@anoddy1999 在 拓展2：FishBot配套雷达驱动教程（源码版） 中说：
最後也成功ping到
是谁ping通的，windows还是jetson，各个的ip地址是什么报一下
# 一键换源
RUN apt update \
&& apt install wget python3 python3-yaml -y python3-distro\
&& echo "chooses:\n" > fish_install.yaml \
&& echo "- {choose: 5, desc: '一键安装:ROS(支持ROS和ROS2,树莓派Jetson)'}\n" >> fish_install.yaml \
&& echo "- {choose: 2, desc: 更换源继续安装}\n" >> fish_install.yaml \
&& echo "- {choose: 1, desc: 清理三方源}\n" >> fish_install.yaml \
&& wget http://fishros.com/install -O fishros && /bin/bash fishros \
# 进行最后的清理
&& rm -rf fish_install.yaml \
&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* \
&& apt-get clean && apt autoclean
在dockerfile中加入了这个，但是每次运行都报错，搞不懂咋回事，求大佬帮助
下面是运行日志
ac8f765b-7d5b-4da2-bb59-3c0dc088844e-1726211671548.png
报错信息为：
from moveit_ros_planning_interface import _moveit_move_group_interface
ImportError: /opt/ros/noetic/lib/x86_64-linux-gnu/libfcl.so.0.6: undefined symbol: ZN8octomath6Pose6DC1ERKS0
有人知道怎么解决吗？
vscode安装出错!2024-09-12 21-01-51屏幕截图.png
问题描述：
我在学习第六章时成功创建了机器人模型，执行到6.4.4时一切正常，rviz中模型如下，但编辑gazebo_control_plugin.xacro，并修改fishbot.urdf.xacro增加6-38的代码后，进行重新构建 启动仿真后并没有6-39中的话题。
具体细节和上下文：代码均为拷贝您提供的ros2bookcode
gazebo_control_plugin.xacro
<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="gazebo_control_plugin"> <gazebo> <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'> <ros> <namespace>/</namespace> <remapping>cmd_vel:=cmd_vel</remapping> <remapping>odom:=odom</remapping> </ros> <update_rate>30</update_rate> <!-- wheels --> <left_joint>left_wheel_joint</left_joint> <right_joint>right_wheel_joint</right_joint> <!-- kinematics --> <wheel_separation>0.2</wheel_separation> <wheel_diameter>0.064</wheel_diameter> <!-- limits --> <max_wheel_torque>20</max_wheel_torque> <max_wheel_acceleration>1.0</max_wheel_acceleration> <!-- output --> <publish_odom>true</publish_odom> <publish_odom_tf>true</publish_odom_tf> <publish_wheel_tf>true</publish_wheel_tf> <odometry_frame>odom</odometry_frame> <robot_base_frame>base_footprint</robot_base_frame> </plugin> </gazebo> </xacro:macro> </robot>fishbot.urdf.xacro
<?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fishbot"> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro" /> <!-- 传感器组件 --> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro" /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro" /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro" /> <!-- 执行器组件 --> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/wheel.urdf.xacro" /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/caster.urdf.xacro" /> <xacro:base_xacro length="0.12" radius="0.1" /> <!-- 传感器 --> <xacro:imu_xacro xyz="0 0 0.02" /> <xacro:laser_xacro xyz="0 0 0.10" /> <xacro:camera_xacro xyz="0.10 0 0.075" /> <!-- 执行器主动轮+从动轮 --> <xacro:wheel_xacro wheel_name="left" xyz="0 0.10 -0.06" /> <xacro:wheel_xacro wheel_name="right" xyz="0 -0.10 -0.06" /> <xacro:caster_xacro caster_name="front" xyz="0.08 0.0 -0.076" /> <xacro:caster_xacro caster_name="back" xyz="-0.08 0.0 -0.076" /> <!-- Gazebo 插件 --> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_control_plugin.xacro" /> <!-- <xacro:gazebo_control_plugin /> --> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/fishbot.ros2_control.xacro" /> <xacro:fishbot_ros2_control /> <xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro" /> <xacro:gazebo_sensor_plugin /> </robot>重新构建与启动仿真
