可以给下摄像头板的原理图吗

有没有二驱小车的urdf，一模一样的模型

如图，主目录被添加了两次
c7ceba8d-411b-4eb4-a9f6-3330d725a349-cb176e6e-d8f8-4bf7-8a05-f5625be1af7e.png

windows10如何安装ROS noetic

https://wiki.ros.org/Installation/Windows这个页面上说Microsoft 已停止支持window的在线安装方法。

经查找我的qt相关文件在4fc49112-62a2-4266-b7a4-4a281bbceebe-image.png
于是我将其添加到环境变量（3个都试了）
8cb524e6-6f87-4631-9430-3aeb490a4281-image.png
但最后vscode编译器还是找不到头文件（尝试过重启vscode）
172fc192-ced7-4ecd-b3ce-f8422dfec1c5-image.png

491a8bf6-ab59-4acd-bde9-fd4a9208d489-图片.png
b580e46a-7260-41bf-a70a-841b2f9613f4-图片.png
e194cc40-b9d2-4d77-a40e-7130bb62aee2-图片.png
9aa44ee8-6e28-42cf-8bc0-65eb9a642298-图片.png
739924b9-08b1-4a98-9826-1d8e1d8906cd-图片.png
531416e5-ba2e-4eca-a7fa-261069d7a242-图片.png
代码从上到下分别对应小鱼的
fishbot.ros2_control.xacro
fishbot.urdf.xacro ,
gazebo_sim.launch.py
fishbot_ros2_controller.yaml ,
CMakeLists.txt

报错信息：[Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[gazebo_ros2_control] and filename[libgazebo_ros2_control.so]. This plugin will not run.

1、使用的是ubuntu22.04 真机，python3.10.12, Gazebo 11.10.2 ，ros2是humble版
2、使用gazebo的两轮差速插件时，启动gazebo和rviz2都没有问题,报错出现在换成ros2_control控制之后。从报错日志可以看出机器人和传感器插件都正常加载了，加载gazebo_ros2_control时就出问题。
3、我下载了小鱼书籍代码的chapt6_ws,可以正常启动gazebo，应该不是有插件忘记安装或gazebo和ros2版本不适配。

标题：rviz中没有显示机器人模型 问题描述：

已经下载编译好后，运行测试
79fe38b5-ec11-4267-b3ea-9ea577b1a90b-image.png
运行结果如下：
ros2 launch fishbot_description display_rviz2.launch.py
[INFO] [launch]: All log files can be found below /home/lwq/.ros/log/2025-03-19-18-56-30-867405-DESKTOP-JVIV4UF-39721
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [39722]
[INFO] [rviz2-2]: process started with pid [39724]
[robot_state_publisher-1] [WARN] [1742381791.004789716] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-1] [INFO] [1742381791.027842824] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1742381791.027912524] [robot_state_publisher]: got segment caster_link
[robot_state_publisher-1] [INFO] [1742381791.027919324] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1742381791.027923724] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1742381791.027928424] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1742381791.027932724] [robot_state_publisher]: got segment right_wheel_link
[rviz2-2] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[rviz2-2] [INFO] [1742381793.863918292] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1742381793.864182292] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-2] [INFO] [1742381793.914118369] [rviz2]: Stereo is NOT SUPPORTED

结果如下：
a4cd7f65-0bbe-4a4e-a3ad-9feb5a67225a-image.png
修改map为base_link也是不行
31fb7163-6b3c-48ea-9886-1f9e2ec7e1e3-image.png

运行gazebo命令可以显示：
e495247d-cf70-44fe-9c0f-3bff4b799736-image.png

运行建图命令ros2 launch fishbot_cartographer cartographer.launch.py 效果如下：都是没有机器人模型
7e331624-5e2d-47db-9285-b7011807ae24-image.png

具体细节和上下文： 尝试过的解决方法：

urdf和launch文件都没有问题
已经添加RobotModel 显示类型
已经ai过，和翻过论坛还是没解决
请帮忙看看谢谢大佬

截图 2025-03-19 13-32-41.png

鱼老师好，大家好，
我收到硬件后，照着视频一步步走到这里 9.0.7. FishBot-Nav2导航测试。期间经过折腾（电脑从无线改为有线、路由器只开 2.4G），最终到了导航这一步。

