ROS 2相关问题

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Nav2

基于ROS2的机器人导航框架 | 版主： @首飞Kevin

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我的解决了，原因是cartogrepher_ros与fishbot_cartogrepher重复冲突导致的，把cartogrepher_ros删了就好了

AutoWare

开源自动驾驶框架Autoware | 版主： @邢通

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了解了，感谢感谢

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疑问？？？

ros2 colcon ros2 hamble ros2 多环境 • • 1234567890aaaaa

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@1234567890aaaaa 重新描述一下我的问题：
有两个环境，一个是base，一个是hw ；
通过pip show empy可以看到两个环境里都没有这个包；
然后在base环境里面colcon build可以通过。在hw环境里面,colcon build报错，缺empy这个包，pip这个包后可以colcon build通过；
但我很好奇为什么base环境没有包也可以被通过？hw环境就必须得有这个包？

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3.4.3系统信息获取与发布ros2 run status_publisher sys_status_pub报错ModuleNotFoundError: No module named 'status_interfaces.status_interfaces_s__rosidl_typesupport_c'

python节点运行报错 • • 1044746741

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重新构建一个python环境可以解决这个问题

1

在远程服务器上用docker跑代码 rviz闪退是为什么

rviz rviz不反应 rviz不显示 • • 1145307900

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铁

14A.1控制OLED-自定义消息接口按步骤删除.pio/libdeps/featheresp32/micro_ros_platformio/libmicroros重新编译出错

cmake报错 ros2自定义服务接口 micro-ros • • 铁盒的序

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@2846056854 我按照这个方法这样解决掉了，不太清楚你的状况......

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导航时在Rviz中给初始位置没反应

仿真错误导航失败 • • lqh3256948861

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请问问题解决了吗？同样遇到了

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9.4.1章节micro-ROS init failed失败

micro-ros agent agent • • 165437424

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[1745110152.057756] info [1745110152.057821] info [1745110152.057854] info [1745110152.057870] info [1745110152.067936] info [1745110156.353008] info [1745110156.353053] info [1745110156.353080] info [1745110156.353094] info [1745110156.360611] info [1745110160.663617] info [1745110160.663683] info [1745110160.663720] info [1745110160.663729] info [1745110160.671359] info [1745110164.982217] info [1745110164.982280] info [1745110164.982320] info [1745110164.982333] info [1745110164.989472] info [1745110169.301336] info [1745110169.301391] info [1745110169.301412] info [1745110169.301420] info [1745110169.310761] info [1745110173.660879] info [1745110173.660934] info [1745110173.660953] info [1745110173.660959] info [1745110173.667526] info | Root.cpp | delete_client | delete | client_key: 0x069BFB4E
| SessionManager.hpp | destroy_session | session closed | client_key: 0x069BFB4E, address: 192.168.113.101:47138
| Root.cpp | create_client | create | client_key: 0x7C70EBFF, session_id: 0x81
| SessionManager.hpp | establish_session | session established | client_key: 0x7C70EBFF, address: 192.168.113.101:47138
| ProxyClient.cpp | create_participant | participant created | client_key: 0x7C70EBFF, participant_id: 0x000(1)
| Root.cpp | delete_client | delete | client_key: 0x7C70EBFF
| SessionManager.hpp | destroy_session | session closed | client_key: 0x7C70EBFF, address: 192.168.113.101:47138
| Root.cpp | create_client | create | client_key: 0x1BC25DB8, session_id: 0x81
| SessionManager.hpp | establish_session | session established | client_key: 0x1BC25DB8, address: 192.168.113.101:47138
| ProxyClient.cpp | create_participant | participant created | client_key: 0x1BC25DB8, participant_id: 0x000(1)
| Root.cpp | delete_client | delete | client_key: 0x1BC25DB8
| SessionManager.hpp | destroy_session | session closed | client_key: 0x1BC25DB8, address: 192.168.113.101:47138
| Root.cpp | create_client | create | client_key: 0x052E9CAE, session_id: 0x81
| SessionManager.hpp | establish_session | session established | client_key: 0x052E9CAE, address: 192.168.113.101:47138
| ProxyClient.cpp | create_participant | participant created | client_key: 0x052E9CAE, participant_id: 0x000(1)
| Root.cpp | delete_client | delete | client_key: 0x052E9CAE
| SessionManager.hpp | destroy_session | session closed | client_key: 0x052E9CAE, address: 192.168.113.101:47138
| Root.cpp | create_client | create | client_key: 0x7B8BA5B7, session_id: 0x81
| SessionManager.hpp | establish_session | session established | client_key: 0x7B8BA5B7, address: 192.168.113.101:47138
| ProxyClient.cpp | create_participant | participant created | client_key: 0x7B8BA5B7, participant_id: 0x000(1)
| Root.cpp | delete_client | delete | client_key: 0x7B8BA5B7
| SessionManager.hpp | destroy_session | session closed | client_key: 0x7B8BA5B7, address: 192.168.113.101:47138
| Root.cpp | create_client | create | client_key: 0x34E1AF8B, session_id: 0x81
| SessionManager.hpp | establish_session | session established | client_key: 0x34E1AF8B, address: 192.168.113.101:47138
| ProxyClient.cpp | create_participant | participant created | client_key: 0x34E1AF8B, participant_id: 0x000(1)
| Root.cpp | delete_client | delete | client_key: 0x34E1AF8B
| SessionManager.hpp | destroy_session | session closed | client_key: 0x34E1AF8B, address: 192.168.113.101:47138
| Root.cpp | create_client | create | client_key: 0x482822A3, session_id: 0x81
| SessionManager.hpp | establish_session | session established | client_key: 0x482822A3, address: 192.168.113.101:47138
| ProxyClient.cpp | create_participant | participant created | client_key: 0x482822A3, participant_id: 0x000(1)

