设备：jetson nano
架构：arm64
Ubuntu版本：20.04
ros2版本： ros2 foxy
实例代码：
import rclpy
from rclpy.node import Node

def main():
rclpy.init()
node = Node('pythono_node')
rclpy.spin(node)
rclpy.shutdown()

if name=='main':
main()
终端编写方式：(base) bd215@ubuntu:~/chapt2$ python3 ros2_node.py
终端报错：
Traceback (most recent call last):
File "/home/bd215/chapt2/ros2_node.py", line 2, in <module>
from rclpy.node import Node
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 42, in <module>
from rclpy.client import Client
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/client.py", line 22, in <module>
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py", line 31, in <module>
rclpy_implementation = _import('._rclpy')
^^^^^^^^^^^^^^^^^^
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/impl/init.py", line 28, in _import
return importlib.import_module(name, package='rclpy')
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/bd215/mambaforge/lib/python3.12/importlib/init.py", line 90, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ModuleNotFoundError: No module named 'rclpy._rclpy'
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-312-aarch64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions

e2d82a4c-77ed-485d-bdf2-090f714b33a4-9ebeac1716ad72828baf1234f9722e39.png

已经解决------------------------

ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/fishbot_camera_raw
/usr/lib/python3/dist-packages/requests/init.py:87: RequestsDependencyWarning: urllib3 (2.2.3) or chardet (4.0.0) doesn't match a supported version!
warnings.warn("urllib3 ({}) or chardet ({}) doesn't match a supported "
[INFO] [1732460432.020769982] [yolov5_ros2]: Current ROS 2 distribution: humble
[INFO] [1732460432.127483045] [yolov5_ros2]: default_camera_info: [476.7030836014194, 0.0, 400.5, 0.0, 476.7030836014194, 400.5, 0.0, 0.0, 1.0]
[0.0, 0.0, 0.0, 0.0, 0.0]

请注意我，检测你在安装过程中出现依赖问题，请在稍后输入n,再选择y,即可解决（若无法解决，清在稍后手动运行命令: sudo aptitude install ros-humble-desktop)
确认了解情况，请输入回车继续安装
Run CMD Task:[sudo aptitude install ros-humble-desktop]
sudo: aptitude: command not found
Run CMD Task:[sudo aptitude install ros-humble-desktop -y]
[-][0.01s] CMD Result:code:1

Run CMD Task:[sudo apt search python3-colcon-common-extensions ]
[-][0.07s] CMD Result:success

Run CMD Task:[sudo apt install python3-colcon-common-extensions -y]
[][0.05s] python3-colcon-argcomplete : Depends: python3-argcomplete but it is [-][0.05s] Depends: python3-packaging but it is not inst[/][0.05s] python3-colcon-core : Depends: python3-distlib but it is not install[][0.05s] Depends: python3-empy but it is not installabl[|][0.05s] Depends: python3-packaging but it is not insta[-][0.05s] Depends: python3-pytest but it is not installa[/][0.05s] Depends: python3-setuptools but it is not inst[][0.05s] Depends: python3 (>= 3.11) but 3.10.6-1~22.04.[|][0.05s] python3-tomli (>= 1) but it is not in[-][0.05s] python3-toml but it is not installabl[/][0.05s] Recommends: python3-pytest-cov but it is not i[][0.05s] python3-colcon-devtools : Depends: python3-packaging but it is not i[|][0.05s] python3-colcon-notification : Depends: python3-notify2 but it is not[-][0.05s] python3-colcon-package-information : Depends: python3-packaging but [/][0.05s] python3-colcon-python-setup-py : Depends: python3-setuptools but it [][0.05s] python3-colcon-ros : Depends: python3-catkin-pkg-modules (>= 0.4.14)[|][0.05s] python3-catkin-pkg (>= 0.4.14) but it [-][0.05s] CMD Result:code:100

Run CMD Task:[sudo apt search python3-argcomplete ]
[-][0.07s] CMD Result:success