可是，实际测试感觉漂移非常严重。比如下面这张图，从出发点，我设置的大概是地图位置作为目标点。可实际上，小车严重跑偏，已经快撞墙了，我手动停止的。

map.png

下面是该操作对应的输出日志。请帮忙分析下，可能是什么原因（对了，没有安装超声波传感器，排针被撞坏了）。

-2] [INFO] [1742370461.186269826] [rviz2]: Setting estimate pose: Frame:map, Position(0.0689753, 0.119117, 0), Orientation(0, 0, 0.999991, 0.00429479) = Angle: 3.133
[component_container_isolated-1] [INFO] [1742370461.186631137] [amcl]: initialPoseReceived
[component_container_isolated-1] [WARN] [1742370461.186727455] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1742370461.186682 but the latest data is at time 1742370461.141000, when looking up transform from frame [base_footprint] to frame [odom])
[component_container_isolated-1] [INFO] [1742370461.186746671] [amcl]: Setting pose (1742370461.186747): 0.069 0.119 3.133
[rviz2-2] [INFO] [1742370469.304157686] [rviz2]: Setting estimate pose: Frame:map, Position(-0.0137569, 2.19689e-05, 0), Orientation(0, 0, -0.999953, 0.00967109) = Angle: -3.12225
[component_container_isolated-1] [INFO] [1742370469.304542412] [amcl]: initialPoseReceived
[component_container_isolated-1] [WARN] [1742370469.304633065] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1742370469.304589 but the latest data is at time 1742370469.291000, when looking up transform from frame [base_footprint] to frame [odom])
[component_container_isolated-1] [INFO] [1742370469.304651265] [amcl]: Setting pose (1742370469.304651): -0.014 0.000 -3.122
[rviz2-2] Start navigation
[rviz2-2] [INFO] [1742370474.086538441] [rviz_navigation_dialog_action_client]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[component_container_isolated-1] [INFO] [1742370474.087350947] [bt_navigator]: Begin navigating from current location (-0.06, -0.04) to (-0.05, -1.00)
[component_container_isolated-1] [INFO] [1742370474.108531122] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1742370475.159015046] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1742370475.447942216] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1742370476.213999517] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1742370477.208847069] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1742370478.258967859] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1742370478.297869992] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1742370479.271480729] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1742370479.308993941] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1742370480.308906273] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1742370481.358911201] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1742370482.358874089] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1742370483.409003879] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1742370483.548347613] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1742370484.408860649] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1742370485.458893584] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1742370485.512487461] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1742370485.559801711] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1742370485.567662485] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1742370485.586447843] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1742370485.663368598] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] QBasicTimer::stop: Failed. Possibly trying to stop from a different thread
[component_container_isolated-1] [ERROR] [1742370485.893031501] [bt_navigator_navigate_to_pose_rclcpp_node]: Failed to get result for follow_path in node halt!
[component_container_isolated-1] [INFO] [1742370485.893117495] [bt_navigator]: [navigate_to_pose] [ActionServer] Client requested to cancel the goal. Cancelling.
[component_container_isolated-1] [INFO] [1742370485.893310684] [bt_navigator]: Goal canceled
[component_container_isolated-1] [INFO] [1742370485.909396480] [controller_server]: Goal was canceled. Stopping the robot.
[component_container_isolated-1] [INFO] [1742370485.909497593] [controller_server]: [follow_path] [ActionServer] Client requested to cancel the goal. Cancelling

如题，需要做距离检测，比如，想要知道某状态下距离发生碰撞还有多少距离。我看CollisionResult中是有distance和DistanceResult信息的，CollisionRequest中也将distance属性设为了true，但是CollisionResult中还是拿不到距离数据，结果总是1.79769e+308，即std::numeric_limits<double>::max()的值。
也试了其他的方法，都不行。
Ros2版本为humble。
以下是我的代码(请忽略引用过多的头文件)：

