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

7天之前

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C 7天之前

大概要怎么操作
fd29bb8b-3475-4ddf-9072-98075afbab46-image.png
是不是要在src文件夹下再创建一个局部路径规划的文件夹
再像是全局规划一样写
😢
不太会

AutoWare

开源自动驾驶框架Autoware | 版主： @邢通

2024年7月12日 20:06

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小 2024年7月12日 20:06

了解了，感谢感谢

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humble 和 foxy的通讯

ros2 humble ros2 foxy • 6天之前 • heatywang 6天之前

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cmake报错

gazebo cmake error ros2 • 6天之前 • 2511624533 6天之前

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求助怎么在路点导航中获取地图信息

map error 路点导航 • 7天之前 • 501022971 7天之前

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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 • 8天之前 • 2118561423 8天之前

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gazebo打不开

gazebo gazebo sim fishbot • 2025年3月17日 11:07 • 2368028649 8天之前

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昂 8天之前

@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 • 2024年6月5日 11:12 • 一桶珠子 8天之前

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2 8天之前

@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 • 8天之前 • 昂热123 8天之前

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在gazebo中无法加载模型

gazebo ros2 hamble • 2023年7月3日 07:07 • 天问 8天之前

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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

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 • 2025年2月5日 13:26 • 1164894579 9天之前

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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

L

导航时在Rviz中给初始位置没反应

仿真错误导航失败 • 2024年12月27日 07:08 • lqh3256948861 9天之前

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I 9天之前

请问作者
你解决了吗

1

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

ros2 turtlebot3 • 14天之前 • 1094386966 14天之前

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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 • 16天之前 • 1051816350 16天之前

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1 16天之前

@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。

1

librcl_logging_spdlog.so: undefined symbol

ros2 linux ros2 foxy • 16天之前 • 1245596599 16天之前

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xacro简化urdf

urdf xacro 报错求解 • 2025年1月12日 04:31 • 862524030 18天之前

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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 • 2024年9月18日 13:11 • 月生 18天之前

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Z 18天之前

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

2

求助：ROS2 多机通讯问题

ros2 通信 docker ros2 多机通讯 • 2024年1月30日 07:58 • Egypt。 19天之前

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3 19天之前

@2786937698 楼主解决了吗。我目前遇到了类似的问题。但是是docker和外部ros的连接上的。使用的是host模式，手动指定domain为28。能ping通，但是接受不到话题。

L

2.5.1结果可以正常输出，但是ctrl+c结束例程会出现如图的错误，这是正常的吗？

ros2 python • 19天之前 • Lithos0515 19天之前

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如何安装增强功能实现文件互传

ros2 增强功能 • 20天之前 • 2376379317 20天之前

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rosidl_message_type_support_t导致节点崩溃问题

ros2 c++ rosidl galactic • 2025年3月16日 07:51 • Galen 21天之前

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5 21天之前

这个问题解决了，是类型改变了，会变成：rosidl_typesupport_introspection_cpp

1

求助，动手学ROS2“Action实现”章节中，运行控制节点时出现Segmentation fault错误无法解决

ros2 action fastdds安装问题段错误 • 2024年1月29日 19:38 • M. 22天之前

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L 22天之前

@1846229364 谢谢你😊 ，根据你的方案成功解决了问题！
大家在删除fastdds_ws以及环境变量之后记得重新编译，以更新install/setup.bash

皖ICP备16016415号-7

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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

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