没有找到包：python3-argcomplete
Run CMD Task:[sudo apt search python3-rosdep ]
[-][0.07s] CMD Result:success

Run CMD Task:[sudo apt install python3-rosdep -y]
[][0.05s] python3-catkin-pkg-modules : Depends: python3-docutils but it is not[|][0.05s] python3-rosdistro-modules : Depends: python3-setuptools but it is no[-][0.05s] CMD Result:code:100

Run CMD Task:[ls /opt/ros/humble/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/humble/setup.bash': No such file or direc[-][0.00s] CMD Result:code:2

安装失败了,请打开鱼香社区：https://fishros.org.cn/forum 在一键安装专区反馈问题...
Run CMD Task:[ls /opt/ros/humble/setup.bash]
[/][0.00s] ls: cannot access '/opt/ros/humble/setup.bash': No such file or direc[-][0.00s] CMD Result:code:2

b765f06b-34a6-4642-8dba-a007b590f95a-image.png
香橙派aipro一键安装ros2失败这怎么搞啊

屏幕截图 2024-11-25 195056.png
cmake文件：
屏幕截图 2024-11-25 194212.png

请问：刚开始学ros2，现在机器人功能包已经有了（git下载的越疆机器人），然后单独买了深度相机D435和夹爪，想要将这两个东西加入到机器人功能包的话，是需要为深度相机和夹爪创建新的ROS2功能包吧，有具体该如何做的相关资料推荐吗？

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
Starting >>> moveit_common
Starting >>> moveit_configs_utils
Starting >>> moveit_resources_prbt_support
Finished <<< moveit_common [0.22s]
Starting >>> moveit_core
Finished <<< moveit_resources_prbt_support [0.25s]
Finished <<< moveit_configs_utils [0.62s]
--- stderr: moveit_core
In file included from /home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h:40,
from /home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/planning_interface/src/planning_response.cpp:37:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:50:72: error: ‘UNDEFINED’ is not a member of ‘moveit_msgs::msg::MoveItErrorCodes’ {aka ‘moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >’}
50 | MoveItErrorCode(const int code = moveit_msgs::msg::MoveItErrorCodes::UNDEFINED, const std::string& error_message = "",
| ^~~~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h: In constructor ‘moveit::core::MoveItErrorCode::MoveItErrorCode(int, const string&, const string&)’:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:54:5: error: ‘message’ was not declared in this scope
54 | message = error_message;
| ^~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:55:5: error: ‘source’ was not declared in this scope
55 | source = error_source;
| ^~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h: In constructor ‘moveit::core::MoveItErrorCode::MoveItErrorCode(const MoveItErrorCodes&)’:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:60:5: error: ‘message’ was not declared in this scope
60 | message = code.message;
| ^~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:60:20: error: ‘const MoveItErrorCodes’ {aka ‘const struct moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >’} has no member named ‘message’
60 | message = code.message;
| ^~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:61:5: error: ‘source’ was not declared in this scope
61 | source = code.source;
| ^~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:61:19: error: ‘const MoveItErrorCodes’ {aka ‘const struct moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >’} has no member named ‘source’
61 | source = code.source;
| ^~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h: In function ‘std::string moveit::core::errorCodeToString(const moveit::core::MoveItErrorCode&)’:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:88:41: error: ‘UNDEFINED’ is not a member of ‘moveit::core::MoveItErrorCode’
88 | case moveit::core::MoveItErrorCode::UNDEFINED:
| ^~~~~~~~~
In file included from /home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h:40,
from /home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h:41,
from /home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/planning_interface/src/planning_interface.cpp:37:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:50:72: error: ‘UNDEFINED’ is not a member of ‘moveit_msgs::msg::MoveItErrorCodes’ {aka ‘moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >’}
50 | MoveItErrorCode(const int code = moveit_msgs::msg::MoveItErrorCodes::UNDEFINED, const std::string& error_message = "",
| ^~~~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h: In constructor ‘moveit::core::MoveItErrorCode::MoveItErrorCode(int, const string&, const string&)’:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:54:5: error: ‘message’ was not declared in this scope
54 | message = error_message;
| ^~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:55:5: error: ‘source’ was not declared in this scope
55 | source = error_source;
| ^~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h: In constructor ‘moveit::core::MoveItErrorCode::MoveItErrorCode(const MoveItErrorCodes&)’:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:60:5: error: ‘message’ was not declared in this scope
60 | message = code.message;
| ^~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:60:20: error: ‘const MoveItErrorCodes’ {aka ‘const struct moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >’} has no member named ‘message’
60 | message = code.message;
| ^~~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:61:5: error: ‘source’ was not declared in this scope
61 | source = code.source;
| ^~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:61:19: error: ‘const MoveItErrorCodes’ {aka ‘const struct moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >’} has no member named ‘source’
61 | source = code.source;
| ^~~~~~
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h: In function ‘std::string moveit::core::errorCodeToString(const moveit::core::MoveItErrorCode&)’:
/home/wwwyyy/ws_moveit2/src/moveit2/moveit_core/utils/include/moveit/utils/moveit_error_code.h:88:41: error: ‘UNDEFINED’ is not a member of ‘moveit::core::MoveItErrorCode’
88 | case moveit::core::MoveItErrorCode::UNDEFINED:
| ^~~~~~~~~
gmake[2]: *** [planning_interface/CMakeFiles/moveit_planning_interface.dir/build.make:90：planning_interface/CMakeFiles/moveit_planning_interface.dir/src/planning_response.cpp.o] 错误 1
gmake[2]: *** 正在等待未完成的任务....
gmake[2]: *** [planning_interface/CMakeFiles/moveit_planning_interface.dir/build.make:76：planning_interface/CMakeFiles/moveit_planning_interface.dir/src/planning_interface.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:2020：planning_interface/CMakeFiles/moveit_planning_interface.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2

