0.00) [component_container_isolated-1] [INFO] [1732006754.275660558] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [WARN] [1732006754.276030386] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded general_goal_checker . This warning will appear once. [component_container_isolated-1] [WARN] [1732006754.850013391] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006755.326992516] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006755.841510701] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006756.377035908] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006757.377040442] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006758.427313372] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006759.427035494] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006760.477049427] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006761.477067378] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006762.527046312] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006763.577045079] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006764.277589667] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006764.279071315] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006764.291378032] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [WARN] [1732006764.356116409] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [INFO] [1732006764.592088337] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006765.591994581] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006766.642014056] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006767.692006407] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006768.692015608] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006769.742319163] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006770.742018909] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006771.792107217] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006772.842003902] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006773.841999687] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006774.392724032] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006774.392933445] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [WARN] [1732006774.421698701] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006774.431964944] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap. [component_container_isolated-1] [INFO] [1732006774.432893016] [behavior_server]: Running spin [component_container_isolated-1] [WARN] [1732006774.433124304] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006774.437556123] [behavior_server]: Turning 1.57 for spin behavior. [component_container_isolated-1] [INFO] [1732006783.538085015] [behavior_server]: spin completed successfully [component_container_isolated-1] [INFO] [1732006783.580659052] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [INFO] [1732006784.633075413] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006785.682274732] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006786.682305516] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006787.731927163] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006788.731920614] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006789.782143087] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006790.831925732] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006791.831933183] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006792.882041907] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006793.582154250] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006793.582361039] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006793.600466307] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [component_container_isolated-1] [INFO] [1732006793.601456211] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [WARN] [1732006793.758523402] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [INFO] [1732006793.890609956] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006794.958623284] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006795.958619943] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006797.008877832] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006798.008727201] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006799.058682219] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006800.108712194] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006801.109257180] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006802.158617289] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006803.158595865] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006803.758664618] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006803.758803449] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006803.770734505] [behavior_server]: Running wait [component_container_isolated-1] [INFO] [1732006808.770987589] [behavior_server]: wait completed successfully [component_container_isolated-1] [INFO] [1732006808.820830741] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [INFO] [1732006809.871387168] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006810.921427351] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006811.921385511] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006812.971387861] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006813.971465311] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006815.021387955] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006816.071399805] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006817.071362631] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006818.121477772] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006818.823248803] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006818.823473383] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006818.840331500] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [component_container_isolated-1] [INFO] [1732006818.840919201] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [WARN] [1732006818.956024264] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [INFO] [1732006819.148786039] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006820.156127354] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006821.206119121] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006822.206117239] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006823.256122423] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006824.256124624] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006825.306125433] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006826.356124492] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006827.356115026] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006828.406133918] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006828.956353394] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006828.956596641] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006828.970871791] [behavior_server]: Running backup [component_container_isolated-1] [WARN] [1732006838.971263337] [behavior_server]: Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading [component_container_isolated-1] [WARN] [1732006838.971335670] [behavior_server]: backup failed [component_container_isolated-1] [WARN] [1732006838.971359294] [behavior_server]: [backup] [ActionServer] Aborting handle. [component_container_isolated-1] [WARN] [1732006839.002809307] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006839.011087868] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap. [component_container_isolated-1] [WARN] [1732006839.014434991] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006839.014628072] [behavior_server]: Running spin [component_container_isolated-1] [INFO] [1732006839.015027359] [behavior_server]: Turning 1.57 for spin behavior. [component_container_isolated-1] [WARN] [1732006839.560671519] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006839.590014559] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006839.690031316] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006840.149728830] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006840.331374747] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006843.659815383] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006847.415448866] [behavior_server]: spin completed successfully [component_container_isolated-1] [INFO] [1732006847.460475496] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [INFO] [1732006848.510794801] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006849.560794152] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006850.560793436] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006851.560836761] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006852.610795279] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006853.529834769] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006853.610796313] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006854.660792747] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006855.295701803] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006855.660791448] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006855.700843475] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006856.710903672] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006857.460895625] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006857.462019694] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006857.482102728] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [WARN] [1732006857.550348060] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [INFO] [1732006857.732944798] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006858.783039814] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006859.782944892] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006860.833005491] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006861.832950526] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006862.832942227] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006863.882942745] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006864.882942904] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006865.941362563] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006865.995249913] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [INFO] [1732006866.982953563] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006867.583379312] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006867.583508227] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006867.601409622] [behavior_server]: Running wait [component_container_isolated-1] [INFO] [1732006872.601693664] [behavior_server]: wait completed successfully [component_container_isolated-1] [INFO] [1732006872.651542358] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [INFO] [1732006873.702117451] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006874.702114860] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006875.752175460] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006876.802082937] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006877.802069096] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006878.315566169] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006878.323257904] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [WARN] [1732006878.415097891] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006878.537929105] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [WARN] [1732006878.578234005] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [WARN] [1732006878.781040359] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006878.852100530] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006878.958007420] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006878.992629558] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006878.997865491] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [WARN] [1732006879.042754165] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [WARN] [1732006879.199907105] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [WARN] [1732006879.214315545] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [WARN] [1732006879.406779240] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [INFO] [1732006879.909552451] [controller_server]: Passing new path to controller. [component_container_isolated-1] [WARN] [1732006880.576583219] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [component_container_isolated-1] [INFO] [1732006880.902074956] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006881.952082474] [controller_server]: Passing new path to controller. [component_container_isolated-1] [ERROR] [1732006882.652133568] [controller_server]: Failed to make progress [component_container_isolated-1] [WARN] [1732006882.653493592] [controller_server]: [follow_path] [ActionServer] Aborting handle. [component_container_isolated-1] [INFO] [1732006882.668273610] [controller_server]: Received a goal, begin computing control effort. [component_container_isolated-1] [WARN] [1732006882.760195263] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [WARN] [1732006882.772280608] [controller_server]: Control loop missed its desired rate of 20.0000Hz [component_container_isolated-1] [INFO] [1732006882.969265954] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006884.019259180] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006885.019267797] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006886.069265689] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006887.069276348] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006888.119343948] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006889.119289566] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006890.169310208] [controller_server]: Passing new path to controller. [component_container_isolated-1] [INFO] [1732006891.219296142] [controller_server]: Passing new path to controller.