#include <iostream> #include <ostream> #include <memory> #include <vector> #include <rclcpp/rclcpp.hpp> #include <moveit/robot_model_loader/robot_model_loader.h> #include <moveit/planning_scene/planning_scene.h> #include <moveit/kinematic_constraints/utils.h> #include <moveit/moveit_cpp/moveit_cpp.h> #include <moveit/robot_model/robot_model.h> #include <moveit/robot_state/robot_state.h> #include <moveit_msgs/msg/planning_scene.hpp> #include <moveit/collision_detection_fcl/collision_common.h> #include <moveit/collision_detection_fcl/collision_env_fcl.h> #include <moveit/planning_scene/planning_scene.h> #include <moveit/kinematic_constraints/utils.h> #include <moveit/moveit_cpp/moveit_cpp.h> #include <moveit/robot_model/robot_model.h> #include <moveit/robot_state/robot_state.h> #include <moveit/collision_detection/collision_detector_allocator.h> #include <moveit/collision_detection_fcl/collision_common.h> #include <moveit/collision_detection_fcl/collision_env_fcl.h> #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h> #include <moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h> #include <moveit/collision_detection_fcl/fcl_compat.h> #include <moveit/rdf_loader/rdf_loader.h> // #include <shape_msgs/msg/solid_primitive.hpp> #define PI 3.1415926 using namespace std; static const rclcpp::Logger LOGGER = rclcpp::get_logger("collision_node"); int main(int argc, char **argv) { // ROS2 init rclcpp::init(argc, argv); rclcpp::NodeOptions node_options; node_options.automatically_declare_parameters_from_overrides(true); auto collision_node = rclcpp::Node::make_shared("collision_node", node_options); rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(collision_node); std::thread([&executor]() { executor.spin(); }) .detach(); robot_model_loader::RobotModelLoader robot_model_loader(collision_node, "robot_description"); const moveit::core::RobotModelPtr &robot_model = robot_model_loader.getModel(); planning_scene::PlanningScene planning_scene(robot_model); moveit::core::RobotState &current_state = planning_scene.getCurrentStateNonConst(); // ----- check SRDF ----- // srdf::ModelConstSharedPtr model_srdf = robot_model->getSRDF(); RCLCPP_INFO_STREAM(LOGGER, "SRDF model load " << (model_srdf ? "SUCCESSED." : "FAILED!")); // ----- check ACM ----- // collision_detection::AllowedCollisionMatrix &acm = planning_scene.getAllowedCollisionMatrixNonConst(); RCLCPP_INFO_STREAM(LOGGER, "acm.Size = " << acm.getSize()); std::vector<std::string> allEntrynames; acm.getAllEntryNames(allEntrynames); for (auto name : allEntrynames) RCLCPP_INFO_STREAM(LOGGER, "Entryname : " << name); // acm.print(std::cout); // ----- check disabled and enabled collision pairs ----- // std::vector<srdf::Model::CollisionPair> disabled_collision_pairs = model_srdf->getDisabledCollisionPairs(); std::vector<srdf::Model::CollisionPair> enabled_collision_pairs = model_srdf->getEnabledCollisionPairs(); RCLCPP_INFO_STREAM(LOGGER, "enabled collision pair size: " << enabled_collision_pairs.size()); // for (auto it : enabled_collision_pairs) RCLCPP_INFO_STREAM(LOGGER, "enabled collision pair: (" << it.link1_ << " - " << it.link2_ << ")"); RCLCPP_INFO_STREAM(LOGGER, "disabled collision pair size: (" << disabled_collision_pairs.size()); for (auto it : disabled_collision_pairs) RCLCPP_INFO_STREAM(LOGGER, "disabled collision pair: (" << it.link1_ << " - " << it.link2_ << ") | reason: " << it.reason_); // ----- use CollisionEnvFCL -> distanceRobot() ----- // { RCLCPP_INFO_STREAM(LOGGER, "----- use CollisionEnvFCL -> distanceRobot() -----"); RCLCPP_INFO_STREAM(LOGGER, "std::numeric_limits<double>::max = " << std::numeric_limits<double>::max()); current_state.setToDefaultValues(); collision_detection::CollisionEnvFCL collision_env(robot_model, 0.0, 1.0); collision_detection::DistanceRequest distance_request; distance_request.enable_nearest_points = true; distance_request.enable_signed_distance = true; distance_request.type = collision_detection::DistanceRequestType::GLOBAL; distance_request.distance_threshold = 10; collision_detection::DistanceResult distance_result; collision_detection::DistanceResultsData distance_res_data = distance_result.minimum_distance; auto min_dis_link_names = distance_res_data.link_names; double distance_res_data_min_distance = distance_res_data.distance; collision_detection::DistanceMap distance_map = distance_result.distances; distance_result.clear(); current_state.setToDefaultValues(); RCLCPP_INFO(LOGGER, " Default Positions >>>"); collision_env.distanceRobot(distance_request, distance_result, current_state); RCLCPP_INFO_STREAM(LOGGER, "\tMinimum distance between: " << min_dis_link_names[0] << " and " << min_dis_link_names[1]); RCLCPP_INFO_STREAM(LOGGER, "\tMinimum distance is : " << distance_result.minimum_distance.distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_result.minimum_distance.distance : " << distance_res_data_min_distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_map is " << (distance_map.empty() ? "" : "not") << " empty"); distance_result.clear(); current_state.setToRandomPositions(); RCLCPP_INFO_STREAM(LOGGER, " Random Positions >>>"); collision_env.distanceRobot(distance_request, distance_result, current_state); RCLCPP_INFO_STREAM(LOGGER, "\tMinimum distance between: " << min_dis_link_names[0] << " and " << min_dis_link_names[1]); RCLCPP_INFO_STREAM(LOGGER, "\tMinimum distance is : " << distance_result.minimum_distance.distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_result.minimum_distance.distance : " << distance_res_data_min_distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_map is " << (distance_map.empty() ? "" : "not") << " empty"); RCLCPP_INFO_STREAM(LOGGER, "===== END : use CollisionEnvFCL -> distanceRobot() =====" << std::endl); } // ----- use PlanningScene -> checkSelfCollision() ----- // { RCLCPP_INFO_STREAM(LOGGER, "----- use PlanningScene -> checkSelfCollision() -----"); collision_detection::CollisionRequest collision_request; collision_request.distance = true; collision_detection::CollisionResult collision_result; double distance = collision_result.distance; collision_detection::DistanceResult distance_result = collision_result.distance_result; collision_detection::DistanceResultsData distance_res_data = distance_result.minimum_distance; double distance_res_data_min_distance = distance_res_data.distance; collision_detection::DistanceMap distance_map = distance_result.distances; collision_result.clear(); current_state.setToDefaultValues(); RCLCPP_INFO(LOGGER, " Default Positions >>>"); planning_scene.checkSelfCollision(collision_request, collision_result); RCLCPP_INFO_STREAM(LOGGER, "\tCurrent state is " << (collision_result.collision ? "in" : "not in") << " self collision"); RCLCPP_INFO_STREAM(LOGGER, "\tdistance : " << distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_result.minimum_distance.distance : " << distance_res_data_min_distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_map is " << (distance_map.empty() ? "" : "not") << " empty"); bool loopFlag = true; while (loopFlag) { collision_result.clear(); current_state.setToRandomPositions(); RCLCPP_INFO_STREAM(LOGGER, " Random Positions >>>"); planning_scene.checkSelfCollision(collision_request, collision_result); if (collision_result.collision) loopFlag = false; RCLCPP_INFO_STREAM(LOGGER, "\tCurrent state is " << (collision_result.collision ? "in" : "not in") << " self collision"); RCLCPP_INFO_STREAM(LOGGER, "\tdistance : " << distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_result.minimum_distance.distance : " << distance_res_data_min_distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_map is " << (distance_map.empty() ? "" : "not") << " empty"); } RCLCPP_INFO_STREAM(LOGGER, "===== END : use PlanningScene -> checkSelfCollision() =====" << std::endl); } // ----- use PlanningScene -> distanceToCollision() ----- // { RCLCPP_INFO_STREAM(LOGGER, "----- use PlanningScene -> checkSelfCollision() -----"); current_state.setToDefaultValues(); RCLCPP_INFO(LOGGER, " Default Positions >>>"); double distance_default_pos = planning_scene.distanceToCollision(current_state); RCLCPP_INFO_STREAM(LOGGER, " distance : " << distance_default_pos); current_state.setToRandomPositions(); RCLCPP_INFO(LOGGER, " Random Positions >>>"); double distance_random_pos = planning_scene.distanceToCollision(current_state); RCLCPP_INFO_STREAM(LOGGER, " distance : " << distance_random_pos); RCLCPP_INFO_STREAM(LOGGER, "===== END : use PlanningScene -> checkSelfCollision() =====" << std::endl); } // ----- use PlanningScene -> checkCollision() ----- // { RCLCPP_INFO_STREAM(LOGGER, "----- use PlanningScene -> checkCollision() -----"); collision_detection::CollisionRequest collision_request; collision_detection::CollisionResult collision_result; double distance = collision_result.distance; collision_detection::DistanceResult distance_result = collision_result.distance_result; collision_detection::DistanceResultsData distance_res_data = distance_result.minimum_distance; double distance_res_data_min_distance = distance_res_data.distance; collision_detection::DistanceMap distance_map = distance_result.distances; collision_result.clear(); current_state.setToDefaultValues(); RCLCPP_INFO(LOGGER, " Default Positions >>>"); planning_scene.checkCollision(collision_request, collision_result); RCLCPP_INFO_STREAM(LOGGER, "\tCurrent state is " << (collision_result.collision ? "in" : "not in") << " self collision"); RCLCPP_INFO_STREAM(LOGGER, "\tdistance : " << distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_result.minimum_distance.distance : " << distance_res_data_min_distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_map is " << (distance_map.empty() ? "" : "not") << " empty"); bool loopFlag = true; while (loopFlag) { collision_result.clear(); current_state.setToRandomPositions(); RCLCPP_INFO_STREAM(LOGGER, " Random Positions >>>"); planning_scene.checkCollision(collision_request, collision_result); if (collision_result.collision) loopFlag = false; RCLCPP_INFO_STREAM(LOGGER, "\tCurrent state is " << (collision_result.collision ? "in" : "not in") << " self collision"); RCLCPP_INFO_STREAM(LOGGER, "\tdistance : " << distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_result.minimum_distance.distance : " << distance_res_data_min_distance); RCLCPP_INFO_STREAM(LOGGER, "\tdistance_map is " << (distance_map.empty() ? "" : "not") << " empty"); } RCLCPP_INFO_STREAM(LOGGER, "===== END : use PlanningScene -> checkCollision() =====" << std::endl); } rclcpp::shutdown(); return 0; }

