9.0.3章节，我在win11下使用wsl，也安装好docker了。
电脑usb连接了fishbot机器人，给主控板烧了v1.7.2alpha版本的固件，已经配置好wifi用户名、密码、sip（电脑windows系统中查询到的IP地址192.168.x.x）。

使用下面的命令启动microROS服务的时候，微服务启动了，但小车没有信息传过来，8888端口也没有打印滚动消息，，，请问这个是怎么回事？是机器人上的sip地址设置不对，还是这个版本的固件中fishbot_motion_control节点没有启动，还是其他什么原因，请大佬能帮忙解答一下。

docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6

b4b8dc8b-c4d3-438e-a49e-8f0c9fe2385f-image.png

@小鱼 吃那么多屎吗，脾气那么丑，祝你们早日破产，赚不到钱是你们活该

ce5d8c41-1a98-4b26-9f5a-1c4ab8ad155a-图片.png

选项14咋没了，新电脑上不了网

c11397f2-aeb0-4623-9823-b87435c7b14d-image.png
da26f80b-39d5-4ba8-8cc3-5f59f9ab8c2c-image.png

在跟着b站鱼香ros 的ros2仿真教程学习的过程中，给机器人部件添加质量和关系报错。
common_inertia.xacro代码：

<?xml version="1.0"?> <robot xmlns:xacro="http://www.wiki.ros.org/xacro"> <xacro:macro name="box_inertia" params="m w h d"> <inertial> <mass value="${m}"/> <inertia ixx="${m/12}*(h*h+d*d)" ixy="0.0" ixz="0.0" iyy="${m/12}*(w*W+d*d)" iyz="0.0" izz="${(m/12)*(w*w+h*h)}" /> </inertial> </xacro:macro> <xacro:macro name="cylinder_inertia" params="m r h"> <inertial> <mass value="${m}"/> <inertia ixx="${m/12}*(3*r*r+h*h)" ixy="0.0" ixz="0.0" iyy="${m/12}*(3*r*r+h*h)" iyz="0.0" izz="${(m/2)*(r*r)}" /> </inertial> </xacro:macro> <xacro:macro name="sphere_inertia" params="m r"> <inertial> <mass value="${m}"/> <inertia ixx="${2/5}*m*(r*r)" ixy="0.0" ixz="0.0" iyy="${2/5}*m*(r*r)" iyz="0.0" izz="${2/5}*m*(r*r)" /> </inertial> </xacro:macro> </robot>

base.urdf.xacro代码：

<?xml version="1.0"?> <robot xmlns:xacro="http://www.wiki.ros.org/xacro" > <xacro:include filename="$(find fishbot_description)urdf/fishbot/common_inertia.xacro"/> <xacro:macro name="base_xacro" params="length radius"> <link name="base_footprint"/> <link name="base_link"> <visual> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <geometry> <cylinder radius="${radius}" length="${length}"/> </geometry> <material name="white"> <color rgba="1.0 1.0 1.0 0.5"/> </material> </visual> <collision> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <geometry> <cylinder radius="${radius}" length="${length}"/> </geometry> <material name="white"> <color rgba="1.0 1.0 1.0 0.5"/> </material> </collision> <xacro:cylinder_inertia m="1.0" r="${radius}" h="${length}"/> </link> <joint name="base_joint" type="fixed"> <parent link="base_footprint"/> <child link="base_link"/> <axis xyz="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 ${length/2.0+0.032-0.001}" rpy="0 0 0" /> </joint> </xacro:macro> </robot>

报错是：
[INFO] [launch]: All log files can be found below /home/zmy/.ros/log/2025-01-14-18-00-57-621013-zmyTB-41493
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /home/zmy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro
Captured stderr output: error: No such file or directory: /home/zmy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_descriptionurdf/fishbot/common_inertia.xacro [Errno 2] No such file or directory: '/home/zmy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_descriptionurdf/fishbot/common_inertia.xacro'
when processing file: /home/zmy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/base.urdf.xacro
included from: /home/zmy/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot/fishbot.urdf.xacro

3bb9fa0b-90da-41ef-9665-01815331397a-image.png
日志：Traceback (most recent call last):
File "/home/yozora/test_ws/src/test.py", line 2, in <module>
from rclpy import Node
ImportError: cannot import name 'Node' from 'rclpy' (/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py)
版本：WSL（windows11）Ubuntu22.04 ROS2humble 使用python3.10和rclpy3.3.15
当我再尝试学习时发现在import Node上出了问题，请问有什么解决方法吗。我只能搜索到引用rclpy失败的却无法搜索到引用Node失败的。

(base) ros2@gs-ros2:~/test1$ ros2 pkg create --build-type ament_python --license Apache-2.0 demo_python_pkg
Failed to load entry point 'create': No module named 'catkin_pkg.package'
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')())
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 52, in main
add_subparsers_on_demand(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/command/init.py", line 250, in add_subparsers_on_demand
extension.add_arguments(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2pkg/command/pkg.py", line 25, in add_arguments
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: 'create'
退出base环境后
ros2@gs-ros2:~/test1$ ros2 pkg create --build-type ament_python --license Apache-2.0 demo_python_pkg
Failed to load entry point 'create': No module named 'catkin_pkg.package'
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.11', 'console_scripts', 'ros2')())
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 52, in main
add_subparsers_on_demand(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/command/init.py", line 250, in add_subparsers_on_demand
extension.add_arguments(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2pkg/command/pkg.py", line 25, in add_arguments
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: 'create'

