按照代码检查多，但是图形只出现一半。8c85c536-8137-4f7a-8628-0c761a26dac7-5406ce9cb6beaf2c856d8bc1493085e.png

89cacf8c-4a9b-4de4-9202-cadc789c1aff-image.png 在ros2中我想通过rosbridge传输imu节点信息，但在运行节点时报错，问了ai是时间戳转换时类型断言失败，是 ROS2 消息类型版本不兼容导致，之后更新了ros-jazzy-rosidl-generator-py，还是会出现同样的错误

在购买二驱机器人后，学习到9.4.1章节时，需要编译micro-ros的两个包，编译第二个包时无法编译成功；视频中解决方法是在github前加github.fishros.org代理解决，目前此代理失效，我使用其他代理尝试都没有成功，随后我尝试了本地方法，但是使用本地库编译依然会在62%时在build中报错导致失败。

报错：[INFO] [launch]: All log files can be found below /home/shang/.ros/log/2025-11-16-17-32-40-975825-shang-VirtualBox-10910
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:

ModuleNotFoundError: No module named 'ament_index_python.package' InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown
已经source了环境依旧报错
这个是代码：
mport launch
import launch_ros
from ament_index_python.package import get_package_share_directory

def generate_launch_description():
#动作一，启动其他launch
mutisim_launch_path = [get_package_share_directory('turtlesim'),'/launch/','multisim.launch.py']
#包名，文件夹名，文件名
action_include_launch = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
mutisim_launch_path
)
)

#动作二，打印数据 action_log_info = launch.actions.LogInfo(msg=str(multisim_launch_path)) #动作三，执行进程，执行一个命令行 例如ros2 topic list action_topic_list = launch.actions.ExecuteProcess( cmd=['ros2','topic','list'] ) #动作四，组织动作成组，把多个动作放到一组 action_group = launch.actions.GroupAction([ #动作五，定时器 launch.actions.TimerAction(period=2.0,actions=[action_include_launch]),#第二秒启动 launch.actions.TimerAction(period=4.0,actions=[action_topic_list])#第四秒启动 ]) return launch.LaunchDescription([ #actions动作 action_log_info, action_group ])

//patrol_client.cpp
#include "rclcpp/rclcpp.hpp"
#include "chapt4_interfaces/srv/patrol.hpp"
#include <chrono>
#include <ctime>
#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/msg/parameter_value.hpp"
#include "rcl_interfaces/msg/parameter_type.hpp"
#include "rcl_interfaces/srv/set_parameters.hpp"
using SetP = rcl_interfaces::srv::SetParameters;
using namespace std::chrono_literals;//可以使用10s，100ms表示时间
using Patrol = chapt4_interfaces::srv::Patrol;

class PatrolClientNode: public rclcpp::Node //定义类，继承自rclcpp::Node
{
public:
PatrolClientNode():Node("turtle_controller")
{
srand(time(NULL));//初始化随机数种子

