9ddce334-868c-4ac2-a70f-9d9eac9c413f-image.png

在STM32F4上移植MicroROS时生成静态链接库报错（如图），显示failure 7.
运行的代码如下：

docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library tony/micro-ros-lib-build-humble

有问题的语法：

`` 问题 **目标：** 使用``sros2``设置安全性。 ref 请联系:ref:`ROS 2安全工作组 <Security Working Group>`。 doc doc:`ROS 2安装指南 <../../../Installation>`和:doc:`配置指南 <../../Beginner-CLI-Tools/Configuring-ROS2-Environment>` ` 问题 请查看`安全的Turtlebot2演示 <https://github.com/ros-swg/turtlebot3_demo>`_。

小乌龟正常，rviz不行。启动过程中出现显示画面全部空白，过一会儿就消失报错。难道必须要mac的硬件不支持吗？

42681eb0-2723-4590-bc60-fa4b2eab33af-image.png

fafa1584-de2e-48af-9a2e-bce3765aec3a-2023-09-29 17-33-35 的屏幕截图.png /home/ubuntu/图片/2023-09-29 17-33-35 的屏幕截图.png

sudo apt-get install catkin
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
有一些软件包无法被安装。如果您用的是 unstable 发行版，这也许是
因为系统无法达到您要求的状态造成的。该版本中可能会有一些您需要的软件
包尚未被创建或是它们已被从新到(Incoming)目录移出。
下列信息可能会对解决问题有所帮助：

下列软件包有未满足的依赖关系：
python3-catkin-pkg : 冲突: catkin 但是 0.8.10-7 正要被安装
python3-catkin-pkg-modules : 冲突: catkin 但是 0.8.10-7 正要被安装
E: 无法修正错误，因为您要求某些软件包保持现状，就是它们破坏了软件包间的依赖关系

一键安装的clash如何进行配置使用

ros2 launch fishbot_description gazebo.launch.py之后
报错
[ERROR] [spawn_entity.py-2]: process has died [pid 11524, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity fishbot -file /home/zhiteng/d2lros2/chapt8_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_gazebo.urdf --ros-args'].

gazebo模型出不来，怎么解决亚

想做一个灵巧手的，该怎样在moveit2中设置呢？或者有没有经典案例可以学习?困扰两个月了

hello，大家好！我最近做一个项目，我需要基于nav2做如下改进：1. 传感器方面，nav2里面自带的tbot3是一个单线激光雷达，我这边的传感器是四个rgb摄像头、一个超声波、一个双目摄像头；2. 小车模型更换，我们需要更换成自己的urdf文件；3. 由于1和2变了，但是整个算法框架也还是无人导航小车，所以应该整个nav2框架不用变，只是需要变那些通信接口啥的。我现在读这个nav2代码感觉太大了，我想基于我这个项目精简一下，就是我希望有个人能交流一下，怎么去修改这个代码工程，我向我们公司申请了一点经费，可以用作交流学习费用，希望群里的朋友看到了可以联系我，要求对nav2框架非常熟悉，希望能帮我解读一下整个代码的框架。微信：15818652195

ubuntu18.04 安装ros2 eloquent，安装依赖缺少tf-transformations，但是直接装都找不到，求解

c@c:~/dev_ws2$ rosdep install -i --from-path src --rosdistro eloquent -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
learning_tf: Cannot locate rosdep definition for [tf_transformations]
c@c-Y7000P:~/dev_ws2$ sudo apt install ros-eloquent-tf-transformations
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
E: 无法定位软件包 ros-eloquent-tf-transformations