Failed <<< moveit_core [4.32s, exited with code 2]

Summary: 3 packages finished [4.78s]
1 package failed: moveit_core
1 package had stderr output: moveit_core
37 packages not processed

报错信息如下：
[gzserver-2] [INFO] [1732524057.660599598] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1732524057.660640358] [gazebo_ros2_control]: Loading parameter files /home/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[gzserver-2] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated
[gzserver-2] [ERROR] [1732524057.661138147] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?>
[gzserver-2] <!-- =================================================================================== -->
[gzserver-2] <!-- | This document was autogenerated by xacro from /home/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot.urdf.xacro | -->
[gzserver-2] <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->

背景：

我想使用 MoveIt Servo 来控制 servo_example.launch.py 中的示例机器人，使其到达一系列路径点。同时，我需要实时读取机器人的位置，以便可以在每个路径点前暂停或进行一些处理，然后继续移动到下一个路径点。

问题描述：

当我启动 servo_example.launch.py 并运行我的节点以读取机器人状态时，遇到了以下错误：

[current_endeffector_pose_publisher-5] [ERROR] [1732470180.400202271] [current_endeffector_pose_publisher]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds. [current_endeffector_pose_publisher-5] Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0 [current_endeffector_pose_publisher-5] at line 732 in /home/lsc/ws_moveit/src/srdfdom/src/model.cpp [current_endeffector_pose_publisher-5] [ERROR] [1732470180.406341033] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF [current_endeffector_pose_publisher-5] [FATAL] [1732470180.406906166] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server. [current_endeffector_pose_publisher-5] terminate called without an active exception 具体细节和上下文：

我检查了互联网上相关问题的解决方案，比如在 servo_example.launch.py 中的 moveit_config 添加以下代码：

.planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True )

但该方法对我的问题没有效果。

我进一步发现可能是某些话题缺失导致的，因此我检查了当前的 ROS 话题列表。发现没有 /robot_description_semantic 话题，只有 /robot_description。