H

humble 和 foxy的通讯

ros2 humble ros2 foxy • • heatywang

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2

cmake报错

gazebo cmake error ros2 • • 2511624533

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5

求助怎么在路点导航中获取地图信息

map error 路点导航 • • 501022971

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关于gazebo多机器人仿真中gazebo_ros2_control加载命名空间冲突的问题

gazebo 控制器 • • 2118561423

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gazebo打不开

gazebo gazebo sim fishbot • • 2368028649

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@2368028649 解决了马

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与Starting gazebo_ros2_control plugin in namespace: /mbot 的gazebo_ros2_control的命名空间的问题

namespace gazeboros2 • • 一桶珠子

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@1393399898 您好，请问您是怎么解决的，我现在也遇到了同样的问题

昂

使用gazebo_sim.launch.py，gazebo无法启动urdf文件；gazebo

gazebo ros2 humble • • 昂热123

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在gazebo中无法加载模型

gazebo ros2 hamble • • 天问

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@haile-huang 重装gazebo哦，qtwayland5这个就不用装了，好像和gazebo有冲突的

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未解决在chapter6的gazebo_sim.launch.py文件运行时报错，好像是gzclient打不开，gazebo也崩溃了

gzclient gazebo崩溃 • • 1164894579

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ros2@ros2-virtual-machine:~/gazebo7/gazebo7_ws$ ros2 launch fishbot_description gazebo_sim.launch.py
[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2025-04-07-23-46-46-340059-ros2-virtual-machine-3547
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3552]
[INFO] [gzserver-2]: process started with pid [3554]
[INFO] [gzclient-3]: process started with pid [3556]
[INFO] [spawn_entity.py-4]: process started with pid [3558]
[robot_state_publisher-1] [INFO] [1744040807.377159369] [robot_state_publisher]: got segment back_caster_link
[robot_state_publisher-1] [INFO] [1744040807.377316455] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1744040807.377330418] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1744040807.377335661] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1744040807.377342463] [robot_state_publisher]: got segment camera_optical_link
[robot_state_publisher-1] [INFO] [1744040807.377346971] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-1] [INFO] [1744040807.377351362] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1744040807.377355076] [robot_state_publisher]: got segment laser_cylinder_link
[robot_state_publisher-1] [INFO] [1744040807.377361287] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1744040807.377365427] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1744040807.377369403] [robot_state_publisher]: got segment right_wheel_link
[spawn_entity.py-4] [INFO] [1744040807.856921505] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1744040807.857448486] [spawn_entity]: Loading entity published on topic /robot_description
[spawn_entity.py-4] [INFO] [1744040807.871811460] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-4] [INFO] [1744040807.894062623] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1744040807.894447124] [spawn_entity]: Waiting for service /spawn_entity
[gzclient-3] Gazebo multi-robot simulator, version 11.10.2
[gzclient-3] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-3] Released under the Apache 2 License.
[gzclient-3] http://gazebosim.org
[gzclient-3]
[gzserver-2] Gazebo multi-robot simulator, version 11.10.2
[gzserver-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-2] Released under the Apache 2 License.
[gzserver-2] http://gazebosim.org
[gzserver-2]
[gzserver-2] [Wrn] [gazebo_ros_init.cpp:178]
[gzserver-2] # # ####### ####### ### ##### #######
[gzserver-2] ## # # # # # # # #
[gzserver-2] # # # # # # # # #
[gzserver-2] # # # # # # # # #####
[gzserver-2] # # # # # # # # #
[gzserver-2] # ## # # # # # # #
[gzserver-2] # # ####### # ### ##### #######
[gzserver-2]
[gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life
[gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo
[gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli)
[gzserver-2]
[gzserver-2]
[gzclient-3] [Msg] Waiting for master.
[gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-3] [Msg] Publicized address: 172.21.73.71
[gzclient-3] [Wrn] [GuiIface.cc:120] QSocketNotifier: Can only be used with threads started with QThread
[spawn_entity.py-4] [INFO] [1744040810.232075284] [spawn_entity]: Calling service /spawn_entity
[gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [Msg] Waiting for master.
[gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-2] [Msg] Publicized address: 172.21.73.71
[gzserver-2] [Msg] Loading world file [/home/ros2/gazebo7/gazebo7_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world]
[gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzserver-2] [INFO] [1744040811.065571074] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info]
[gzserver-2] [INFO] [1744040811.066522094] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info]
[gzserver-2] [INFO] [1744040811.066926896] [depth_camera]: Publishing pointcloud to [/camera_sensor/points]
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:132] Unable to create the rendering window
[gzclient-3] [Err] [WindowManager.cc:139] EXCEPTION: Unable to create the rendering window
[gzclient-3]
[gzclient-3]
[gzclient-3] terminate called after throwing an instance of 'gazebo::common::Exception'
[spawn_entity.py-4] [INFO] [1744040811.432639054] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gzserver-2] [INFO] [1744040811.571190276] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1744040811.582191083] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1744040811.582267983] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1744040811.594804268] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3558]
[gzserver-2] [INFO] [1744040811.598949066] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1744040811.599012201] [gazebo_ros2_control]: Loading parameter files /home/ros2/gazebo7/gazebo7_ws/install/fishbot_description/share/fishbot_description/config/fishbot_ros2_controller.yaml
[INFO] [ros2-5]: process started with pid [3689]
[gzserver-2] [INFO] [1744040811.623055913] [gazebo_ros2_control]: Loading joint: left_wheel_joint
[gzserver-2] [INFO] [1744040811.623122339] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1744040811.623132355] [gazebo_ros2_control]: position
[gzserver-2] [INFO] [1744040811.623139197] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.623144468] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.623153684] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1744040811.623774784] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.624008631] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.624028777] [gazebo_ros2_control]: Loading joint: right_wheel_joint
[gzserver-2] [INFO] [1744040811.624035477] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1744040811.624040860] [gazebo_ros2_control]: position
[gzserver-2] [INFO] [1744040811.624049887] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.624055967] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.624060962] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1744040811.624069363] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1744040811.624195869] [gazebo_ros2_control]: effort
[gzserver-2] [INFO] [1744040811.624252902] [resource_manager]: Initialize hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624399908] [resource_manager]: Successful initialization of hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624490014] [resource_manager]: 'configure' hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624500280] [resource_manager]: Successful 'configure' of hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624505277] [resource_manager]: 'activate' hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.624509810] [resource_manager]: Successful 'activate' of hardware 'FishBotGazeboSystem'
[gzserver-2] [INFO] [1744040811.625969242] [gazebo_ros2_control]: Loading controller_manager
[gzserver-2] [WARN] [1744040811.697825097] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-2] [INFO] [1744040811.698014270] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[ERROR] [gzclient-3]: process has died [pid 3556, exit code -6, cmd 'gzclient --gui-client-plugin=libgazebo_ros_eol_gui.so --verbose'].
[gzclient-3]
[gzserver-2] [INFO] [1744040812.658632607] [controller_manager]: Loading controller 'fishbot_joint_state_broadcaster'
[gzserver-2] [INFO] [1744040812.699560842] [controller_manager]: Configuring controller 'fishbot_joint_state_broadcaster'
[gzserver-2] [INFO] [1744040812.700391520] [fishbot_joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2-5] Successfully loaded controller fishbot_joint_state_broadcaster into state active
[INFO] [ros2-5]: process has finished cleanly [pid 3689]
[INFO] [ros2-6]: process started with pid [3731]
[ros2-6] [INFO] [1744040813.862104856] [_ros2cli_3731]: waiting for service /controller_manager/load_controller to become available...
[gzserver-2] [INFO] [1744040815.114848376] [controller_manager]: Loading controller 'fishbot_diff_drive_controller'
[gzserver-2] [INFO] [1744040815.156646427] [controller_manager]: Configuring controller 'fishbot_diff_drive_controller'
[ros2-6] Successfully loaded controller fishbot_diff_drive_controller into state active
[INFO] [ros2-6]: process has finished cleanly [pid 3731]
[gzserver-2] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
请问这个报错怎么解决呢