尝试修改控制执行器频率以及行为树频率后仍然出现这种问题，
nav的配置文件：

amcl: ros__parameters: use_sim_time: True 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: True amcl_rclcpp_node: ros__parameters: use_sim_time: True bt_navigator: ros__parameters: use_sim_time: True global_frame: map robot_base_frame: base_footprint odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 # '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: True controller_server: ros__parameters: use_sim_time: True controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] speed_limit_topic: "/speed_limit" # Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # 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: 0.4 max_vel_y: 0.0 max_vel_theta: 0.5 min_speed_xy: 0.0 max_speed_xy: 0.4 min_speed_theta: 0.0 # Add high threshold velocity for turtlebot 3 issue. # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 acc_lim_x: 2.5 acc_lim_y: 0.0 acc_lim_theta: 3.2 decel_lim_x: -2.5 decel_lim_y: 0.0 decel_lim_theta: -3.2 vx_samples: 20 vy_samples: 5 vtheta_samples: 20 sim_time: 1.7 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: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 controller_server_rclcpp_node: ros__parameters: use_sim_time: True local_costmap: local_costmap: ros__parameters: update_frequency: 5.0 publish_frequency: 2.0 global_frame: odom robot_base_frame: base_footprint use_sim_time: True rolling_window: true width: 3 height: 3 resolution: 0.05 robot_radius: 0.25 plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.55 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: map_subscribe_transient_local: True always_send_full_costmap: True local_costmap_client: ros__parameters: use_sim_time: True local_costmap_rclcpp_node: ros__parameters: use_sim_time: True global_costmap: global_costmap: ros__parameters: update_frequency: 1.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_footprint use_sim_time: True robot_radius: 0.25 resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "inflation_layer"] filters: ["speed_filter"] 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: 0.25 speed_filter: plugin: "nav2_costmap_2d::SpeedFilter" enabled: True filter_info_topic: "/costmap_filter_info" speed_limit_topic: "/speed_limit" always_send_full_costmap: True global_costmap_client: ros__parameters: use_sim_time: True global_costmap_rclcpp_node: ros__parameters: use_sim_time: True map_server: ros__parameters: use_sim_time: True yaml_filename: "turtlebot3_world.yaml" map_saver: ros__parameters: use_sim_time: True 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: True planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 use_astar: true # false 使用Dijkstra 算法，为true 时使用A*算法。 allow_unknown: true planner_server_rclcpp_node: ros__parameters: use_sim_time: True smoother_server: ros__parameters: use_sim_time: True smoother_plugins: ["simple_smoother"] simple_smoother: plugin: "nav2_smoother::SimpleSmoother" tolerance: 1.0e-5 #平滑过程中的容差1.0e-10->1.0e-5,适当增大容差，以减少计算时间 max_its: 500 #最大迭代次数1000->500,提高效率 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"] #behavior_plugins: ["spin", "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_footprint transform_tolerance: 0.1 use_sim_time: true simulate_ahead_time: 2.0 max_rotational_vel: 0.4 min_rotational_vel: 0.2 rotational_acc_lim: 3.2 robot_state_publisher: ros__parameters: use_sim_time: True 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