[ERROR] [launch]: Caught exception in launch (see debug for traceback): package 'nav2_bringup' found at '/opt/ros/humble', but libexec directory '/opt/ros/humble/lib/nav2_bringup' does not exist这个错误可能是因为什么导致的？

=================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 osrf/ros:rolling-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": context deadline exceeded
Run CMD Task:[sudo docker pull osrf/ros:rolling-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": net/http: request canceled while waiting for connection (Client.Timeout exceeded while awaiting headers)
Run CMD Task:[sudo docker pull osrf/ros:rolling-desktop-full ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": context deadline exceeded
重试了好几次都是这样

7e60b1d1-6d45-4852-b7af-effcdcefa425-image.png 9177a4d1-89fa-4f4d-8473-70c8b13b6606-image.png

系统ubuntu ros2 jazzy
用pipx安装的包face_recognition
在learn_face_detect.py 文件中开头 import face_recognition,如下图
451971d7-ec1c-4b4f-9af3-3c0852da533c-image.png
在setup.py的install_requires部分添加pipx安装的包名face_recognition,如下图
5ed243a3-b12a-4345-8210-ce5862c6d418-image.png

colcon build

source install/setup.bash

在执行ros2 run demo_python_service learn_face_detect 时报错，报错如下
import face_recognition
ModuleNotFoundError: No module named 'face_recognition'
[ros2run]: Process exited with failure 1

麻烦大佬帮忙看看，为和ros2 run时找不到pipx安装的包，非常感谢

小鱼老师，基于你的开源代码实现了在RVIZ上告诉机器人的初始位置，点击目标位置实现小车自动导航到位。请问我想实现机器人到地图上某几个特定点。并一直在这几个点之间来回移动。到达某个点时等待实现一个功能，再去往下一个点。请问鱼老师给给一个示例代码吗

