昂

zh@zh:~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/launch$ ros2 launch gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/zh/.ros/log/2025-04-08-14-14-08-743573-zh-18789
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [18809]
[INFO] [gzserver-2]: process started with pid [18811]
[INFO] [gzclient-3]: process started with pid [18813]
[INFO] [spawn_entity.py-4]: process started with pid [18824]
[robot_state_publisher-1] [WARN] [1744092850.983627396] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-1] [INFO] [1744092851.005250818] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1744092851.005356558] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1744092851.005364945] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1744092851.005370559] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1744092851.005375577] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1744092851.005380653] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1744092851.005401899] [robot_state_publisher]: got segment link6
[spawn_entity.py-4] [INFO] [1744092851.461900069] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1744092851.462376818] [spawn_entity]: Loading entity published on topic /robot_description
[spawn_entity.py-4] [INFO] [1744092851.597600032] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1744092851.610611232] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1744092851.612326637] [spawn_entity]: Waiting for service /spawn_entity
[gzclient-3] Gazebo multi-robot simulator, version 11.10.2
[gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-3] Released under the Apache 2 License.
[gzclient-3] http://gazebosim.org
[gzclient-3]
[gzserver-2] Gazebo multi-robot simulator, version 11.10.2
[gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-2] Released under the Apache 2 License.
[gzserver-2] http://gazebosim.org
[gzserver-2]
[gzserver-2] [Wrn] [gazebo_ros_init.cpp:178]
[gzserver-2] # # ####### ####### ### ##### #######
[gzserver-2] ## # # # # # # # #
[gzserver-2] # # # # # # # # #
[gzserver-2] # # # # # # # # #####
[gzserver-2] # # # # # # # # #
[gzserver-2] # ## # # # # # # #
[gzserver-2] # # ####### # ### ##### #######
[gzserver-2]
[gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life
[gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo
[gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli)
[gzserver-2]
[gzserver-2]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 192.168.45.72
[gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
[spawn_entity.py-4] [INFO] [1744092854.880858607] [spawn_entity]: Calling service /spawn_entity
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 192.168.45.72
[gzserver-2] [Msg] Loading world file [/home/zh/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[spawn_entity.py-4] [INFO] [1744092855.188383000] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [demo_robot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 18824]
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:139] EXCEPTION: Unable to create the rendering window
[gzclient-3]
[gzclient-3]
[gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'
[ERROR] [gzclient-3]: process has died [pid 18813, exit code -6, cmd 'gzclient --gui-client-plugin=libgazebo_ros_eol_gui.so --verbose'].
[gzclient-3]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1744092927.750144168] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 18809]
[ERROR] [gzserver-2]: process[gzserver-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-2]: sending signal 'SIGTERM' to process[gzserver-2]
[gzserver-2] [INFO] [1744092932.761096812] [rclcpp]: signal_handler(signum=15)
[ERROR] [gzserver-2]: process[gzserver-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [gzserver-2]: sending signal 'SIGKILL' to process[gzserver-2]
[ERROR] [gzserver-2]: process has died [pid 18811, exit code -9, cmd 'gzserver /home/zh/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-2]
zh@zh:~/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/launch$

ROS 2相关问题 大约1小时之前
1

使用的是VirtualBox虚拟机，也在b站看了相关教程，粘贴板也设置了双向，增强功能也安装好了，但是拖拽文件还是显示如下。847c9d19-dd6f-4d08-a7be-79d155291e86-image.png 恳请大佬帮忙

学习资源 大约1小时之前
4993912604

用ros2control加hardwear interface 的方式开发机器人看起来很香，为什么不见有人用呢。开源的教育机器人也都是把ros2当一个通信工具用，硬件厂商也不见有提供hardwear interface 代码的。电机驱动器，雷达，摄像头，这些常用配件貌似都是直接连某某派、工控机、mini小主机等上位机更方便。如果这些都带hardwear interface代码，岂不是简化很多开发过程。这样做有什么看不到的缺点吗？是会影响性能还是自由度不够？