使用sw_urdf_exporter插件将solidworks中的模型导出为ros1的功能包。只保留了urdf文件和meshes文件夹中的 .STL文件。按照视频教程启动了rviz并显示了机器人。但在后续的启动gazebo并显示机器人模型中，一直无法加载机器人模型。500f7fc6-01f9-483d-a8c0-01446c154aa2-image.png 91e3be93-5324-44e6-9146-e3c73cb82ff2-image.png ffd38cd6-f291-454e-ab49-f0d2e91407ff-image.png

code_text 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 1476, in run_tool_file if tool.run()==False: return False File "/tmp/fishinstall/tools/tool_install_proxy_tool.py", line 145, in run self.install_proxy_tool() File "/tmp/fishinstall/tools/tool_install_proxy_tool.py", line 134, in install_proxy_tool FileUtils.new(path=desktop_path,name="启动代理.desktop",data=start_clash_new_terminal_desktop.replace("{script_path}",clash_home+"start_clash.sh")) File "/tmp/fishinstall/tools/base.py", line 1220, in new with open(path+name,"w") as f: NotADirectoryError: [Errno 20] Not a directory: '/home/robot/Desktop/启动代理.desktop'

系统为ubuntu20 ，ros2 foxy 版本，我有一个sh脚本文件，位于创建好的Python文件夹，想要在编译时自动执行该脚本，应该在setup.py中如何设置

a8723cbe-7dff-4823-96ab-e78f55caa415-image.png
1cf5a371-6e75-4ff9-bcbb-06e02b47b759-image.png

ab4dbdb4-bdc0-402a-af6c-62bc643d677f-image.png

调用create_subscription，
从
node_impl.hpp Node::create_subscription
调用到
create_subscription.hpp rclcpp::create_subscription

ad978c59-a517-4c60-a279-5389807d0c04-image.png

6cbd3d01-0ec9-4eb1-bb71-b596b5766c65-111.jpg

80729543-672b-4178-810f-0d6a052be9b8-222.jpg

86c81103-244f-48b3-9116-7f36d72a83cf-333.jpg

using SequenceOfWeakSubscriptions = std::vector<WeakSubscriptionEntry>;
SequenceOfWeakSubscriptions subscriptions_;

fd0c8fe0-4570-4b41-8215-85dafb102796-555.jpg

using SequenceOfWeakWaitables = std::vector<WeakWaitableEntry>;
SequenceOfWeakWaitables waitables_;