我在学习bt 行为树插件，资料太过于贫乏，所以去百度和guthub看了一些源码例程现在有一些疑问bt_tree.png
这是理论框图
绿色的部分应该是nav2 bt 自带的功能插件，别的都找到了对应的源码和插件
有几个没有找打，比如sequencece star这个插件源码就没有找到，也不清楚是我这个图太老了已经更新掉了还是插件已经不可用了
我有几个点自己理解的，大佬帮我看看理解的对不对440f5c61f2de3696769fb81109c2be1.png
左边箭头的蓝色名称 是插件名称 就依照这个名称调用插件6f46ab4e456ed2a68d4df310f9cc7f7.png
因为我看到这个pipelinesequence名称是和上图对应的

1 那疑问来了，既然是依照这个名字调用插件这个computePathToPose应该是计算路径的插件，在这个插件源码里面 只是看见更新了参数，并没有发现调用任何的规划插件，所以 真正干活的插件比如规划 路径追踪 是如何被调用的呢？？？
13357c3f2910e336cd020788870b1ef.png
2 黄色的plugin_lib_names和上面用到的插件名字有相似但是并没有完全一致
那这些黄字名称是起什么作用的呢？？？？？

最后疑问，迫切的需要一份nav2 bt tree的入门教程 和实际范例，以便能学会这个bt树

@小鱼
请问利用一键安装的clash科学上网工具该如何卸载

使用一键安装ros，ubuntu版本是20.04，但是使用ros_package（PCL REQUIRE）报错，怎么解决ros和pcl冲突问题

报错信息

Failed <<< example_ros2_interfaces [0.50s, exited with code 1]

Summary: 0 packages finished [0.63s]
1 package failed: example_ros2_interfaces
1 package had stderr output: example_ros2_interfaces
ljy@ljy-LXiaoXinPro-16:~/roscode/chap3$ colcon build --packages-select example_ros2_interfaces
Starting >>> example_ros2_interfaces
--- stderr: example_ros2_interfaces
CMake Error at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:93 (message):
rosidl_generate_interfaces() the passed file 'srv/MoveRobot.srv' doesn't
exist relative to the CMAKE_CURRENT_SOURCE_DIR
'/home/ljy/roscode/chap3/example_ros2_interfaces'
Call Stack (most recent call first):
CMakeLists.txt:13 (rosidl_generate_interfaces)

这是文件结构
─ example_ros2_interfaces
│ ├── CMakeLists.txt
│ ├── include
│ │ └── example_ros2_interfaces
│ ├── msg
│ │ ├── RobotPose.msg
│ │ └── RobotStatus.msg
│ ├── package.xml
│ └── srv
│ └── Moveobot.srv

这是cmakelists
cmake_minimum_required(VERSION 3.8)
project(example_ros2_interfaces)

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)
find_package(rosidl_default_generators REQUIRED)
find_package(geometry_msgs REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/RobotPose.msg"
"msg/RobotStatus.msg"
"srv/MoveRobot.srv"
DEPENDENCIES geometry_msgs
)

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()

ament_package()

这是package.xml
<?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>example_ros2_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ljy@todo.todo">ljy</maintainer>
<license>TODO: License declaration</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rosidl_default_generators</depend>
<depend>geometry_msgs</depend>

<member_of_group>rosidl_interface_packages</member_of_group>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

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

试过删除build没用，anaconda卸载后编译成功，再开机文件就乱了，然后建了一模一样的工作空间，编译又不通过。实在不知道怎么改了

小鱼大佬你好，我是一个刚学nav2的小白，请教一下，关于nav2如何使麦克纳轮底盘平移，我修改了max_speed_y参数也不见效。能提供以下学习思路吗，我自己作了个四轮麦克纳姆轮的底盘，当前想先仿真中跑通全部再放实体车，但是网上资料全是turtlebot3的，没找到关于麦克纳姆轮底盘的。感谢😭

@小鱼
您好，请问如何在ROS2的humble版本中实现RRT算法的导航呢，目前的是想通过写一个Nav2的规划器，在规划器中实现RRT算法规划，但是没有找到相关资料，请问该怎么做呢？