但是，当我运行其他启动文件（例如 demo.launch.py）时，话题列表中会同时出现 /robot_description 和 /robot_description_semantic 当我仅运行 servo_example.launch.py 并使用键盘控制时，系统可以正常工作，没有报错。这表明问题可能不是来自 servo_example.launch.py 本身的基础配置，而是与我额外添加的节点（用于读取机器人状态）或其交互方式有关。

目前我不清楚如何生成 /robot_description_semantic 话题。

尝试过的解决方法：

按照网上的建议尝试在 servo_example.launch.py 中添加相关配置项，但未解决问题。
检查话题列表后发现缺少 /robot_description_semantic，并尝试对比其他启动文件的行为，但尚未找到问题的根源。

软件环境：

操作系统：Ubuntu 22.04
ROS 版本：Humble

下列软件包有未满足的依赖关系：
libgazebo-dev : 依赖: libignition-transport8-dev 但是它将不会被安装
依赖: libignition-msgs5-dev (>= 5.1) 但是它将不会被安装
依赖: libignition-fuel-tools4-dev 但是它将不会被安装

rviz2-2] [INFO] [1732484845.426017323] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.518 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484845.572651185] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 545.823 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484845.637770069] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.688 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484845.707385596] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484845.848445499] [rviz2]: Message Filter dropping message: frame 'odom' at time 555.858 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484846.038628123] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.062 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484846.053953157] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732484846.054966341] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484846.242471585] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.266 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484846.451308193] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.436 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484846.654262998] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732484846.679002829] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484846.696645310] [rviz2]: Message Filter dropping message: frame 'odom' at time 556.810 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484846.925902445] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.014 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.155021021] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.184 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.326624273] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 547.423 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.476204844] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.354 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.505351397] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 547.623 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.591526874] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.524 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484847.791706188] [rviz2]: Message Filter dropping message: frame 'odom' at time 557.728 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1732484848.535838870] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732484848.944317423] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-2] [INFO] [1732484849.027245119] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 549.022 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.245868994] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.054 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.691144242] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.394 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.818732816] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.598 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484849.874183562] [rviz2]: Message Filter dropping message: frame 'odom' at time 559.802 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1732484850.145950567] [rviz2]: Message Filter dropping message: frame 'odom' at time 560.006 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

在rviz界面，tf和LaserScan反复闪烁，忽正常忽错误

因为使用amcl的时候转弯，软件里程计就没有了导致导航失败。所以想换成纯激光雷达定位

f097b1d2-ed7e-4a7d-9d72-9d8c0ab81b80-6874357a2616b81e63936685cb6654e.png

一的第2章编程基础部分的1.使用g++编译ROS2节点中，在指令
cd /opt/ros/jazzy/include/rclcpp（我是jazzy，就把humble都改了）
ls rclcpp/* | grep rclcpp.h
执行后可以找到rclcpp/rclcpp.hpp
但下一步执行 g++ first_ros2_node.cpp -I /opt/ros/jazzy/include/rclcpp/时，没有出现教程上的报错（rcl/guard_condition.h），输出依然是
cc1plus: fatal error: first_ros2_node.cpp: No such file or directory
compilation terminated.
之后的按教程，执行结果就都不一样了，基本上都是这个输出
请您指教，谢谢

7841c728-436e-41e6-bb31-786e478f6331-375c9b706e891817969b86852fe9cb0.png

[Connecting to mirrors.tuna.tsinghua.edu.cn (2402:f000:1:400::2)]3de73437-835f-44f2-89d9-455a343da2a8-image.png 鱼香ros安装完ros后，无法替换坏掉的源。

截图 2024-11-23 14-09-19.png 截图 2024-11-23 14-09-10.png

bash输入命令gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so 启动gazebo后会返回警告
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
此时若通过rqt调用服务/spawn_entity在gazebo生成机器人后gazebo就会闪退
求求各位大佬指点一下为什么会出现这个情况，我该如何解决
下面是我加载模型的urdf文件内容，里面有一个相机camera模块，如果添加gazebo就会闪退，删除后导入就不会。