WIFI转串口测试 驱动雷达 建图测试 退出
#? 3
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-18-07-16-14-260152-89dc48de1ded-110
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tcp_server-1]: process started with pid [111]
[INFO] [static_transform_publisher-2]: process started with pid [113]
[INFO] [cartographer_node-3]: process started with pid [115]
[INFO] [cartographer_occupancy_grid_node-4]: process started with pid [117]
[INFO] [rviz2-5]: process started with pid [119]
[static_transform_publisher-2] [WARN] [1742282174.407337123] []: Old-style arguments are deprecated; see --help for new-style arguments
[tcp_server-1] [INFO] [1742282174.413132860] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
[tcp_server-1] [INFO] [1742282174.413347541] [tcp_socket_server_node]: 等待接受连接..
[static_transform_publisher-2] [INFO] [1742282174.434764544] [static_tf_pub_laser]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'laser_frame'
[tcp_server-1] [INFO] [1742282174.771090511] [tcp_socket_server_node]: 来自('192.168.1.151', 51992)的连接已建立
[cartographer_node-3] [INFO] [1742282174.783821045] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/workspace/launch/config/fishbot_laser_2d.lua' for 'fishbot_laser_2d.lua'.
[cartographer_node-3] [INFO] [1742282174.794832182] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.798946834] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.803431429] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1742282174.803489826] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-3] [INFO] [1742282174.807891195] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.807933326] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-3] [INFO] [1742282174.811977214] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1742282174.812036693] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-3] [INFO] [1742282174.816202538] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1742282174.816242068] [cartographer logger]: I0318 07:16:14.000000 115 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-3] [INFO] [1742282174.885350957] [cartographer logger]: I0318 07:16:14.000000 115 map_builder_bridge.cpp:136] Added trajectory with ID '0'.
[rviz2-5] qt.qpa.xcb: could not connect to display unix:0
[rviz2-5] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
[rviz2-5] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[rviz2-5]
[rviz2-5] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
[rviz2-5]
[ERROR] [rviz2-5]: process has died [pid 119, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /workspace/launch/config/map.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_1azjgqtw'].
[INFO] [ydlidar_node-6]: process started with pid [177]
[ydlidar_node-6] [INFO] [1742282177.381529536] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-6]
[ydlidar_node-6] [2025-03-18 07:16:17][info] SDK initializing
[ydlidar_node-6] [2025-03-18 07:16:17][info] SDK has been initialized
[ydlidar_node-6] [2025-03-18 07:16:17][info] SDK Version: 1.2.9
[ydlidar_node-6] [2025-03-18 07:16:17][info] Connect elapsed time 0 ms
[ydlidar_node-6] [2025-03-18 07:16:17][info] Lidar successfully connected [/tmp/tty_laser:115200]
[ydlidar_node-6] [2025-03-18 07:16:17][info] Lidar running correctly! The health status good
[ydlidar_node-6] [2025-03-18 07:16:17][info] Current Lidar Model Code 12
[ydlidar_node-6] [2025-03-18 07:16:17][info] Check status, Elapsed time 0 ms
[ydlidar_node-6] [2025-03-18 07:16:17][info] Lidar init success, Elapsed time [0]ms
[ydlidar_node-6] [2025-03-18 07:16:17][info] Start to getting intensity flag
[ydlidar_node-6] [2025-03-18 07:16:18][info] Auto set intensity 0
[ydlidar_node-6] [2025-03-18 07:16:18][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-6] [2025-03-18 07:16:18][info] [YDLIDAR] Create thread 0x66A00640
[ydlidar_node-6] [2025-03-18 07:16:19][info] Successed to start scan mode, Elapsed time 1742 ms
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Scan Frequency: 5.00Hz
[ydlidar_node-6] [2025-03-18 07:16:19][info] Fixed Size: 720
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Single Fixed Size: 450
[ydlidar_node-6] [2025-03-18 07:16:19][info] Sample Rate: 3.00K
[ydlidar_node-6] [2025-03-18 07:16:19][info] Successed to check the lidar, Elapsed time 537 ms
[ydlidar_node-6] [2025-03-18 07:16:19][info] Now lidar is scanning...
[cartographer_node-3] [INFO] [1742282179.809173934] [cartographer logger]: I0318 07:16:19.000000 115 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638778789796612080'.
[cartographer_node-3] [WARN] [1742282179.817727146] [cartographer logger]: W0318 07:16:19.000000 115 pose_extrapolator.cc:168] Queue too short for velocity estimation. Queue duration: 0 s
[cartographer_node-3] [INFO] [1742282179.819034899] [cartographer logger]: I0318 07:16:19.000000 115 pose_graph_2d.cc:148] Inserted submap (0, 0).
[cartographer_node-3] [WARN] [1742282180.258728613] [cartographer logger]: W0318 07:16:20.000000 115 range_data_collator.cc:82] Dropped 52 earlier points.
[cartographer_node-3] [WARN] [1742282180.559662653] [cartographer logger]: W0318 07:16:20.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282180.854979332] [cartographer logger]: W0318 07:16:20.000000 115 range_data_collator.cc:82] Dropped 14 earlier points.
[cartographer_node-3] [WARN] [1742282181.452592098] [cartographer logger]: W0318 07:16:21.000000 115 range_data_collator.cc:82] Dropped 117 earlier points.
[cartographer_node-3] [WARN] [1742282181.904926444] [cartographer logger]: W0318 07:16:21.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282182.200881083] [cartographer logger]: W0318 07:16:22.000000 115 range_data_collator.cc:82] Dropped 4 earlier points.
[cartographer_node-3] [WARN] [1742282182.403099234] [cartographer logger]: W0318 07:16:22.000000 115 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1742282182.650038861] [cartographer logger]: W0318 07:16:22.000000 115 sensor_bridge.cpp:211] Ignored subdivision of a LaserScan message from sensor scan because previous subdivision time 638778789826043840 is not before current subdivision time 638778789825982490