运行roscore命令报错如下：
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/init.py", line 347, in main
p.start()
File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 316, in start
self.runner.launch()
File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/launch.py", line 676, in launch
self._setup()
File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/launch.py", line 651, in _setup
launched = self._launch_master()
File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/launch.py", line 413, in _launch_master
validate_master_launch(m, self.is_core, self.is_rostest)
File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/launch.py", line 83, in validate_master_launch
if not rosgraph.network.is_local_address(m.get_host()):
File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/network.py", line 170, in is_local_address
local_addresses = ['localhost'] + get_local_addresses()
File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/network.py", line 212, in get_local_addresses
import netifaces
ModuleNotFoundError: No module named 'netifaces'
然后我又使用pip install netifaces，系统提示Requirement already satisfied: netifaces in /usr/lib/python3/dist-packages (0.10.4)
请问接下来怎么办？

Unknown license 'TODO: License declaration'. This has been set in the package.xml, but no LICENSE file has been created.
具体代码：
ning@ning-virtual-machine:~/chapt2/chapt2_ws/src$ ros2 pkg create example.py --build-type ament_python --dependencies rclpy
going to create a new package
package name: example.py
destination directory: /home/ning/chapt2/chapt2_ws/src
package format: 3
version: 0.0.0
description: TODO: Package description
maintainer: ['ning ning@todo.todo']
licenses: ['TODO: License declaration']
build type: ament_python
dependencies: ['rclpy']
creating folder ./example.py
creating ./example.py/package.xml
creating source folder
creating folder ./example.py/example.py
creating ./example.py/setup.py
creating ./example.py/setup.cfg
creating folder ./example.py/resource
creating ./example.py/resource/example.py
creating ./example.py/example.py/init.py
creating folder ./example.py/test
creating ./example.py/test/test_copyright.py
creating ./example.py/test/test_flake8.py
creating ./example.py/test/test_pep257.py

[WARNING]: Unknown license 'TODO: License declaration'. This has been set in the package.xml, but no LICENSE file has been created.
It is recommended to use one of the ament license identitifers:
Apache-2.0
BSL-1.0
BSD-2.0
BSD-2-Clause
BSD-3-Clause
GPL-3.0-only
LGPL-3.0-only
MIT
MIT-0

根据文章阅读量来进行使用量统计

各位好，我初学ROS2,现在碰到了一个问题，向大家请教一下： 按照ros2官网的创建launch文件教程，在终端输入： cd ~ws/src mkdir launch touch simple.launch.py 编辑好launch文件： from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): return LaunchDescription([ Node( package='learning_topic', executable='helloworld_topicpub_node', ), Node( package='learning_topic', executable='helloword_topicsub_node', ), ]) 使用launch文件启动节点（以上两个节点我单独启动过，均没有问题）： cd ~/ws/src/launch ros2 launch simple.launch.py 会提示报错： Failed to load entry point 'launch': No module named 'launch.launch_description_sources' Traceback (most recent call last): File "/opt/ros/humble/bin/ros2", line 33, in <module> sys.exit(load_entry_point('ros2cli==0.18.7', 'console_scripts', 'ros2')()) File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 50, in main add_subparsers_on_demand( File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/command/__init__.py", line 237, in add_subparsers_on_demand extension = command_extensions[name] KeyError: 'launch' 我更换了工作空间也不行，但是之前下载的一个课程文件（也是一个单独的工作空间）中的launch文件却能正常启动,一直找不到原因，请各位赐教。😭 😭 😭

附上我话题的setup文件：

from setuptools import find_packages, setup package_name = 'learning_topic' setup( name=package_name, version='0.0.0', packages=find_packages(exclude=['test']), data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), ], install_requires=['setuptools'], zip_safe=True, maintainer='huang', maintainer_email='huang@todo.todo', description='TODO: Package description', license='TODO: License declaration', tests_require=['pytest'], entry_points={ 'console_scripts': [ 'helloworld_topicpub_node = learning_topic.topic_publish:main', 'helloworld_topicsub_node = learning_topic.topic_subscribe:main', ], }, )