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ros2 turtlebot3 waffle_pi在gazebo中仿真无法订阅和发布model_state信息

ros2 turtlebot3 • • 1094386966

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ROS2功能包cv_bridge 在docker镜像中交叉编译无法寻找到numpy头文件路径报错

交叉编译、ros2 numpy头文件 • • 1051816350

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@1051816350 这样用的原因是因为希望使用buildroot构建的根文件系统中可以直接运行自己的ros2项目，项目需要使用cv_bridge功能包，但是buildroot中没有安装编译器的环境，因此希望在x86架构下交叉编译。

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librcl_logging_spdlog.so: undefined symbol

ros2 linux ros2 foxy • • 1245596599

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xacro简化urdf

urdf xacro 报错求解 • • 862524030

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@小伊 Traceback (most recent call last):
File "/opt/ros/humble/local/lib/python3.10/dist-packages/xacro/init.py", line 1012, in parse
inp = f = open(filename)
FileNotFoundError: [Errno 2] No such file or directory: '/home/phx/chapt7/ros2bookcode/chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.xacro'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/opt/ros/humble/local/lib/python3.10/dist-packages/xacro/init.py", line 1119, in _process
doc = process_file(input_file_name, **opts)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/xacro/init.py", line 1096, in process_file
doc = parse(None, input_file_name)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/xacro/init.py", line 1016, in parse
raise XacroException(e.strerror + ": " + e.filename, exc=e)
xacro.XacroException: No such file or directory: /home/phx/chapt7/ros2bookcode/chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.xacro [Errno 2] No such file or directory: '/home/phx/chapt7/ros2bookcode/chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.xacro'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/opt/ros/humble/bin/xacro", line 33, in <module>
sys.exit(load_entry_point('xacro==2.0.8', 'console_scripts', 'xacro')())
File "/opt/ros/humble/local/lib/python3.10/dist-packages/xacro/init.py", line 1171, in main
_process(input_file_name, vars(opts))
File "/opt/ros/humble/local/lib/python3.10/dist-packages/xacro/init.py", line 1124, in _process
except xml.parsers.expat.ExpatError as e:
AttributeError: module 'xml' has no attribute 'parsers'

1

运行roscore命令失败

roscore无法启动 roscore错误 • • 月生

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Z

我之前因为误删了一些ros模块导致这个现象。
后来重装了一遍：sudo apt install ros-humble-rosbridge-server 就解决了

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未解决 在chapter6的gazebo_sim.launch.py文件运行时报错，好像是gzclient打不开，gazebo也崩溃了

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