<?xml version="1.0"?> <robot name="rosmaster_x3"> <link name="base_footprint"/> <!-- base_link inertia needs modified --> <link name="base_link"> <visual> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.238 0.1386 0.159"/> </geometry> <material name="white"> <color rgba="1 1 1 0.9" /> </material> </visual> <collision> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.238 0.1386 0.159"/> </geometry> <material name="white"> <color rgba="1 1 1 0.9" /> </material> </collision> <inertial> <mass value="4.6"/> <inertia ixx="0.0122666" ixy="0" ixz="0" iyy="0.0122666" iyz="0" izz="0.02"/> </inertial> </link> <joint name="base_joint" type="fixed"> <parent link="base_footprint"/> <child link="base_link"/> <origin xyz="0.0 0.0 0.1145" rpy="0 0 0"/> </joint> <link name="laser_link"> <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <cylinder length="0.025" radius="0.035"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <cylinder length="0.025" radius="0.035"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </collision> </link> <joint name="laser_joint" type="fixed"> <parent link="base_link" /> <child link="laser_link" /> <origin xyz="0.084 0 0.0795" /> </joint> <link name="camera_link"> <visual> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.065 0.165 0.03"/> </geometry> <material name="black"> <color rgba="1.0 1.0 1.0 1.0"/> </material> </visual> <collision> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.04 0.165 0.03"/> </geometry> <material name="black"> <color rgba="1.0 1.0 1.0 1.0"/> </material> </collision> </link> <joint name="camera_joint" type="fixed"> <parent link="base_link" /> <child link="camera_link" /> <origin xyz="0.119 0 0.03" /> </joint> <link name="imu_link"> <visual> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.01 0.01 0.01"/> </geometry> <material name="blue"> <color rgba="0.5 0.5 1 0.8" /> </material> </visual> <collision> <origin xyz="0 0 0.0" rpy="0 0 0"/> <geometry> <box size="0.01 0.01 0.01"/> </geometry> <material name="blue"> <color rgba="0.5 0.5 1 0.8" /> </material> </collision> </link> <joint name="imu_joint" type="fixed"> <parent link="base_link"/> <child link="imu_link"/> <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> </joint> <!-- wheels inertia needs modified --> <link name="front_left_wheel_link"> <visual> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </collision> <inertial> <mass value="0.2"/> <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="base_link" /> <child link="front_left_wheel_link" /> <origin xyz="-0.08 0.0289 -0.0795" /> <axis xyz="0 1 0" /> </joint> <link name="front_right_wheel_link"> <visual> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </collision> <inertial> <mass value="0.2"/> <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"> <parent link="base_link" /> <child link="front_right_wheel_link" /> <origin xyz="0.08 0.0289 -0.0795" /> <axis xyz="0 1 0" /> </joint> <link name="rear_left_wheel_link"> <visual> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </collision> <inertial> <mass value="0.2"/> <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/> </inertial> </link> <joint name="rear_left_wheel_joint" type="continuous"> <parent link="base_link" /> <child link="rear_left_wheel_link" /> <origin xyz="-0.08 -0.0289 -0.0795" /> <axis xyz="0 1 0" /> </joint> <link name="rear_right_wheel_link"> <visual> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="1.57079 0 0"/> <geometry> <cylinder length="0.0304" radius="0.0325"/> </geometry> <material name="black"> <color rgba="0.0 0.0 0.0 0.5" /> </material> </collision> <inertial> <mass value="0.2"/> <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036"/> </inertial> </link> <joint name="rear_right_wheel_joint" type="continuous"> <parent link="base_link" /> <child link="rear_right_wheel_link" /> <origin xyz="0.08 -0.0289 -0.0795" /> <axis xyz="0 1 0" /> </joint> <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>5</update_rate> <!