屏幕截图 2025-01-14 132501.jpg

请教一下各位大佬，我该怎么样使这个机械臂沿zy轴运动
3050cde7bcae885cfad73cb50f83328.jpg

7ffa7e48-da95-4a90-8b4b-b620bbcd5b30-image.png

0cc2b0b1-eca0-4846-baf5-b3b6aa8a8fbd-截图 2025-01-12 21-28-46.png file:///home/lbj/%E5%9B%BE%E7%89%87/%E6%88%AA%E5%9B%BE/%E6%88%AA%E5%9B%BE%202025-01-12%2021-28-46.png

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 60, in main from tools.base import CmdTask,FileUtils,PrintUtils,ChooseTask,ChooseWithCategoriesTask,Tracking File "/tmp/fishinstall/tools/base.py", line 782, in <module> osversion = GetOsVersion() File "/tmp/fishinstall/tools/base.py", line 112, in GetOsVersion import distro ModuleNotFoundError: No module named 'distro'

本次运行详细日志文件已保存至 /tmp/fishros_install.log
安装distro也没有解决

ldh@ldh-LINUX:~$ wget http://fishros.com/install -O fishros && . fishros
--2025-01-12 15:40:34-- http://fishros.com/install
正在解析主机 fishros.com (fishros.com)... 198.18.0.75
正在连接 fishros.com (fishros.com)|198.18.0.75|: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]
--2025-01-12 15:40:34-- 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

2025-01-12 15:40:34 (148 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... 完成
正在读取状态信息... 完成
python3-distro 已经是最新版 (1.9.0-1)。
python3-yaml 已经是最新版 (6.0.1-2build2)。
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 103 个软件包未被升级。
--2025-01-12 15:40:35-- http://mirror.fishros.com/install/tools/base.py
正在解析主机 mirror.fishros.com (mirror.fishros.com)... 198.18.0.79
正在连接 mirror.fishros.com (mirror.fishros.com)|198.18.0.79|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 51464 (50K) [application/octet-stream]
正在保存至: ‘/tmp/fishinstall//tools/base.py’

/tmp/fishinstall//t 100%[===================>] 50.26K --.-KB/s 用时 0.09s

2025-01-12 15:40:35 (589 KB/s) - 已保存 ‘/tmp/fishinstall//tools/base.py’ [51464/51464])

WARN:No Yaml Module!

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 60, in main from tools.base import CmdTask,FileUtils,PrintUtils,ChooseTask,ChooseWithCategoriesTask,Tracking File "/tmp/fishinstall/tools/base.py", line 782, in <module> osversion = GetOsVersion() File "/tmp/fishinstall/tools/base.py", line 112, in GetOsVersion import distro ModuleNotFoundError: No module named 'distro'

本次运行详细日志文件已保存至 /tmp/fishros_install.log
安装distro还是不行

rosidl_generate_interfaces() called without any interface files

按照b站鱼香ros ros2仿真教程进行学习时，遇到报错。

<?xml version="1.0"?> <robot xmlns:xacro="http://wiki.ros.org/xacro" name="first_robot"> <xacro:macro name="base_link" params="length radius"> <link name="base_link"> <!--部件的外观描述--> <visual> <!--沿着自己几何中心的偏移和旋转量--> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <!--几何形状--> <geometry> <cylinder radius="${radius}" length="${length}"/> </geometry> <!--材质颜色--> <material name="white"> <color rgba="1.0 1.0 1.0 0.5"/> </material> </visual> </link> </xacro:macro> <xacro:macro name="imu_link" params="imu_name xyz"> <!--机器人的IMU部件，惯性测量传感器--> <link name="${imu_name}_link"> <!--部件的外观描述--> <visual> <!--沿着自己几何中心的偏移和旋转量--> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <!--几何形状--> <geometry> <box size="0.02 0.0 0.0"/> </geometry> <!--材质颜色--> <material name="black"> <color rgba="0.0 0.0 1.0 0.5"/> </material> </visual> </link> </xacro:macro> <!--机器人的关节，用于组合机器人的部件--> <joint name="${imu_name}_joint" type="fixed"> <parent link="base_link" /> <child link="${imu_name}_link" /> <origin xyz="${xyz}" rpy="0.0 0.0 0.0" /> </joint> <xacro:base_link length="0.12" radius="0.1"/> <xacro:imu_link imu_name="imu_up" xyz="0.0 0.0 0.03"/> <xacro:imu_link imu_name="imu_down" xyz="0.0 0.0 -0.03"/> </robot>

849a5235-eab6-4a3b-bb91-c795df2fced3-图片.png

截图 2025-01-12 11-49-35.png

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_; rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscriber_;

这两句的SharedPtr publisher_;和SharedPtr subscriber_;是白色的为什么

73379503-5079-468e-9240-8782aed53f1e-a3d298e1169d90534e954bab7512dc7.png 替代文字
URDF文件时solidworks软件插件生成的，可以生成数学模型
1558b641-7c63-4880-ad6f-0af919416828-image.png
启动后有如下报错
a41d953b-006a-4ad4-a5b2-62f4bdee15cd-image.png

[{
"resource": "/home/zztg/学习/第三章/topic_ws/src/turtle_control.cpp",
"owner": "C/C++: IntelliSense",
"code": "1696",
"severity": 8,
"message": "无法打开 源 文件 "rclcpp/rclcpp.hpp"",
"source": "C/C++",
"startLineNumber": 1,
"startColumn": 1,
"endLineNumber": 1,
"endColumn": 29
}]