[FishBot教程]9.0.7. FishBot-Nav2导航测试
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@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
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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
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@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
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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 -
@2462331351 换个github代理试试
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@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 -
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@小鱼 我不太明白，请问
这个代理怎么换呀 -
此回复已被删除！ -
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$ ``` -
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 -
@2462331351 这个不是错误，可以忽略
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@2462331351 在 [FishBot教程]7. FishBot-Nav2导航测试 中说：
sudo apt --fix-missing
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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 -
@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
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我这边的配置和鱼哥的一模一样，，ROS2humle,ubuntu22.04,但是我发现我在进行导航的时候啊，就是会小车走到一半就会终止，
就像这样，请问这是怎么回事呢 -
@2462331351 图太乱了，没有空间给小车走
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@小鱼 感谢小鱼，问题已解决
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@921203724 你这个问题解决了吗，我出现了同样的问题。@小鱼
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出现这个错误了，该怎么解决呢？rosdep已经用一键安装配置好了。