an@911:~/ros2bookcode/chapt6/chapt6_ws$ colcon build Starting >>> fishbot_description Finished <<< fishbot_description [0.09s] Summary: 1 package finished [0.23s] an@911:~/ros2bookcode/chapt6/chapt6_ws$ source install/setup.bash an@911:~/ros2bookcode/chapt6/chapt6_ws$ ros2 launch fishbot_description display_robot.launch.py model:=src/fishbot_description/urdf/fishbot/fishbot.urdf.xacro [INFO] [launch]: All log files can be found below /home/an/.ros/log/2024-09-12-19-13-09-487047-911-15696 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [joint_state_publisher-1]: process started with pid [15698] [INFO] [robot_state_publisher-2]: process started with pid [15700] [INFO] [rviz2-3]: process started with pid [15702] [robot_state_publisher-2] [INFO] [1726139589.623140879] [robot_state_publisher]: got segment back_caster_link [robot_state_publisher-2] [INFO] [1726139589.623268195] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-2] [INFO] [1726139589.623274896] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1726139589.623278944] [robot_state_publisher]: got segment camera_link [robot_state_publisher-2] [INFO] [1726139589.623283379] [robot_state_publisher]: got segment camera_optical_link [robot_state_publisher-2] [INFO] [1726139589.623287257] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-2] [INFO] [1726139589.623291064] [robot_state_publisher]: got segment imu_link [robot_state_publisher-2] [INFO] [1726139589.623295333] [robot_state_publisher]: got segment laser_cylinder_link [robot_state_publisher-2] [INFO] [1726139589.623299037] [robot_state_publisher]: got segment laser_link [robot_state_publisher-2] [INFO] [1726139589.623302634] [robot_state_publisher]: got segment left_wheel_link [robot_state_publisher-2] [INFO] [1726139589.623306451] [robot_state_publisher]: got segment right_wheel_link [rviz2-3] [INFO] [1726139589.788711352] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1726139589.788774003] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [joint_state_publisher-1] [INFO] [1726139589.822071202] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [rviz2-3] [INFO] [1726139589.830594485] [rviz2]: Stereo is NOT SUPPORTED显示的话题列表
an@911:~$ ros2 topic list /clicked_point /goal_pose /initialpose /joint_states /parameter_events /robot_description /rosout /tf /tf_static显示的仿真模型
9e8a51bf-c1c2-4e3a-bc83-062d571423e7-图片.png
尝试过的解决方法：搜索很多次没找到解决方法，不知道是不是缺少了哪步，还请点明错误
我想问一下我按小鱼的教程进行HelloFishros例程进行make编译，怎么会出现这样的错误:
sunboy@sunboy-desktop:~/dds_tutorial/examples/01-hellofishros/build$ make
Consolidate compiler generated dependencies of target DDSHelloFishRosPublisher
[ 12%] Building CXX object CMakeFiles/DDSHelloFishRosPublisher.dir/src/idl_generate/HelloFishRosPubSubTypes.cxx.o
/home/sunboy/dds_tutorial/examples/01-hellofishros/src/idl_generate/HelloFishRosPubSubTypes.cxx: In member function ‘virtual bool HelloWorldPubSubType::serialize(void*, SerializedPayload_t*)’:
/home/sunboy/dds_tutorial/examples/01-hellofishros/src/idl_generate/HelloFishRosPubSubTypes.cxx:61:108: error: ‘DDS_CDR’ is not a member of ‘eprosima::fastcdr::Cdr’
61 | er(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
| ^~~~~~~
/home/sunboy/dds_tutorial/examples/01-hellofishros/src/idl_generate/HelloFishRosPubSubTypes.cxx:77:49: error: ‘class eprosima::fastcdr::Cdr’ has no member named ‘getSerializedDataLength’; did you mean ‘get_serialized_data_length’?
77 | payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
| ^~~~~~~~~~~~~~~~~~~~~~~
| get_serialized_data_length
/home/sunboy/dds_tutorial/examples/01-hellofishros/src/idl_generate/HelloFishRosPubSubTypes.cxx: In member function ‘virtual bool HelloWorldPubSubType::deserialize(SerializedPayload_t*, void*)’:
/home/sunboy/dds_tutorial/examples/01-hellofishros/src/idl_generate/HelloFishRosPubSubTypes.cxx:92:110: error: ‘DDS_CDR’ is not a member of ‘eprosima::fastcdr::Cdr’
92 | er(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
| ^~~~~~~
/home/sunboy/dds_tutorial/examples/01-hellofishros/src/idl_generate/HelloFishRosPubSubTypes.cxx: In member function ‘virtual bool HelloWorldPubSubType::getKey(void*, InstanceHandle_t*, bool)’:
/home/sunboy/dds_tutorial/examples/01-hellofishros/src/idl_generate/HelloFishRosPubSubTypes.cxx:154:65: error: ‘class eprosima::fastcdr::Cdr’ has no member named ‘getSerializedDataLength’; did you mean ‘get_serialized_data_length’?
