ROS 2相关问题

Your browser does not seem to support JavaScript. As a result, your viewing experience will be diminished, and you have been placed in read-only mode.

Please download a browser that supports JavaScript, or enable it if it's disabled (i.e. NoScript).

紧急通知：禁止一切关于政治&VPN翻墙等话题，发现相关帖子会立马删除封号
提问前必看的发帖注意事项：社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

子版块

Nav2

基于ROS2的机器人导航框架 | 版主： @首飞Kevin

163
主题

642
帖子

1

NAV2中的局部规划器默认是DWB，但是对阿克曼这种车型不太友好，想使用TEB
但是呢，怎么去进行替换又是一个问题，有没有大佬可以指点一下

AutoWare

开源自动驾驶框架Autoware | 版主： @邢通

7
主题

23
帖子

小

了解了，感谢感谢

登录以发布
加载新的帖子

最近回复

最近创建

回复最多

最多赞同

最多浏览

2

局部规划路线没有正常显示

ros2局部规划路径没显示 ros2导航 • • 2578737127

2

0
赞同

2
帖子

464
浏览

2

我没有启动仿真，也没有连接小车，但是正常是不是刚开始的时候，应该是会有局部规划路径显示，然后一段时间之后局部规划路线再消失，但是局部规划路线一直都没有显示，感觉不太正常😥 😵

Z

ros2通过moveit2控制双臂机器人

ros2 control moveit2 • • zhang_bo7

5

0
赞同

5
帖子

1.4k
浏览

Z

这个问题我解决了，规划失败的原因可能是设置复合规划组的目标点不能采用这种方式： move_group.setPoseTarget(left_target_pose, "er3a_end_frame");
move_group.setPoseTarget(right_target_pose, "linkhou_end_frame");（这种应该是moveit1的设置方式）
而是要采用下面这种方式：
//1.构建双机械臂父规划组的控制接口
MoveitControl panda_dual_arms_control(node,"dual_arms","world");//此时传入的规划组就是包含两个机械臂的父规划组
//2.获取机器人模型
moveit::core::RobotModelConstPtr robot_model = panda_dual_arms_control.move_group_->getRobotModel();
//获取左右臂的关节组信息
const moveit::core::JointModelGroup* right_arm_jmg = robot_model->getJointModelGroup("right_arm");
const moveit::core::JointModelGroup* left_arm_jmg = robot_model->getJointModelGroup("left_arm");

//3.设置左右臂的目标关节值
std::vector<double> panda_left_arm_pos1_joint = {0.0,1.2953,1.5527,0.0175,-0.08,-0.0085,0.6243};
std::vector<double> panda_right_arm_pos1_joint = {0.048,1.3343,1.5847,-0.2556,0.1121,0.0,0.0};

//4.创建目标状态
moveit::core::RobotStatePtr goal_state = std::make_sharedmoveit::core::RobotState(robot_model);
//设置左右臂的目标关节值
goal_state->setJointGroupPositions(right_arm_jmg, panda_right_arm_pos1_joint);
goal_state->setJointGroupPositions(left_arm_jmg, panda_left_arm_pos1_joint);
//5.设置目标状态并规划
panda_dual_arms_control.move_group_->setJointValueTarget(*goal_state);
bool success = (panda_dual_arms_control.move_group_->plan(panda_dual_arms_control.plan_path) == moveit::core::MoveItErrorCode::SUCCESS);
//6.执行规划
if (success)
{
RCLCPP_INFO(node->get_logger(), "Planning successful! Executing trajectory.");
panda_dual_arms_control.move_group_->execute(panda_dual_arms_control.plan_path);
}
else
{
RCLCPP_ERROR(node->get_logger(), "Planning failed!");
}
上面是我写的代码，我通过这种方式设置目标点，就可以正常的规划出来复合规划组的路径了。

2

怎么进行二次开发，替换原导航配置

如何进行二次开发怎么修改urdf模型文件怎么替换导航配置 • • 2376282194

1

0
赞同

1
帖子

1.2k
浏览

尚无回复

H

ros2机器人实践第七章导航相关问题

ros2机器人导航卡住 • • hu

2

0
赞同

2
帖子

374
浏览

1

@hu 哥们解决了吗

H

4.2.1自定义服务接口，执行colcon build报错

ros2 自定义服务接口 • • hunter

1

0
赞同

1
帖子

374
浏览

尚无回复

1

疑问？？？

ros2 colcon ros2 hamble ros2 多环境 • • 1234567890aaaaa

4

0
赞同

4
帖子

1.1k
浏览

1

@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？

1

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

3

0
赞同

3
帖子

290
浏览

高

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

1

0
赞同

1
帖子

178
浏览

尚无回复

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

8

0
赞同

8
帖子

723
浏览

铁

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

L

导航时在Rviz中给初始位置没反应

仿真错误导航失败 • • lqh3256948861

4

0
赞同

4
帖子

1.1k
浏览

1

请问问题解决了吗？同样遇到了

1

9.4.1章节micro-ROS init failed失败

micro-ros agent agent • • 165437424

3

0
赞同

3
帖子

327
浏览

1

[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

1

0
赞同

1
帖子

275
浏览

尚无回复

2

cmake报错

gazebo cmake error ros2 • • 2511624533

1

0
赞同

1
帖子

287
浏览

尚无回复

5

求助怎么在路点导航中获取地图信息

map error 路点导航 • • 501022971

1

0
赞同

1
帖子

337
浏览

尚无回复

2

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

1

1
赞同

1
帖子

275
浏览

尚无回复

2

gazebo打不开

gazebo gazebo sim fishbot • • 2368028649

4

0
赞同

4
帖子

741
浏览

昂

@2368028649 解决了马

2

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

9

0
赞同

9
帖子

1.4k
浏览

2

@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

1

0
赞同

1
帖子

323
浏览

尚无回复

2

在gazebo中无法加载模型

gazebo ros2 hamble • • 天问

15

0
赞同

15
帖子

3.6k
浏览

H

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

1

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

5

0
赞同

5
帖子

713
浏览

H

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

皖ICP备16016415号-7

Powered by NodeBB | 鱼香ROS

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

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