patrol_client_ = this->create_client<Patrol>("patrol"); //创建客户端 timer_ = this->create_wall_timer(10s,[&]()->void{ //1检测服务端是否上线 while (!this->patrol_client_->wait_for_service(1s)) { if(!rclcpp::ok()){ RCLCPP_ERROR(this->get_logger(),"等待服务上线过程中，rclcpp挂了，我退下了"); return; } RCLCPP_ERROR(this->get_logger(),"等待服务上线中"); } //2构造请求的对象 auto request = std::make_shared<Patrol::Request>(); request->target_x = rand() % 12; request->target_y = rand() % 12;//取余防止超过12 RCLCPP_INFO(this->get_logger(),"准备好目标点%f,%f", request->target_x,request->target_y); //3发送请求,调动函数，异步发送请求 this->patrol_client_->async_send_request(request,[&] (rclcpp::Client<Patrol>::SharedFuture result_future)-> void{ auto response = result_future.get(); if(response->result==Patrol::Response::SUCCESS){ RCLCPP_INFO(this->get_logger(),"请求巡逻目标点成功"); } if(response->result==Patrol::Response::FAIL){ RCLCPP_INFO(this->get_logger(),"请求巡逻目标点失败"); } }); }); } //创建客户端发送请求，返回结果 SetP::Response::SharedPtr call_set_parameter(const rcl_interfaces::msg::Parameter &param) { auto param_client_ = this->create_client<SetP>("/turtle_controller/set_parameters"); //更改客户端名（智能指针），服务类型名，服务名称 //创建客户端 //1检测服务端是否上线 while (!this->patrol_client_->wait_for_service(1s)) { if(!rclcpp::ok()){ RCLCPP_ERROR(this->get_logger(),"等待服务上线过程中，rclcpp挂了，我退下了"); return nullptr; } RCLCPP_ERROR(this->get_logger(),"等待服务上线中"); } //2构造请求的对象 auto request = std::make_shared<SetP::Request>(); request->parameters.push_back(param); //3发送请求,调动函数，异步发送请求 auto future = param_client_->async_send_request(request); rclcpp::spin_until_future_complete(this->get_node_base_interface(),future); auto response = future.get(); return response; } //更新参数 void update_server_param_k(double k) { //1创建参数对象 auto param = rcl_interfaces::msg::Parameter(); param.name = "k"; //2创建参数值 auto param_value = rcl_interfaces::msg::ParameterValue(); param_value.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; param_value.double_value = k; param.value = param_value; //请求更新参数并处理 auto response = this->call_set_parameter(param); if(response==NULL){ RCLCPP_INFO(this->get_logger(),"参数更新失败"); return; } for (auto result:response->results) //返回值是result[]数组，遍历数组 { if (result.successful==false) { RCLCPP_INFO(this->get_logger(),"参数更新失败，原因：%s",result.reason.c_str()); }else{ RCLCPP_INFO(this->get_logger(),"参数更新成功"); } } }

private://私有成员变量 声明定时器和客户端
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Client<Patrol>::SharedPtr patrol_client_;
};

int main(int argc,char* argv[])//俩命令行参数
{
rclcpp::init(argc,argv);
auto node = std::make_shared<PatrolClientNode>();//创建节点turtle-circle，创建TCN类的共享指针
node->update_server_param_k(4.0);
rclcpp::spin(node);//启动节点循环
rclcpp::shutdown();//关闭环境
return 0;
}
//turtle_control.cpp
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "turtlesim/msg/pose.hpp"
#include "chapt4_interfaces/srv/patrol.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "rclcpp/parameter_client.hpp"
#include "rclcpp/parameter.hpp"

using Patrol = chapt4_interfaces::srv::Patrol;
using SetParametersResult = rcl_interfaces::msg::SetParametersResult;

class TurtleController: public rclcpp::Node //定义类，继承自rclcpp::Node
{
private:
OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
rclcpp::Service<Patrol>::SharedPtr patrol_server_;
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_; //发布者的智能指针
rclcpp::Subscriptionturtlesim::msg::Pose::SharedPtr subscriber_; //订阅者的智能共享指针
double target_x_{1.0};
double target_y_{1.0};
double k_{1.0};//比例系数
double max_speed_{3.0};

public:
TurtleController() : Node("turtle_controller")
{
this->declare_parameter("k",1.0);
this->declare_parameter("max_speed",1.0);
this->get_parameter("k",k_);
this->get_parameter("max_speed",max_speed_);
this->set_parameter(rclcpp::Parameter("k",2.0));

parameter_callback_handle_ = this->add_on_set_parameters_callback([&](const std::vector<rclcpp::Parameter> & parameters)-> rcl_interfaces::msg::SetParametersResult{ rcl_interfaces::msg::SetParametersResult result; result.successful = true; for (const auto & parameter : parameters) { RCLCPP_INFO(this->get_logger(),"更新参数的值%s=%f",parameter.get_name(). c_str(),parameter.as_double()); if(parameter.get_name()=="k") { k_ = parameter.as_double(); } if(parameter.get_name()=="max_speed") { max_speed_ = parameter.as_double(); } } return result; }); patrol_server_ = this->create_service<Patrol>("patrol",[&](const Patrol::Request::SharedPtr request,Patrol::Response::SharedPtr response) -> void{ if( (0 < request->target_x && request->target_x < 12.0f)&& (0 < request->target_y && request->target_y < 12.0f) ){ this->target_x_ = request->target_x; this->target_y_ = request->target_y; response->result = Patrol::Response::SUCCESS; }else{ response->result = Patrol::Response::FAIL; } //额外调用添加的回调函数，做到第一时间更新参数 }); publisher_ = this->create_publisher<geometry_msgs::msg::Twist>( "/turtle1/cmd_vel", 10); subscriber_ = this->create_subscription<turtlesim::msg::Pose>( "/turtle1/pose", 10, std::bind(&TurtleController::on_pose_received_, this, std::placeholders::_1)); }

private:
void on_pose_received_(const turtlesim::msg::Pose::SharedPtr pose){
//1.获取当前位置
auto current_x = pose->x;
auto current_y = pose->y;
RCLCPP_INFO(get_logger(),"当前:x=%f,y=%f",current_x,current_y);

