[FishBot教程]7. FishBot-Nav2导航测试

蒙

在做nav2导航测试，为什么有个标识车辆位置的点在图外。左下角的位置。是否中间什么点错了？
目前目标位置，车子可以正常过去。
有时发现车子检测的位置和地图不匹配，有方向偏移或位置偏移，这个如何矫正。

9227f425-9a71-4228-86a5-a42c1ab270d8-图片.png

发现的其他问题1：
过一段时间雷达会超时（时间不固定ctr+C，退出，重新选1驱动雷达。数据会正常。l
2ac0c00d-62c4-4f47-b180-16abbc12d532-图片.png

发现的其他问题2：
rviz2中雷达数据和小车状态不更新，提示queue is full
处理方式：关闭rviz2,重新启动程序ros2 launch fishbot_navigation2 navigation2.launch.py

f669efca-d3ea-4785-a8b5-f7812d2e97b7-截图 2024-06-28 10-40-07.png
file:///home/mengl/%E5%9B%BE%E7%89%87/%E6%88%AA%E5%9B%BE/%E6%88%AA%E5%9B%BE%202024-06-28%2010-40-07.png

小鱼

@15724948 在 [FishBot教程]7. FishBot-Nav2导航测试中说：

为什么有个标识车辆位置的点在图外。左下角的位置。是否中间什么点错了

左下角是odom转换正常，雷达这边考虑网络问题

lzw

@小鱼在 [FishBot教程]7. FishBot-Nav2导航测试中说：

@1013006043

@小鱼在 [FishBot教程]7. FishBot-Nav2导航测试中说：

rosdep install --from-paths src --ignore-src -y -r # 安装依赖

这一步，先跑一次一键安装

lzw

@小鱼 Screenshot from 2024-08-01 17-47-46.png 安装过了，最后还是这样。

lzw

此回复已被删除！

小鱼

@lzw 下次最好单独提问，不然容易看不到帖子。

这个问题之前应该出现过，提示缺少的那个包装一下就好（最好复制粘贴错误，我也好复制粘贴给你命令）

@小鱼在 [FishBot教程]7. FishBot-Nav2导航测试中说：

1.请使用ubuntu22.04 系统 2.请安装 joint_state_publisher

就是这里

sudo apt install ros-humble-joint-state-publisher

lzw

跟着文字做到第五步导航测试时输入命令出现以下错误：
版本为22.04

[INFO] [launch]: All log files can be found below /home/lzw/.ros/log/2024-08-02-19-20-35-132678-lzw-6309
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:

IndentationError: expected an indented block after function definition on line 20 (navigation2.launch.py, line 21)
InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown

小鱼

@lzw 工作空间不对，你的目录在主目录了，应该到工作空间下执行

等待修复

我在拉取项目，也就是文中第二个命令时，出现了下面的错误：正克隆到 'fishbot'...
remote: Enumerating objects: 84, done.
remote: Counting objects: 100% (84/84), done.
remote: Compressing objects: 100% (69/69), done.
remote: Total 84 (delta 21), reused 46 (delta 7), pack-reused 0 (from 0)
接收对象中: 100% (84/84), 332.98 KiB | 1.06 MiB/s, 完成.
处理 delta 中: 100% (21/21), 完成.
子模组 'src/cartographer_code/cartographer'（https://github.91chi.fun/https://github.com/ros2/cartographer.git）已对路径 'src/cartographer_code/cartographer' 注册
子模组 'src/cartographer_code/cartographer_ros'（https://github.91chi.fun/https://github.com/ros2/cartographer_ros.git）已对路径 'src/cartographer_code/cartographer_ros' 注册
子模组 'src/navigation'（https://github.91chi.fun/https://github.com/fishros/navigation2.git）已对路径 'src/navigation' 注册
正克隆到 '/home/zdd/fishbot/src/cartographer_code/cartographer'...
fatal: 无法访问 'https://github.91chi.fun/https://github.com/ros2/cartographer.git/'：gnutls_handshake() failed: Error in the pull function.
fatal: 无法克隆 'https://github.91chi.fun/https://github.com/ros2/cartographer.git' 到子模组路径 '/home/zdd/fishbot/src/cartographer_code/cartographer'
克隆 'src/cartographer_code/cartographer' 失败。按计划重试
正克隆到 '/home/zdd/fishbot/src/cartographer_code/cartographer_ros'...希望鱼哥解答一下

