@1039291016

@小鱼 在 提问前必看！一定要看！必须看一下！ 中说：

基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟

@hitcxy2022 解决了，需要在package.xml文件的<export>标签中加入一行代码
<gazebo_ros gazebo_model_path="${prefix}/.."/>
作用为：通过该行语句可以修改ROS2的markerfile从而使得urdf文件中的package://能够正确解析到install/packagename/share中

@大昊 我知道的是右键py文件-属性-permission-把可执行文件打勾，不知道你是不是问这个

@小鱼 谢谢大佬！

@小鱼
小鱼对不起，我自己找到错在哪里了，是init那里少了下划线，还有super后面少了括号，我的问题

@70664840 现在不知道是server端阻塞了，还是客户端阻塞了

@JerryNing 在 在自定义服务环节出现了问题，求解决！ 中说：

BorrowMoney.srv

String name uint32 money --- bool success uint32 money

srtring name

String 小写的

@小鱼
我也是这种错误，启动gazebo报一下错误

[Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once

-vm:~$ gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so Gazebo multi-robot simulator, version 11.10.2 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. Gazebo multi-robot simulator, version 11.10.2 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.247.128 [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.247.128 [Msg] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world] [**Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.** context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy **[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.**

@JerryNing 在 建立话题发布的时候提示timer_callback referenced before assignment 中说：

self.timer=self.create_timer(self.timer_period,timer_callback)

self.timer_callback

@小鱼 好像保存地图的时候会把边边也保存进去，这样上传到服务器，在那边显示的地图会大一点，他们懒得改，尴尬，让我改ros端

我想起来建图时候有一个配置参数
-- true改成false,不使用IMU数据，大家可以开启，然后对比下效果
TRAJECTORY_BUILDER_2D.use_imu_data = false

于是我手动复制过去，果然不报错了
开启gazebo以后，cartographer 开始输出下列信息，貌似开始工作了

_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1690079819.246484706] [cartographer logger]: I0723 10:36:59.000000 140706 configuration_file_resolver.cc:41] Found '/home/robot/cartoros2_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1690079819.246615544] [cartographer logger]: I0723 10:36:59.000000 140706 configuration_file_resolver.cc:41] Found '/home/robot/cartoros2_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1690079819.246635558] [cartographer logger]: I0723 10:36:59.000000 140706 configuration_file_resolver.cc:41] Found '/home/robot/cartoros2_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1690079819.250542216] [cartographer logger]: I0723 10:36:59.000000 140706 map_builder_bridge.cpp:117] Loading saved state '/home/robot/workplace/src/sim/map/carmymap.pbstream'...
[cartographer_node-1] [INFO] [1690079819.275555344] [cartographer logger]: I0723 10:36:59.000000 140706 map_builder_bridge.cpp:136] Added trajectory with ID '1'.
[cartographer_node-1] [INFO] [1690079821.528053558] [cartographer logger]: I0723 10:37:01.000000 140706 ordered_multi_queue.cc:172] All sensor data for trajectory 1 is available starting at '621355968735980000'.
[cartographer_node-1] [INFO] [1690079822.553417390] [cartographer logger]: I0723 10:37:02.000000 140706 pose_graph_2d.cc:148] Inserted submap (1, 0).
[cartographer_node-1] [INFO] [1690079822.592126848] [cartographer logger]: I0723 10:37:02.000000 140730 constraint_builder_2d.cc:275] Node (1, 0) with 205 points on submap (0, 0) matches with score 86.9%.
[cartographer_node-1] [INFO] [1690079834.277510930] [cartographer logger]: I0723 10:37:14.000000 140706 collated_trajectory_builder.cc:81] scan rate: 10.00 Hz 1.00e-01 s +/- 1.09e-03 s (pulsed at 96.49% real time)

但是当我打开了nav2的launch 屏蔽调amcl以后， 却发现没有代价地图的显示，而且也无法导航，

@Lorry 可以说的更详细一点吗

@ganyuanzhen 是20.04版本的
😵

这个代码是在launch1.py里调用launch2.py吧，参数是传给launch2.py了，但是怎么把参数传给launch2.py里的节点又是个大难题啊.
有没有大佬可以补充一下从launch1.py传参到launch2.py里的节点的代码呀。