综合问题 大约3小时之前
2
sunrise@ubuntu:~/Desktop/stm32_communication$ colcon build
Starting >>> stm32_communication
[Processing: stm32_communication]
--- stderr: stm32_communication
gmake: 警告：文件“Makefile”的修改时间在未来 797342943 秒后
gmake[1]: 警告：文件“CMakeFiles/Makefile2”的修改时间在未来 797342943 秒后
gmake[2]: 警告：文件“CMakeFiles/stm32_serial_node.dir/flags.make”的修改时间在未来 797342396 秒后
gmake[2]: 警告：检测到时钟错误。您的构建版本可能是不完整的。
gmake[2]: 警告：文件“CMakeFiles/stm32_serial_node.dir/flags.make”的修改时间在未来 797342395 秒后
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp: In constructor ‘Stm32Communicator::Stm32Communicator()’:
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:36:27: error: ‘class drivers::serial_driver::SerialPort’ has no member named ‘init_port’
36 | serial_port_->init_port(port, {baud_rate, fc, pt, sb});
| ^~~~~~~~~
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:38:32: error: ‘class drivers::serial_driver::SerialPort’ has no member named ‘port_open’
38 | if (!serial_port_->port_open()) {
| ^~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:3:
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:42:39: warning: format ‘%d’ expects argument of type ‘int’, but argument 6 has type ‘long int’ [-Wformat=]
42 | RCLCPP_INFO(get_logger(), "Serial port %s opened at %d baud",
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
43 | port.c_str(), baud_rate);
| ~~~~~~~~~
| |
| long int
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:42:66: note: format string is defined here
42 | RCLCPP_INFO(get_logger(), "Serial port %s opened at %d baud",
| ~^
| |
| int
| %ld
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp: In lambda function:
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:67:58: error: ‘using element_type = class drivers::common::IoContext’ {aka ‘class drivers::common::IoContext’} has no member named ‘run’
67 | io_thread_ = std::thread(this { io_context_->run(); });
| ^~~
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp: In destructor ‘virtual Stm32Communicator::~Stm32Communicator()’:
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:72:22: error: ‘using element_type = class drivers::common::IoContext’ {aka ‘class drivers::common::IoContext’} has no member named ‘stop’
72 | io_context_->stop();
| ^~~~
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp: In member function ‘void Stm32Communicator::read_from_stm32()’:
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:119:28: error: ‘class drivers::serial_driver::SerialPort’ has no member named ‘port_open’
119 | if (!serial_port_->port_open()) return;
| ^~~~~~~~~
In file included from /usr/include/c++/11/memory:76,
from /home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:1:
/usr/include/c++/11/bits/unique_ptr.h: In instantiation of ‘typename std::_MakeUniq<_Tp>::__single_object std::make_unique(_Args&& ...) [with _Tp = drivers::serial_driver::SerialPort; _Args = {drivers::common::IoContext&}; typename std::_MakeUniq<_Tp>::__single_object = std::unique_ptrdrivers::serial_driver::SerialPort]’:
/home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:18:72: required from here
/usr/include/c++/11/bits/unique_ptr.h:962:30: error: no matching function for call to ‘drivers::serial_driver::SerialPort::SerialPort(drivers::common::IoContext&)’
962 | { return unique_ptr<_Tp>(new _Tp(std::forward<_Args>(__args)...)); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/serial_driver/serial_driver.hpp:22,
from /home/sunrise/Desktop/stm32_communication/src/stm32_communicate.cpp:5:
/opt/ros/humble/include/serial_driver/serial_port.hpp:173:3: note: candidate: ‘drivers::serial_driver::SerialPort::SerialPort(const drivers::common::IoContext&, const string&, drivers::serial_driver::SerialPortConfig)’
173 | SerialPort(
| ^~~~~~~~~~
/opt/ros/humble/include/serial_driver/serial_port.hpp:173:3: note: candidate expects 3 arguments, 1 provided
gmake[2]: *** [CMakeFiles/stm32_serial_node.dir/build.make:76：CMakeFiles/stm32_serial_node.dir/src/stm32_communicate.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/stm32_serial_node.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2

Failed <<< stm32_communication [42.6s, exited with code 2]

Summary: 0 packages finished [45.5s]
1 package failed: stm32_communication
1 package had stderr output: stm32_communication

@小伊

机器人学 大约5小时之前
紧急通知：禁止一切关于政治&VPN翻墙等话题，发现相关帖子会立马删除封号
 提问前必看的发帖注意事项： 社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

版块

  • 社区运营&开源工具

    学习资源 社区运营 一键安装 FishROS2GO
    1.3k
    主题
    4.7k
    帖子

    1

    使用的是VirtualBox虚拟机，也在b站看了相关教程，粘贴板也设置了双向，增强功能也安装好了，但是拖拽文件还是显示如下。847c9d19-dd6f-4d08-a7be-79d155291e86-image.png 恳请大佬帮忙