Run CMD Task:[sudo apt install python-rosdep -y]
[/][0.38s] 升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 0 个软[-][0.43s] CMD Result:success

Run CMD Task:[ls /opt/ros/melodic/setup.bash]
[-][0.00s] CMD Result:code:2

安装失败了,请打开鱼香社区：https://fishros.org.cn/forum 在一键安装专区反馈问题...
Run CMD Task:[ls /opt/ros/melodic/setup.bash]
[-][0.00s] CMD Result:code:2

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
^Cbash: /opt/ros/melodic/setup.bash: 没有那个文件或目录
bash: /opt/ros/melodic/setup.bash: 没有那个文件或目录
GAZEBO_PLUGIN_PATH :/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo:/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo:/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo:/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/home/hy/PX4_Firmware//Tools/sitl_gazebo/models:/home/hy/PX4_Firmware//Tools/sitl_gazebo/models:/home/hy/PX4_Firmware//Tools/sitl_gazebo/models:/home/hy/PX4_Firmware//Tools/sitl_gazebo/models
LD_LIBRARY_PATH /home/hy/catkin_ws/devel/lib:/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo:/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo:/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo:/home/hy/PX4_Firmware/build/px4_sitl_default/build_gazebo

跟书上2.3节在功能包中编写C++节点一起做的，前面都还好，到最后一步出问题：
屏幕截图 2024-11-18 194438.png

代码：
屏幕截图 2024-11-18 194650.png

cmakelist:
屏幕截图 2024-11-18 194756.png
该怎么解决？

背景：

6.2.2章节，想要实现在rviz中显示机器人

问题描述：

在根据b站课程输入所有代码后，在终端进行了'ros2 launch display_robot.launch.py'操作，但是并未打开rviz，而是报错显示了
'wlz@ros2:~/chapt6/chapt6_ws/src/fishbot_description/launch$ ros2 launch display_robot.launch.py
[INFO] [launch]: All log files can be found below /home/wlz/.ros/log/2024-11-18-16-10-28-088426-ros2-7528
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'robot_joint_publisher' not found, searching: ['/home/wlz/chapt6/chapt6_ws/install/fishbot_description', '/opt/ros/humble']"'

具体细节和上下文： display_robot.launch：

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory #用于找包的文件目录，以便于导入urdf的....
import os

import launch_ros.parameter_descriptions

def generate_launch_description():
#获取默认的urdf路径
urdf_package_path = get_package_share_directory('fishbot_description')
default_urdf_path = os.path.join(urdf_package_path,'urdf','first_robot.urdf')
# 声明一个urdf目录的参数，方面修改
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name='model',default_value=str(default_urdf_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(['cat ',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_joint_state_publisher = launch_ros.actions.Node( package='robot_joint_publisher', executable='robot_joint_publisher' ) action_rviz_node = launch_ros.actions.Node( package='rviz2', executable='rviz2' ) return launch.LaunchDescription([ action_declare_arg_mode_path, action_robot_state_publisher, action_joint_state_publisher, action_rviz_node, ]) CMakeLists：

cmake_minimum_required(VERSION 3.8)
project(fishbot_description)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find dependencies

find_package(ament_cmake REQUIRED)

uncomment the following section in order to fill in further dependencies manually. find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)

the following line skips the linter which checks for copyrights comment the line when a copyright and license is added to all source files

set(ament_cmake_copyright_FOUND TRUE)

the following line skips cpplint (only works in a git repo) comment the line when this package is in a git repo and when a copyright and license is added to all source files

set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()

install(DIRECTORY launch urdf
DESTINATION share/${PROJECT_NAME}
)

ament_package()

package：

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>fishbot_description</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="wlz@todo.todo">wlz</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<depend>robot-state-publisher</depend>
<depend>joint-state-publisher</depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>

尝试过的解决方法：

之前以为是安装完joint-state-publisher和robot-state-publisher之后没有在package文件中声明依赖的原因，声明：' <depend>robot-state-publisher</depend>
<depend>joint-state-publisher</depend>之后仍然不行'