[cartographer_node-3] [WARN] [1742282183.098456685] [cartographer logger]: W0318 07:16:23.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282183.548723944] [cartographer logger]: W0318 07:16:23.000000 115 range_data_collator.cc:82] Dropped 31 earlier points.
[cartographer_node-3] [WARN] [1742282184.163143911] [cartographer logger]: W0318 07:16:24.000000 115 range_data_collator.cc:82] Dropped 39 earlier points.
[cartographer_node-3] [WARN] [1742282184.444908117] [cartographer logger]: W0318 07:16:24.000000 115 range_data_collator.cc:82] Dropped 84 earlier points.
[cartographer_node-3] [WARN] [1742282184.926914117] [cartographer logger]: W0318 07:16:24.000000 115 range_data_collator.cc:82] Dropped 6 earlier points.
[cartographer_node-3] [WARN] [1742282185.192605862] [cartographer logger]: W0318 07:16:25.000000 115 range_data_collator.cc:82] Dropped 190 earlier points.
[cartographer_node-3] [WARN] [1742282185.650670656] [cartographer logger]: W0318 07:16:25.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282185.940130448] [cartographer logger]: W0318 07:16:25.000000 115 range_data_collator.cc:82] Dropped 54 earlier points.
[cartographer_node-3] [WARN] [1742282186.237015899] [cartographer logger]: W0318 07:16:26.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282186.386786381] [cartographer logger]: W0318 07:16:26.000000 115 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1742282186.835958434] [cartographer logger]: W0318 07:16:26.000000 115 range_data_collator.cc:82] Dropped 223 earlier points.
[cartographer_node-3] [WARN] [1742282187.134746099] [cartographer logger]: W0318 07:16:27.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282187.583547099] [cartographer logger]: W0318 07:16:27.000000 115 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1742282188.030916785] [cartographer logger]: W0318 07:16:28.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282188.479774967] [cartographer logger]: W0318 07:16:28.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282189.078006295] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 19 earlier points.
[cartographer_node-3] [WARN] [1742282189.376394083] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282189.697099460] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [INFO] [1742282189.974747131] [cartographer logger]: I0318 07:16:29.000000 115 collated_trajectory_builder.cc:81] scan rate: 6.51 Hz 1.54e-01 s +/- 3.66e-02 s (pulsed at 101.24% real time)
[cartographer_node-3] [WARN] [1742282189.974920390] [cartographer logger]: W0318 07:16:29.000000 115 range_data_collator.cc:82] Dropped 119 earlier points.
[cartographer_node-3] [WARN] [1742282190.596111241] [cartographer logger]: W0318 07:16:30.000000 115 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1742282190.870878398] [cartographer logger]: W0318 07:16:30.000000 115 range_data_collator.cc:82] Dropped 116 earlier points.
[cartographer_node-3] [WARN] [1742282191.468083383] [cartographer logger]: W0318 07:16:31.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282191.619180469] [cartographer logger]: W0318 07:16:31.000000 115 range_data_collator.cc:82] Dropped 7 earlier points.
[cartographer_node-3] [WARN] [1742282191.917266040] [cartographer logger]: W0318 07:16:31.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282192.515083321] [cartographer logger]: W0318 07:16:32.000000 115 range_data_collator.cc:82] Dropped 25 earlier points.
[cartographer_node-3] [WARN] [1742282192.967741909] [cartographer logger]: W0318 07:16:32.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282193.265712398] [cartographer logger]: W0318 07:16:33.000000 115 range_data_collator.cc:82] Dropped 19 earlier points.
[cartographer_node-3] [WARN] [1742282193.564906565] [cartographer logger]: W0318 07:16:33.000000 115 range_data_collator.cc:82] Dropped 9 earlier points.
[cartographer_node-3] [WARN] [1742282193.862554749] [cartographer logger]: W0318 07:16:33.000000 115 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1742282194.459087700] [cartographer logger]: W0318 07:16:34.000000 115 range_data_collator.cc:82] Dropped 203 earlier points.
[cartographer_node-3] [WARN] [1742282195.055845167] [cartographer logger]: W0318 07:16:35.000000 115 range_data_collator.cc:82] Dropped 65 earlier points.
[cartographer_node-3] [WARN] [1742282195.503256465] [cartographer logger]: W0318 07:16:35.000000 115 range_data_collator.cc:82] Dropped 12 earlier points.
[cartographer_node-3] [WARN] [1742282196.102098743] [cartographer logger]: W0318 07:16:36.000000 115 range_data_collator.cc:82] Dropped 6 earlier points.
[cartographer_node-3] [WARN] [1742282197.298616236] [cartographer logger]: W0318 07:16:37.000000 115 range_data_collator.cc:82] Dropped 2 earlier points.
[cartographer_node-3] [WARN] [1742282197.447810587] [cartographer logger]: W0318 07:16:37.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282198.045155006] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282198.195168042] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 13 earlier points.
[cartographer_node-3] [WARN] [1742282198.495529844] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282198.794566177] [cartographer logger]: W0318 07:16:38.000000 115 range_data_collator.cc:82] Dropped 13 earlier points.
[cartographer_node-3] [WARN] [1742282199.090119269] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282199.239148349] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 21 earlier points.
[cartographer_node-3] [WARN] [1742282199.685850050] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282199.835490478] [cartographer logger]: W0318 07:16:39.000000 115 range_data_collator.cc:82] Dropped 5 earlier points.
[cartographer_node-3] [WARN] [1742282200.283775138] [cartographer logger]: W0318 07:16:40.000000 115 range_data_collator.cc:82] Dropped 1 earlier points.
[cartographer_node-3] [WARN] [1742282200.433826471] [cartographer logger]: W0318 07:16:40.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282200.733270330] [cartographer logger]: W0318 07:16:40.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.
[cartographer_node-3] [WARN] [1742282201.031101268] [cartographer logger]: W0318 07:16:41.000000 115 range_data_collator.cc:82] Dropped 3 earlier points.