-- wheels --> <left_joint>front_left_wheel_joint</left_joint> <right_joint>front_right_wheel_joint</right_joint> <!-- kinematics --> <wheel_separation>0.2</wheel_separation> <wheel_diameter>0.065</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>false</publish_wheel_tf> <odometry_frame>odom</odometry_frame> <robot_base_frame>base_footprint</robot_base_frame> </plugin> <plugin name="joint_state" filename="libgazebo_ros_joint_state_publisher.so"> <ros> <remapping>~/out:=joint_states</remapping> </ros> <update_rate>5</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> </plugin> </gazebo> <gazebo reference="laser_link"> <material>Gazebo/Black</material> </gazebo> <gazebo reference="imu_link"> <sensor name="imu_sensor" type="imu"> <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin"> <ros> <namespace>/</namespace> <remapping>~/out:=imu</remapping> </ros> <initial_orientation_as_reference>false</initial_orientation_as_reference> </plugin> <always_on>true</always_on> <update_rate>5</update_rate> <visualize>true</visualize> <imu> <angular_velocity> <x> <noise type="gaussian"> <mean>0.0</mean> <stddev>2e-4</stddev> <bias_mean>0.0000075</bias_mean> <bias_stddev>0.0000008</bias_stddev> </noise> </x> <y> <noise type="gaussian"> <mean>0.0</mean> <stddev>2e-4</stddev> <bias_mean>0.0000075</bias_mean> <bias_stddev>0.0000008</bias_stddev> </noise> </y> <z> <noise type="gaussian"> <mean>0.0</mean> <stddev>2e-4</stddev> <bias_mean>0.0000075</bias_mean> <bias_stddev>0.0000008</bias_stddev> </noise> </z> </angular_velocity> <linear_acceleration> <x> <noise type="gaussian"> <mean>0.0</mean> <stddev>1.7e-2</stddev> <bias_mean>0.1</bias_mean> <bias_stddev>0.001</bias_stddev> </noise> </x> <y> <noise type="gaussian"> <mean>0.0</mean> <stddev>1.7e-2</stddev> <bias_mean>0.1</bias_mean> <bias_stddev>0.001</bias_stddev> </noise> </y> <z> <noise type="gaussian"> <mean>0.0</mean> <stddev>1.7e-2</stddev> <bias_mean>0.1</bias_mean> <bias_stddev>0.001</bias_stddev> </noise> </z> </linear_acceleration> </imu> </sensor> </gazebo> <gazebo reference="laser_link"> <sensor name="laser_sensor" type="ray"> <always_on>true</always_on> <visualize>false</visualize> <update_rate>5</update_rate> <pose>0 0 0.075 0 0 0</pose> <ray> <scan> <horizontal> <samples>360</samples> <resolution>1.000000</resolution> <min_angle>0.000000</min_angle> <max_angle>6.280000</max_angle> </horizontal> </scan> <range> <min>0.120000</min> <max>3.5</max> <resolution>0.015000</resolution> </range> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </ray> <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so"> <ros> <remapping>~/out:=scan</remapping> </ros> <output_type>sensor_msgs/LaserScan</output_type> <frame_name>laser_link</frame_name> </plugin> </sensor> </gazebo> <gazebo reference="camera_link"> <sensor type="camera" name="camera_sensor"> <update_rate>10</update_rate> <camera name="camera_link"> <horizontal_fov>1.3</horizontal_fov> <image> <width>640</width> <height>480</height> <format>R8G8B8</format> </image> <clip> <near>0.02</near> <far>300</far> </clip> </camera> <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> <alwaysOn>true</alwaysOn> <updateRate>0.0</updateRate> <cameraName>/my_robot/camera</cameraName> <imageTopicName>image_raw</imageTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName> <frameName>camera_link</frameName> <hackBaseline>0.07</hackBaseline> <distortionK1>0.0</distortionK1> <distortionK2>0.0</distortionK2> <distortionK3>0.0</distortionK3> <distortionT1>0.0</distortionT1> <distortionT2>0.0</distortionT2> <CxPrime>0.0</CxPrime> <Cx>320.0</Cx> <Cy>240.0</Cy> <focalLength>0.0</focalLength> </plugin> </sensor> </gazebo> </robot>