小鱼

@2462331351 换个github代理试试

等待修复

@小鱼换了，发现还是不行，我去我的windows（可以正常Google的）发现还是有错误```
Failed to clone 'src/cartographer_code/cartographer'. Retry scheduled
Cloning into 'C:/Users/ZDD/fishbot/src/cartographer_code/cartographer_ros'...
fatal: unable to access 'https://github.91chi.fun/https://github.com/ros2/cartographer_ros.git/': Recv failure: Connection was reset
fatal: clone of 'https://github.91chi.fun/https://github.com/ros2/cartographer_ros.git' into submodule path 'C:/Users/ZDD/fishbot/src/cartographer_code/cartographer_ros' failed
Failed to clone 'src/cartographer_code/cartographer_ros'. Retry scheduled
Cloning into 'C:/Users/ZDD/fishbot/src/navigation'...
fatal: unable to access 'https://github.91chi.fun/https://github.com/fishros/navigation2.git/': Recv failure: Connection was reset
fatal: clone of 'https://github.91chi.fun/https://github.com/fishros/navigation2.git' into submodule path 'C:/Users/ZDD/fishbot/src/navigation' failed
Failed to clone 'src/navigation'. Retry scheduled
Cloning into 'C:/Users/ZDD/fishbot/src/cartographer_code/cartographer'...
fatal: unable to access 'https://github.91chi.fun/https://github.com/ros2/cartographer.git/': Recv failure: Connection was reset
fatal: clone of 'https://github.91chi.fun/https://github.com/ros2/cartographer.git' into submodule path 'C:/Users/ZDD/fishbot/src/cartographer_code/cartographer' failed
Failed to clone 'src/cartographer_code/cartographer' a second time, aborting

小鱼

@2462331351 在 [FishBot教程]7. FishBot-Nav2导航测试中说：

'https://github.91chi.fun/

我说的代理是这里的网址

等待修复

@小鱼我不太明白，请问
这个代理怎么换呀

等待修复

此回复已被删除！

等待修复

我在运行sudo apt install ros-humble-joint-state-publisher发生下面的错误，我换源了但是还是会从清华源下载，真不知道怎么办了我的小车都连上了

code_text
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成                 
下列【新】软件包将被安装：
  ros-humble-joint-state-publisher
升级了 0 个软件包，新安装了 1 个软件包，要卸载 0 个软件包，有 383 个软件包未被升级。
需要下载 16.1 kB 的归档。
解压缩后会消耗 68.6 kB 的额外空间。
忽略:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-publisher amd64 2.4.0-1jammy.20240728.222620
忽略:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-publisher amd64 2.4.0-1jammy.20240728.222620
忽略:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-publisher amd64 2.4.0-1jammy.20240728.222620
错误:1 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy/main amd64 ros-humble-joint-state-publisher amd64 2.4.0-1jammy.20240728.222620
  无法发起与 mirrors.tuna.tsinghua.edu.cn:80 (2402:f000:1:400::2) 的连接 - connect (101: 网络不可达) 无法连接上 mirrors.tuna.tsinghua.edu.cn:80 (101.6.15.130)，连接超时
E: 无法下载 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/pool/main/r/ros-humble-joint-state-publisher/ros-humble-joint-state-publisher_2.4.0-1jammy.20240728.222620_amd64.deb  无法发起与 mirrors.tuna.tsinghua.edu.cn:80 (2402:f000:1:400::2) 的连接 - connect (101: 网络不可达) 无法连接上 mirrors.tuna.tsinghua.edu.cn:80 (101.6.15.130)，连接超时
E: 有几个软件包无法下载，要不运行 apt-get update 或者加上 --fix-missing 的选项再试试？
zdd@zdd-Lenovo-YangTian-S550-14-API:~/fishbot$ ^C
zdd@zdd-Lenovo-YangTian-S550-14-API:~/fishbot$ ```

等待修复

我在运行到最后一步时，雷达镜像出现了下面的问题：```
[WARN] [1724764700.139124810] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

小鱼

@2462331351 这个不是错误，可以忽略

小鱼

@2462331351 在 [FishBot教程]7. FishBot-Nav2导航测试中说：

sudo apt --fix-missing

yaoyao

一、下载与编译导航代码

打开终端，输入下面的指令。

git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
cd fishbot
rosdep install --from-paths src --ignore-src -y -r # 安装依赖
colcon build

执行最后一步colcon build报错

以下是报错信息：

colcon build
Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer
Starting >>> fishbot_description
Starting >>> fishbot_interfaces
Starting >>> fishbot_navigation2
Finished <<< fishbot_cartographer [1.76s]
Finished <<< fishbot_navigation2 [1.83s]
--- stderr: fishbot_interfaces
CMake Error at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:240 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:29 (rosidl_generate_interfaces)

CMake Error at /opt/ros/humble/share/rosidl_generator_c/cmake/rosidl_generator_c_generate_interfaces.cmake:69 (message):
Target dependency
'/fishbot/build/fishbot_interfaces/rosidl_adapter/fishbot_interfaces/srv/FishBotConfig.idl'
does not exist
Call Stack (most recent call first):
/opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
CMakeLists.txt:29 (rosidl_generate_interfaces)

Failed <<< fishbot_interfaces [4.23s, exited with code 1]
Aborted <<< fishbot_description [4.57s]
Aborted <<< fishbot_bringup [35.8s]

Summary: 2 packages finished [36.8s]
1 package failed: fishbot_interfaces
2 packages aborted: fishbot_bringup fishbot_description
1 package had stderr output: fishbot_interfaces

小鱼

@HermitWJ 问一下你的操作系统版本信息，还有你把代码放到了哪个位置，不要放桌面之类的奇怪位置哦