【gzserver-2】 【ERROR】 【1742278768.829195501】 【diff_drive】: Joint 【left_wheel_joint】 not found, plugin will not work.
这可怎么办呀，左轮关节找不到是什么情况？小车动不了，没有cmd_vel话题，有大佬能帮助一下吗？49c48b56-3947-4c35-8cfe-d0759c069c25-图片.png

wget http://fishros.com/install -O fishros && . fishros
--2025-03-17 15:45:59-- http://fishros.com/install
正在解析主机 fishros.com (fishros.com)... 47.119.165.169
正在连接 fishros.com (fishros.com)|47.119.165.169|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 301 Moved Permanently
位置：http://fishros.com/install/ [跟随至新的 URL]
--2025-03-17 15:45:59-- http://fishros.com/install/
再次使用存在的到 fishros.com:80 的连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 957 [application/octet-stream]
正在保存至: “fishros”

fishros 100%[===================>] 957 --.-KB/s 用时 0s

2025-03-17 15:45:59 (83.2 MB/s) - 已保存 “fishros” [957/957])

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
sudo 已经是最新版 (1.8.21p2-3ubuntu1.6)。
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 104 个软件包未被升级。
Reading package lists... Done
Building dependency tree
Reading state information... Done
python3-yaml is already the newest version (3.12-1build2).
python3-distro is already the newest version (1.0.1-2).
0 upgraded, 0 newly installed, 0 to remove and 104 not upgraded.
File "/tmp/fishinstall/install.py", line 147
for exec in run_exc:
^
SyntaxError: invalid syntax

标题：一键安装: Cartographer 失败 100 127 提问模板

Run CMD Task:[sudo apt-get remove ros-noetic-abseil-cpp -y]
[-][0.32s] CMD Result:code:100

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

Welcome to join the robot learning exchange QQ group (In Chinese): 438144612 (group password: 一键安装)
Online shop is now opened! You can get a mobile robot with SLAM and navigation for as low as 499 CNY. Search for '鱼香ROS' on Taobao or visit this link: https://item.taobao.com/item.htm?id=696573635888
If you encounter any problems, please open: https://fishros.org.cn/forum for feedback

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

问题描述：

安装cartographer 失败
环境 Ubuntu20.04 ；ROS1（一键安装）

具体细节和上下文： ROS1（一键安装）
-cartographer 一键安装失败 尝试过的解决方法：

使用新的ubuntu环境，重复安装，显示同样的错误