[FishBot教程]9.0.7. FishBot-Nav2导航测试

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

等待修复

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，
c83eebd3-c0a3-471e-8b68-0531f98df6b2-b6977e2223186d40397c8f0f78cc84a.png
就像这样，请问这是怎么回事呢

小鱼

@2462331351 图太乱了，没有空间给小车走

yaoyao

@小鱼感谢小鱼，问题已解决

ros_freshman

@921203724 你这个问题解决了吗，我出现了同样的问题。@小鱼

ros_freshman

4c6a01f6-e89e-4c1b-a298-4f84e54c57a9-图片.png
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。

小鱼

@ros_freshman 可以跳过

rex.chen80

我使用的fishros镜像系统。
但是colcon编译一直报错。有没有整合好的代码可以运行？

~ » git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
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 | 1.81 MiB/s, 完成.
处理 delta 中: 100% (21/21), 完成.

~ » cd fishbot

fishbot (v1.0.0 o) » rosdep install --from-paths src --ignore-src -y -r # 安装依赖
#All required rosdeps installed successfully

fishbot (v1.0.0 o) » colcon build
Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer
Starting >>> fishbot_description
Starting >>> fishbot_interfaces
Starting >>> fishbot_navigation2
Finished <<< fishbot_description [0.60s]
Finished <<< fishbot_cartographer [0.71s]
Finished <<< fishbot_navigation2 [0.84s]
--- stderr: fishbot_interfaces
CMake Error at /opt/ros/humble/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:59 (message):

execute_process(/home/fishros/.x-cmd.root/local/data/pkg/sphere/X/l/j/h/bin/python3
-m rosidl_adapter --package-name fishbot_interfaces --arguments-file
/home/fishros/fishbot/build/fishbot_interfaces/rosidl_adapter__arguments__fishbot_interfaces.json
--output-dir
/home/fishros/fishbot/build/fishbot_interfaces/rosidl_adapter/fishbot_interfaces
--output-file
/home/fishros/fishbot/build/fishbot_interfaces/rosidl_adapter/fishbot_interfaces.idls)
returned error code 1:

AttributeError processing template 'srv.idl.em'

Traceback (most recent call last):

File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 48, in evaluate_template
  _interpreter = em.Interpreter(

AttributeError: module 'em' has no attribute 'Interpreter'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):

File "/home/fishros/.x-cmd.root/local/data/pkg/sphere/X/tree.linux.x64.0/miniconda/v3.10.0+23.9.0-0/lib/python3.10/runpy.py", line 196, in _run_module_as_main
  return _run_code(code, main_globals, None,
File "/home/fishros/.x-cmd.root/local/data/pkg/sphere/X/tree.linux.x64.0/miniconda/v3.10.0+23.9.0-0/lib/python3.10/runpy.py", line 86, in _run_code
  exec(code, run_globals)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__main__.py", line 19, in <module>
  sys.exit(main())
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/main.py", line 53, in main
  abs_idl_file = convert_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/__init__.py", line 24, in convert_to_idl
  return convert_srv_to_idl(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/srv/__init__.py", line 39, in convert_srv_to_idl
  expand_template('srv.idl.em', data, output_file, encoding='iso-8859-1')
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template
  content = evaluate_template(template_name, data)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template
  _interpreter.shutdown()

AttributeError: 'NoneType' object has no attribute 'shutdown'

Call Stack (most recent call first):
/opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
CMakeLists.txt:29 (rosidl_generate_interfaces)

Failed <<< fishbot_interfaces [0.89s, exited with code 1]
Aborted <<< fishbot_bringup [1.08s]

Summary: 3 packages finished [1.24s]
1 package failed: fishbot_interfaces
1 package aborted: fishbot_bringup
1 package had stderr output: fishbot_interfaces

小鱼

@rex-chen80 在 [FishBot教程]7. FishBot-Nav2导航测试中说：

fishbot_interfaces

删除下这个功能包试试

18296522393

鱼哥，我在执行这段代码：ros2 launch fishbot_navigation2 navigation2.launch.py
发生报错：
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: "package 'nav2_bringup' not found, searching: ['/home/jws/fishbot/fishbot/install/fishbot_navigation2', '/home/jws/fishbot/fishbot/install/fishbot_interfaces', '/home/jws/fishbot/fishbot/install/fishbot_description', '/home/jws/fishbot/fishbot/install/fishbot_cartographer', '/home/jws/fishbot/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"

好像是缺少一个功能包：nav2_bringup
后来我搜了GPT，执行了：sudo apt install ros-foxy-nav2-bt-navigator（运行成功了）
后来再回来执行：ros2 launch fishbot_navigation2 navigation2.launch.py
还是原来的找不到“nav2_bringup”包这个错误。
该怎么解决啊