154 | m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
| ^~~~~~~~~~~~~~~~~~~~~~~
| get_serialized_data_length
make[2]: *** [CMakeFiles/DDSHelloFishRosPublisher.dir/build.make:104: CMakeFiles/DDSHelloFishRosPublisher.dir/src/idl_generate/HelloFishRosPubSubTypes.cxx.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/DDSHelloFishRosPublisher.dir/all] Error 2
make: *** [Makefile:91: all] Error 2
最近需要对几个节点用gperftools分析性能，网上没有找到gperftools_ros包，只能手动编译，然后用target_link_libraries指定库。
部署的平台也有amd64和arm64之分，经常倒腾来倒腾去。
就想着自己封装成ros2通用包，其他包需要时，改一下依赖就行
ros2_gperftools目录结构
. ├── CMakeLists.txt ├── include │ └── gperftools │ ├── heap-checker.h │ ├── heap-profiler.h │ ├── malloc_extension_c.h │ ├── malloc_extension.h │ ├── malloc_hook_c.h │ ├── malloc_hook.h │ ├── nallocx.h │ ├── profiler.h │ ├── stacktrace.h │ └── tcmalloc.h.in ├── libamd64 │ ├── libprofiler.so -> libprofiler.so.5.11.5 │ ├── libprofiler.so.5.11.5 │ ├── libtcmalloc.so -> libtcmalloc.so.9.16.5 │ └── libtcmalloc.so.9.16.5 ├── libarm └── package.xml 4 directories, 16 files下面是我写的CMakeLists.txt
cmake_minimum_required(VERSION 3.8) project(ros2_gperftools) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # 检测CMake是否设置为交叉编译 if(${CMAKE_CROSSCOMPILING}) message(STATUS "The system is aarch64.") set(LIB_PATH libarm) else() message(STATUS "The system is amd64.") set(LIB_PATH libamd64) endif() # find dependencies find_package(ament_cmake REQUIRED) add_library(profiler SHARED IMPORTED) set_target_properties(profiler PROPERTIES IMPORTED_LOCATION ${LIB_PATH}/libprofiler.so) install(DIRECTORY include/ DESTINATION include ) install(TARGETS profiler LIBRARY DESTINATION lib ) ament_export_include_directories(include) ament_export_targets(profiler HAS_LIBRARY_TARGET) ament_package()编译一直报错😵 😵，看着感觉也没写错哇，目标也指定了
Starting >>> ros2_gperftools --- stderr: ros2_gperftools CMake Error at CMakeLists.txt:28 (install): install TARGETS given target "profiler" which does not exist. gmake: *** [Makefile:226：cmake_check_build_system] 错误 1 --- Failed <<< ros2_gperftools [0.19s, exited with code 2] Summary: 0 packages finished [0.40s] 1 package failed: ros2_gperftools 1 package had stderr output: ros2_gperftools使用fishros2os烧录移动硬盘（1t容量）后，在windows上打开硬盘只显示100M可用空间，而在ubuntu里打开就是1000G,这是什么原因？是因为烧录之前硬盘没有分区导致的嘛，如何解决
Run CMD Task:[sudo apt update]
[-][4.30s] CMD Result:success
Run CMD Task:[sudo apt install ninja-build stow git -y]
[-][1.00s] CMD Result:success
Run CMD Task:[mkdir -p cartographer_ws/src]
[-][0.00s] CMD Result:success
Run CMD Task:[git clone https://gitee.com/yuzi99url/cartographer_ros.git]
[-][0.01s] CMD Result:code:128
Run CMD Task:[git clone https://gitee.com/yuzi99url/cartographer.git]
[-][0.00s] CMD Result:code:128
Run CMD Task:[sudo apt-get install libamd2 libatlas3-base libbtf1 libcamd2 libccolamd2 libceres-dev libceres1 libcholmod3 libcxsparse3 libgflags-dev libgflags2.2 libgoogle-glog-dev libgoogle-glog0v5 libklu1 libldl2 liblua5.2-0 liblua5.2-dev libmetis5 libncurses5 libncursesw5 librbio2 libreadline-dev libspqr2 libsuitesparse-dev libtinfo-dev libtinfo5 libtool-bin libumfpack5 -y]
[-][1.10s] CMD Result:success
Run CMD Task:[sudo apt-get install libgraphblas1 -y]
[-][0.90s] CMD Result:success
Run CMD Task:[sudo apt-get remove ros-melodic-abseil-cpp -y]
[-][1.13s] CMD Result:success
Run CMD Task:[bash src/cartographer/scripts/install_abseil.sh]
[-][0.00s] CMD Result:code:128
Run CMD Task:[catkin_make_isolated --install --use-ninja]
[-][0.00s] CMD Result:code:127
Run CMD Task:[sudo chmod -R 777 cartographer_ws]
[-][0.00s] CMD Result:success
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
执行git clone http://github.fishros.org/https://github.com/fishros/micro-ROS-Agent.git -b humble
返回结果为：
我在windows 上面能夠跑配置助手,可是不懂如何搞docker相關的操作
而在虛擬機上又一直找不到端口 所以想試一試用jetson orin nano
行得通嗎? 魚哥
屏幕截图 2024-09-11 223610.png 回复: [FishBot教程] 3. 主控板固件烧录与配置防火墙关了，机器人连的是电脑热点也是2.4g，也重启试过了，可还是连不上
环境是wsl2下的ubuntu16.04