//2.计算当前海龟位置跟目标位置之间的距离差和角度差 auto distance = std::sqrt( (target_x_-current_x)*(target_x_-current_x)+ (target_y_-current_y)*(target_y_-current_y) ); auto angle = std::atan2( (target_y_-current_y), (target_x_-current_x)) - pose->theta; //3.控制策略 auto msg = geometry_msgs::msg::Twist(); if(distance>0.1){ if(fabs(angle)>0.2){ msg.angular.z = fabs(angle); }else{ msg.linear.x = k_*distance; } } //4.限制线速度最大值 if(msg.linear.x > max_speed_){ msg.linear.x = max_speed_; } publisher_->publish(msg); }

};

int main(int argc,char* argv[])//俩命令行参数
{
rclcpp::init(argc,argv);
auto node = std::make_shared<TurtleController>();//创建节点turtle-circle，创建TCN类的共享指针
rclcpp::spin(node);//启动节点循环
rclcpp::shutdown();//关闭环境
return 0;
}

如何在保证模型大小的情况下，让机器人位于坐标原点
7a97ee91-ec22-47d7-b47c-0f05d53fae82-屏幕截图 2025-11-15 144430.png 0445fd86-70cc-46e7-99b1-744f4e7e8bb6-屏幕截图 2025-11-15 144417.png cbceb2f9-9366-4d23-89bf-a4ada0f576be-屏幕截图 2025-11-15 144411.png a4d6d4d8-3228-483e-8336-8ac392b180a9-屏幕截图 2025-11-15 144444.png

我想实现地图扩展：在已有的地图的基础上，添加上未构建的其他区域，形成一张新的地图。有什么好办法吗？

手柄已通过usbipd共享给wsl，wsl中jstest能读取手柄信息，就是ros无法读到，/joy已发布，但没有任何消息

截图 2025-11-12 10-45-02.png ``

Run CMD Task:[wget https://fishros.org.cn/forum/topic/1733 -O /tmp/t1733 -q --timeout 10 && rm -rf /tmp/t1733]
[-][0.00s] CMD Result:code:5
这个是什么问题导致的
=================3.下载镜像（该步骤因网络原因会慢一些，若失败请重试）==================
Run CMD Task:[sudo docker pull fishros2/ros:melodic-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": proxyconnect tcp: dial tcp 127.0.0.1:80: connect: connection refused
Run CMD Task:[sudo docker pull fishros2/ros:melodic-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": proxyconnect tcp: dial tcp 127.0.0.1:80: connect: connection refused
Run CMD Task:[sudo docker pull fishros2/ros:melodic-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": proxyconnect tcp: dial tcp 127.0.0.1:80: connect: connection refused
下载的时候都是错误

Traceback (most recent call last):
File "/tmp/fishinstall/tools/translation/translator.py", line 60, in loadTranslationFile
self._translations = importlib.import_module(_import_command).translations
File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'tools.translation.assets.zh_CN'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/tmp/fishinstall/install.py", line 138, in <module>
main()
File "/tmp/fishinstall/install.py", line 68, in main
importlib.import_module("tools.translation.translator").Linguist()
File "/tmp/fishinstall/tools/translation/translator.py", line 52, in init
self.loadTranslationFile()
File "/tmp/fishinstall/tools/translation/translator.py", line 64, in loadTranslationFile
self._translations = importlib.import_module(_import_command).translations
File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'tools.translation.assets.en_US'

d05fb751-0d03-4195-89c3-b09a5dd44439-image.png

为什么 输入python3 hello.py之后不输出hello（代码与博主一样）

ba85cb56-36aa-4317-a17d-f0ae31466d37-图片.png
d933c5311a877e87357f26a536827e99.png
我自己建模了一个阿克曼小车，一开始都没什么问题，在urdf上面加入阿克曼插件的时候，就出现问题了，但是终端并没有显示报错，而且加载插件成功了，当我把阿克曼插件去掉的时候，小车就又变好了，轮子也能正常显示在底盘的4个角，请问这是怎么回事```
<?xml version="1.0" ?>
<robot name="fishbot">