小鱼

@18296522393 建议用humble版本，另外需要单独装一下nav2_bringup，你可以看最新的视频或书，7.2章节有介绍命令。

西林街

@1683127550 请问解决了吗？

yongyong

@1683127550 你这个解决了吗

yongyong

2d pose estimate 初始化不了怎么回事呢

小鱼

@yongyong 把终端日志拿出来看看

2075605318

lwb@Lwb:~/fishbot_nav$ colcon build
Starting >>> fishbot_bringup
Starting >>> fishbot_cartographer
Starting >>> fishbot_description
Starting >>> fishbot_interfaces
Starting >>> fishbot_navigation2
Finished <<< fishbot_cartographer [0.09s]
Finished <<< fishbot_navigation2 [0.09s]
Finished <<< fishbot_description [0.11s]
Finished <<< fishbot_bringup [0.13s]
--- stderr: fishbot_interfaces
Traceback (most recent call last):
File "/home/lwb/fishbot_nav/build/fishbot_interfaces/ament_cmake_python/fishbot_interfaces/setup.py", line 4, in <module>
setup(
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/init.py", line 117, in setup
return distutils.core.setup(attrs)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 186, in setup
return run_commands(dist)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 202, in run_commands
dist.run_commands()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 983, in run_commands
self.run_command(cmd)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/dist.py", line 999, in run_command
super().run_command(command)
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 1002, in run_command
cmd_obj.run()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 312, in run
self.find_sources()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 320, in find_sources
mm.run()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/egg_info.py", line 548, in run
self.prune_file_list()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/command/sdist.py", line 162, in prune_file_list
super().prune_file_list()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_distutils/command/sdist.py", line 380, in prune_file_list
base_dir = self.distribution.get_fullname()
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 272, in get_fullname
return _distribution_fullname(self.get_name(), self.get_version())
File "/home/lwb/.local/lib/python3.10/site-packages/setuptools/_core_metadata.py", line 290, in _distribution_fullname
canonicalize_version(version, strip_trailing_zero=False),
TypeError: canonicalize_version() got an unexpected keyword argument 'strip_trailing_zero'
gmake[2]: * [CMakeFiles/ament_cmake_python_build_fishbot_interfaces_egg.dir/build.make:70：CMakeFiles/ament_cmake_python_build_fishbot_interfaces_egg] 错误 1
gmake[1]: * [CMakeFiles/Makefile2:447：CMakeFiles/ament_cmake_python_build_fishbot_interfaces_egg.dir/all] 错误 2
gmake[1]: * 正在等待未完成的任务....
gmake: *** [Makefile:146：all] 错误 2

Failed <<< fishbot_interfaces [0.39s, exited with code 2]

Summary: 4 packages finished [0.52s]
1 package failed: fishbot_interfaces
1 package had stderr output: fishbot_interfaces

按照步骤来的这个interface一直编译不过是不是源代码有语法错误

yongyong

file:///home/lyy/%E5%9B%BE%E7%89%87/%E6%88%AA%E5%9B%BE/%E6%88%AA%E5%9B%BE%202025-03-29%2014-32-11.png

这个出了什么问题啊

yongyong

@1634769990 你解决了吗

165437424

可以实现导航功能，但不准确。而且雷达会报error ,不知道有哪位大神可以指点如何解决。

[ydlidar_node-2] [2025-04-05 01:04:07][error] Check Sum 0x59BC != 0x8FAA
[ydlidar_node-2] [2025-04-05 01:04:07][error] Check Sum 0x0199 != 0x4A68
[ydlidar_node-2] [2025-04-05 01:04:07][error] Check Sum 0x45A6 != 0x493D
[ydlidar_node-2] [2025-04-05 01:04:55][error] Check Sum 0x73D6 != 0x5C76
[ydlidar_node-2] [2025-04-05 01:05:30][error] Check Sum 0x0077 != 0x3023
[ydlidar_node-2] [2025-04-05 01:05:51][error] Check Sum 0x6D00 != 0x7940
[ydlidar_node-2] [2025-04-05 01:05:51][error] Check Sum 0x6874 != 0x64AF
[ydlidar_node-2] [2025-04-05 01:05:59][error] Check Sum 0x75C8 != 0x6DCC
[ydlidar_node-2] [2025-04-05 01:06:03][error] Check Sum 0x69BA != 0x6FB2
[ydlidar_node-2] [2025-04-05 01:06:34][error] Check Sum 0x1C86 != 0x0D49
[ydlidar_node-2] [2025-04-05 01:06:39][error] Check Sum 0x60F6 != 0x4492
[ydlidar_node-2] [2025-04-05 01:06:56][error] Check Sum 0x01A6 != 0x2E11
[ydlidar_node-2] [2025-04-05 01:06:56][error] Check Sum 0x6C28 != 0x0F78
[ydlidar_node-2] [2025-04-05 01:07:02][error] Check Sum 0x6450 != 0x6A17
[ydlidar_node-2] [2025-04-05 01:07:03][error] Check Sum 0x7495 != 0x4DBD
[ydlidar_node-2] [2025-04-05 01:07:13][error] Check Sum 0x7516 != 0x71E2
[ydlidar_node-2] [2025-04-05 01:07:22][error] Check Sum 0x1D3E != 0x5AEA