检测到程序发生异常退出，请打开：https://fishros.org.cn/forum 携带如下内容进行反馈
标题：使用一键安装过程中遇到程序崩溃
Traceback (most recent call last): File "/tmp/fishinstall/install.py", line 134, in <module> main() File "/tmp/fishinstall/install.py", line 123, in main run_tool_file(tools[code]['tool'].replace("/",".")) File "/tmp/fishinstall/tools/base.py", line 1476, in run_tool_file if tool.run()==False: return False File "/tmp/fishinstall/tools/tool_install_ros.py", line 413, in run self.install_ros() File "/tmp/fishinstall/tools/tool_install_ros.py", line 400, in install_ros self.check_sys_source() File "/tmp/fishinstall/tools/tool_install_ros.py", line 217, in check_sys_source tool = run_tool_file('tools.tool_config_system_source',authorun=False) File "/tmp/fishinstall/tools/base.py", line 1473, in run_tool_file tool = importlib.import_module(file.replace(".py","")).Tool() File "/usr/lib/python3.5/importlib/__init__.py", line 126, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "<frozen importlib._bootstrap>", line 986, in _gcd_import File "<frozen importlib._bootstrap>", line 969, in _find_and_load File "<frozen importlib._bootstrap>", line 958, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 673, in _load_unlocked File "<frozen importlib._bootstrap_external>", line 661, in exec_module File "<frozen importlib._bootstrap_external>", line 767, in get_code File "<frozen importlib._bootstrap_external>", line 727, in source_to_code File "<frozen importlib._bootstrap>", line 222, in _call_with_frames_removed File "/tmp/fishinstall/tools/tool_config_system_source.py", line 150 PrintUtils.print_info(f'{source} 已经测试失败，跳过!') ^ SyntaxError: invalid syntax39e0b16d-bf32-4f75-829f-4be528c5781d-1726059934649.png
这个是我的配置文件：
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_link"
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_link
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"]
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 15.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.12
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.25
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: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 10.0
publish_frequency: 10.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
robot_radius: 0.10
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: 0.55
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: false
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-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: true
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: 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
检测到当前系统:debian 架构:arm64 代号:,正在为你搜索适合的源...
搜索到可用源:[]
接下来将进行自动测速以为您选择最快的源:
检测到程序发生异常退出，请打开：https://fishros.org.cn/forum 携带如下内容进行反馈
标题：使用一键安装过程中遇到程序崩溃
Traceback (most recent call last): File "/tmp/fishinstall/install.py", line 134, in <module> main() File "/tmp/fishinstall/install.py", line 123, in main run_tool_file(tools[code]['tool'].replace("/",".")) File "/tmp/fishinstall/tools/base.py", line 1476, in run_tool_file if tool.run()==False: return False File "/tmp/fishinstall/tools/tool_config_system_source.py", line 225, in run self.change_sys_source() File "/tmp/fishinstall/tools/tool_config_system_source.py", line 180, in change_sys_source source = self.replace_source(failed_sources) File "/tmp/fishinstall/tools/tool_config_system_source.py", line 169, in replace_source source,template = self.get_source_by_system(system,codename,arch,failed_sources) File "/tmp/fishinstall/tools/tool_config_system_source.py", line 154, in get_source_by_system return fast_source[0],template IndexError: list index out of range本次运行详细日志文件已保存至 /tmp/fishros_install.log
2d地图的方案是检测车辆俯仰翻滚偏航三个姿态，然后计算里程计的平面投影，之前没有接触过3d建图导航，所以不清楚是继续使用原来的2d简单还是使用3d建图导航简单，如果推荐使用3d建图导航的话，地面数据是建图导航算法自己处理，还是需要自己处理，如果自己处理的话有没有推荐的算法，可以处理地面数据和斜坡数据的那种，最后请教一下ros的3d导航包是什么呀？感谢各位大佬解惑
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