<link name="base_footprint"> <origin xyz="0 0 0" rpy="0 0 0" /> </link> <joint name="base_joint" type="fixed"> <parent link="base_footprint" /> <child link="base_link" /> <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> </joint> <link name="base_link"> <visual> <origin xyz="0.30 0 0.25" rpy="0 0 0" /> <geometry> <box size="0.68 0.46 0.10"/> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> <collision> <origin xyz="0.30 0 0.25" rpy="0 0 0" /> <geometry> <box size="0.68 0.46 0.10"/> </geometry> </collision> <inertial> <mass value="9"/> <inertia ixx="0.3543" ixy="0" ixz="0" iyy="0.5055" iyz="0" izz="0.1662"/> </inertial> </link> <!-- 后轮：驱动功能（continuous关节） --> <joint name="rear_left_wheel_joint" type="continuous"> <origin xyz="0 0.3 0.10" rpy="0 0 0"/> <parent link="base_link"/> <child link="left_wheel_link"/> <axis xyz="0 1 0"/> </joint> <link name="left_wheel_link"> <visual> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> </collision> <inertial> <mass value="0.2"/> <inertia ixx="0.0005139" ixy="0" ixz="0" iyy="0.0005139" iyz="0" izz="0.001"/> </inertial> </link> <joint name="rear_right_wheel_joint" type="continuous"> <origin xyz="0 -0.3 0.10" rpy="0 0 0"/> <parent link="base_link"/> <child link="right_wheel_link"/> <axis xyz="0 1 0"/> </joint> <link name="right_wheel_link"> <visual> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> </collision> <inertial> <mass value="0.2"/> <inertia ixx="0.0005139" ixy="0" ixz="0" iyy="0.0005139" iyz="0" izz="0.001"/> </inertial> </link> <!-- 左前轮：阿克曼转向结构 --> <joint name="front_left_steer_joint" type="revolute"> <origin xyz="0.595 0.20 0.10" rpy="0 0 0"/> <parent link="base_link"/> <child link="left_front_steer_link"/> <axis xyz="0 0 1"/> <limit lower="-0.5" upper="0.5" effort="10" velocity="1.0"/> </joint> <link name="left_front_steer_link"> <visual> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <box size="0.02 0.02 0.02"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <box size="0.02 0.02 0.02"/> </geometry> </collision> <inertial> <mass value="0.1"/> <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/> </inertial> </link> <joint name="front_left_wheel_joint" type="continuous"> <parent link="left_front_steer_link"/> <child link="left_front_link"/> <origin rpy="0 0 0" xyz="0 0.1 0"/> <axis xyz="0 1 0"/> </joint> <link name="left_front_link"> <visual> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> </collision> <inertial> <mass value="0.2"/> <inertia ixx="0.0005139" ixy="0" ixz="0" iyy="0.0005139" iyz="0" izz="0.001"/> </inertial> </link> <!-- 右前轮：与左前轮结构完全一致 --> <joint name="front_right_steer_joint" type="revolute"> <origin xyz="0.595 -0.20 0.10" rpy="0 0 0"/> <parent link="base_link"/> <child link="right_front_steer_link"/> <axis xyz="0 0 1"/> <limit lower="-0.5" upper="0.5" effort="10" velocity="1.0"/> </joint> <link name="right_front_steer_link"> <visual> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <box size="0.02 0.02 0.02"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <box size="0.02 0.02 0.02"/> </geometry> </collision> <inertial> <mass value="0.1"/> <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/> </inertial> </link> <joint name="front_right_wheel_joint" type="continuous"> <origin xyz="0 -0.1 0" rpy="0 0 0"/> <parent link="right_front_steer_link"/> <child link="right_front_link"/> <axis xyz="0 1 0"/> </joint> <link name="right_front_link"> <visual> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57 0 0" /> <geometry> <cylinder radius="0.10" length="0.04"/> </geometry> </collision> <inertial> <mass value="0.2"/> <inertia ixx="0.0005139" ixy="0" ixz="0" iyy="0.0005139" iyz="0" izz="0.001"/> </inertial> </link> <link name="virtual_steer_link"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <box size="0.02 0.02 0.02" /> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <inertial> <!