  • 397
    主题
    2.6k
    帖子

    2

    @小鱼 在 可以用树莓派4b直接控制fishbot么 中说：

    用替换主控板

    好哒，谢谢鱼哥

  • 针对社区VIP用户问答专区

    25
    主题
    110
    帖子

    2

    使用的网络与配置什么的和之前都没有变过

  • 《ROS2机器人开发：从入门到实践》书籍配套资料答疑专区

    ROS 2相关问题
    981
    主题
    4.1k
    帖子

    2

    @2573928130 解决：
    rviz中机器人模型用topic导入，不用file导入，之前是一直用file导入xacro文件一直报错

  • 综合问题讨论版块 | 版主 @吴凯荣 @小鱼

    950
    主题
    3.5k
    帖子

    4993912604

    用ros2control加hardwear interface 的方式开发机器人看起来很香，为什么不见有人用呢。开源的教育机器人也都是把ros2当一个通信工具用，硬件厂商也不见有提供hardwear interface 代码的。电机驱动器，雷达，摄像头，这些常用配件貌似都是直接连某某派、工控机、mini小主机等上位机更方便。如果这些都带hardwear interface代码，岂不是简化很多开发过程。这样做有什么看不到的缺点吗？是会影响性能还是自由度不够？

  • 机械臂力控板块 | 版主： @陆门马

    4
    主题
    10
    帖子

    小伊小

    你的文章很好地概述了在轻擎2机械臂上实现基于雅可比矩阵的末端力控（导纳控制的一种简化形式）的过程。这种方法结合了位置控制和力控制，使得机械臂在某些轴上能够施加期望的力，而在其他轴上则继续跟踪期望的位置轨迹。以下是对你文章的一些补充和澄清，以及对潜在读者的进一步解释：

    1. 雅可比矩阵的作用

    雅可比矩阵（Jacobian Matrix）在机器人学中非常重要，因为它描述了机器人关节空间速度到末端执行器空间速度的线性映射。在力控中，雅可比矩阵的转置被用来将末端执行器空间的力映射到关节空间的力矩。这种映射是实现力控的关键步骤之一。

    2. 力位混控

    力位混控（Hybrid Force/Position Control）允许机器人在同一时间对不同的自由度进行不同的控制。在你的例子中，机械臂在特定轴上施加力，同时在其他轴上跟踪位置轨迹。这种控制策略对于需要与环境进行交互的机器人任务非常有用。

    3. 实时性

    由于你的控制算法依赖于实时数据（如当前末端位置和速度），因此确保系统的实时性至关重要。这意味着从传感器读取数据、计算控制输入以及将控制信号发送到电机都需要在非常短的时间内完成。

    4. 摩擦力补偿

    摩擦力是机器人系统中常见的非线性干扰因素。在你的代码中，你通过检查关节速度并对非常小的速度应用一个小的力来尝试补偿摩擦力。这种方法虽然简单，但在某些情况下可能有效。然而，更精确的方法可能涉及动态摩擦模型的识别和补偿。

    5. 重力补偿

    对于多关节机器人来说，重力是一个重要的考虑因素。你的代码中包括了重力补偿的步骤，这是确保机械臂在自由空间中运动时不会因重力而偏离期望轨迹的关键。

    6. 电流环控制

    你提到的方法依赖于电机的电流环控制。这意味着控制算法输出的力矩（或电流）指令被直接发送到电机驱动器，驱动器负责将其转换为实际的电机电流。电流环控制通常具有较快的响应时间，但力控制的精度可能受到电机特性、驱动器性能和机械系统动态特性的影响。

    7. 调试和校准

    尽管你的算法在概念上相对简单，但实现一个稳定且有效的力控系统可能需要大量的调试和校准工作。这包括调整PID控制器的参数、验证雅可比矩阵的正确性、以及确保所有传感器和执行器都正常工作。

    结论

    你的文章为那些希望在机械臂上实现简单力控功能的读者提供了一个很好的起点。尽管这种方法在精度和鲁棒性方面可能无法与更高级的控制策略相媲美，但它为理解和实现更复杂的控制算法提供了宝贵的基础。对于那些希望将机械臂用于交互任务的研究人员和工程师来说，这是一个非常有价值的技能。

    以上为生成回答，仅供参考～

  • 345
    主题
    1.5k
    帖子

    1

    @yongyong 解决了，能识别串口了。但是一点那个扫描那个按钮，卡在那里不动了，需要关闭乌班图，这样我试了好几次都是这样，你们有吗

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