-- Gazebo won't show this link without this inertial mass --> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> <mass value="0.1" /> <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/> </inertial> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <box size="0.01 0.15 0.05" /> </geometry> </collision> </link> <joint name="virtual_steering_wheel_joint" type="revolute"> <origin xyz="0.59 0 0.3" rpy="0 0 0"/> <parent link="base_link"/> <child link="virtual_steer_link" /> <axis xyz="1 0 0" /> <limit lower="-3" upper="3" effort="200" velocity="20" /> </joint> <!-- IMU --> <joint name="imu_joint" type="fixed"> <origin xyz="0.3 0 0.3" rpy="0 0 0"/> <parent link="base_link"/> <child link="imu_link"/> </joint> <link name="imu_link"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <box size="0.02 0.02 0.02"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <box size="0.02 0.02 0.02"/> </geometry> </collision> <inertial> <mass value="0.1"/> <inertia ixx="0.0001904" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/> </inertial> </link> <gazebo> <plugin name="gazebo_ros_joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so"> <update_rate>100</update_rate> <joint_name>front_left_wheel_joint</joint_name> <joint_name>front_right_wheel_joint</joint_name> <joint_name>rear_left_wheel_joint</joint_name> <joint_name>rear_right_wheel_joint</joint_name> <joint_name>front_left_steer_joint</joint_name> <joint_name>front_right_steer_joint</joint_name> <joint_name>virtual_steering_wheel_joint</joint_name> </plugin> </gazebo> <gazebo> <plugin name="gazebo_ros_joint_pose_trajectory" filename="libgazebo_ros_joint_pose_trajectory.so"> <update_rate>2</update_rate> </plugin> </gazebo> <gazebo> <plugin name="ackermann_drive" filename="libgazebo_ros_ackermann_drive.so"> <ros> <remapping>cmd_vel:=cmd_vel</remapping> <remapping>odom:=odom</remapping> <remapping>distance:=distance</remapping> </ros> <update_rate>100.0</update_rate> <front_left_joint>front_left_wheel_joint</front_left_joint> <front_right_joint>front_right_wheel_joint</front_right_joint> <rear_left_joint>rear_left_wheel_joint</rear_left_joint> <rear_right_joint>rear_right_wheel_joint</rear_right_joint> <left_steering_joint>front_left_steer_joint</left_steering_joint> <right_steering_joint>front_right_steer_joint</right_steering_joint> <steering_wheel_joint>virtual_steering_wheel_joint</steering_wheel_joint> <left_steering_pid_gain>1500 0 1</left_steering_pid_gain> <left_steering_i_range>0 0</left_steering_i_range> <right_steering_pid_gain>1500 0 1</right_steering_pid_gain> <right_steering_i_range>0 0</right_steering_i_range> <linear_velocity_pid_gain>1000 0 1</linear_velocity_pid_gain> <linear_velocity_i_range>0 0</linear_velocity_i_range> <max_steer>0.5</max_steer> <max_steering_angle>7.85</max_steering_angle> <max_speed>5</max_speed> <publish_odom>true</publish_odom> <publish_odom_tf>true</publish_odom_tf> <publish_wheel_tf>false</publish_wheel_tf> <odometry_frame>odom</odometry_frame> <robot_base_frame>base_link</robot_base_frame> </plugin> </gazebo>

</robot>

2025-11-08 09:20:29 (185 MB/s) - ‘fishros’ saved [960/960]

--2025-11-08 09:20:29-- http://fishros.com/install
Resolving fishros.com (fishros.com)... 47.119.165.169
Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
--2025-11-08 09:20:29-- http://fishros.com/install/
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... 200 OK
Length: 960 [application/octet-stream]
Saving to: ‘fishros’

fishros 100%[===========================================>] 960 --.-KB/s in 0s

2025-11-08 09:20:29 (141 MB/s) - ‘fishros’ saved [960/960]

--2025-11-08 09:20:29-- http://fishros.com/install
Resolving fishros.com (fishros.com)... 47.119.165.169
Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
--2025-11-08 09:20:29-- http://fishros.com/install/
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... 200 OK
Length: 960 [application/octet-stream]
Saving to: ‘fishros’

fishros 100%[===========================================>] 960 --.-KB/s in 0s

2025-11-08 09:20:30 (183 MB/s) - ‘fishros’ saved [960/960]

--2025-11-08 09:20:30-- http://fishros.com/install
Resolving fishros.com (fishros.com)... 47.119.165.169
Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
--2025-11-08 09:20:30-- http://fishros.com/install/
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... 200 OK
Length: 960 [application/octet-stream]
Saving to: ‘fishros’

fishros 100%[===========================================>] 960 --.-KB/s in 0s

2025-11-08 09:20:30 (87.3 MB/s) - ‘fishros’ saved [960/960]

--2025-11-08 09:20:30-- http://fishros.com/install
Resolving fishros.com (fishros.com)... 47.119.165.169
Connecting to fishros.com (fishros.com)|47.119.165.169|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: http://fishros.com/install/ [following]
--2025-11-08 09:20:30-- http://fishros.com/install/
Reusing existing connection to fishros.com:80.
HTTP request sent, awaiting response... ^C
root@WP:/tmp/fish#

背景：在统信UOS系统上安装ROS 2
行动：
执行wget http://fishros.com/install -O fishros之后，. fishros，按“1”出现问题
Traceback (most recent call last):
File "/tmp/fishinstall/install.py", line 138, 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 1550, in run_tool_file
if tool.run()==False: return False
File "/tmp/fishinstall/tools/tool_install_ros.py", line 457, in run
self.install_ros()
File "/tmp/fishinstall/tools/tool_install_ros.py", line 442, in install_ros
if not self.support_install(): return False
File "/tmp/fishinstall/tools/tool_install_ros.py", line 342, in support_install
if (osversion.get_codename() not in ros_dist_dic.keys()) and (osversion.get_codename() not in ros2_dist_dic.keys()):
File "/tmp/fishinstall/tools/base.py", line 735, in get_codename
self.detect_os()
File "/tmp/fishinstall/tools/base.py", line 695, in detect_os
raise OsNotDetected("Could not detect OS, tried %s" % attempted)
tools.base.GetOsVersion.<locals>.OsNotDetected: Could not detect OS, tried ['zorin', 'windows', 'nixos', 'clearlinux', 'ubuntu', 'slackware', 'rocky', 'rhel', 'qnx', 'pop', 'osx', 'sailfishos', 'tizen', 'oracle', 'opensuse', 'opensuse', 'opensuse', 'opensuse', 'opensuse', 'openembedded', 'neon', 'mx', 'mint', 'linaro', 'gentoo', 'funtoo', 'freebsd', 'fedora', 'elementary', 'elementary', 'debian', 'cygwin', 'euleros', 'centos', 'manjaro', 'buildroot', 'arch', 'amazon', 'alpine', 'almalinux']
分析：在系统程序判断中不支持uos系统。不过uos系统底层也是基于debian的吧，所以我认为代码应该优化一下，谢谢。

在7.4.3 调用接口进行单点导航中，启动仿真→启动导航→初始化位姿→设置导航，导航整体没有问题，无论是距离还是位姿也都符合nav2_params中的配置，但是在导航结束，节点退出后，不输出SUCCEEDED ，一直是UNKNOW。106a0afa-8709-4940-8696-9b909f2c446c-image.png f3153815-a73e-4d67-8698-c654f5c763e2-image.png

f625a466-96fe-4d2e-9765-22c14620b915.png

不知道这个图片发不发得出来，就是今天看文档发现一个比较严重的翻译错误（指令行也有错），然后就点击那个校准想去提交一体一条修改意见，填完之后发现提交不了

SLam导航中，对于在ROS2_Humble中的时间不同步的问题导致的rviz2中的TF和机器人模型出现警号，并且rviz2中机器人模型一闪一闪，控制台报错如图所示：4f963bed-1e89-42ba-9220-a640eb61cb78-image.png
我是用的是STL模型，在导航的过程中，会出现漂移，瞬间移动，但是把虚拟机界面缩小就会好很多，或者是机器人在RVIZ中运行一段时间就会好很多。

在ROS2中打开URDF文件出现以下报错：[ERROR] [launch]: Caught exception in launch (see debug for traceback): [Errno 2] No such file or directory: '/opt/ros/humble/share/gazebo_ros/launch/empty_world.launch.py'

重新安装一遍gazebo_ROS软件包还是没有解决
终端中可以启动#ROS2#gazebo