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    [FishBot教程] 9.0.6. 雷达驱动及建图测试

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    • 小鱼小
      小鱼 技术大佬 @466413819
      最后由 编辑

      @466413819 arm架构下不支持这个镜像，需要按照

      拓展1：FishBot配套雷达驱动教程（源码版）
      拓展2：树莓派上使用micros-agent驱动主控板的方法
      拓展3：FishBot 树莓派配置建图导航

      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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      • 1
        1664486711 @小鱼
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        此回复已被删除！
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        • 1
          1664486711
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          此回复已被删除！
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          • 1
            1664486711 @1664486711
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            此回复已被删除！
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            • 2
              279401783 @948287217
              最后由 编辑

              @948287217 在 [FishBot教程] 6. 雷达驱动及建图测试 中说：

              @小鱼 在 [FishBot教程] 6. 雷达驱动及建图测试 中说：

              ist，查看是否有scan话题。

              b3b88269-3bd3-4d3f-a8a9-4b4c7420911a-图片.png
              找不到/scan的话题

              我也是同样的问题 没有scan 出来 系统是ubuntu24.04 jazzy 版本，这个要怎么解决

              小鱼小 1 条回复 最后回复 回复 引用 0
              • 小鱼小
                小鱼 技术大佬 @279401783
                最后由 编辑

                @279401783 大概要换系统，或者使用后面的源码方式使用

                新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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                • 小鱼小 小鱼 在 中 引用了 这个主题
                • 3
                  3120044269 @小鱼
                  最后由 编辑

                  此回复已被删除！
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                  • 3
                    3120044269
                    最后由 编辑

                    请问这个是什么问题呀，出现下面这个错误，已知ping可以正常运行，雷达是转的，跳线帽也是对的，ip地址配置正确，处于RUN MODE模式

                    [ydlidar_node-2] [2024-12-22 15:13:32][error] Check Sum 0x4B26 != 0x74C6
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Fixed Size: 720
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Scan Frequency: 5.00Hz
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Fixed Size: 720
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Single Fixed Size: 310
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Sample Rate: 3.00K
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Successed to check the lidar, Elapsed time 386 ms
                    [ydlidar_node-2] [2024-12-22 15:13:32][info] Now lidar is scanning...
                    [ydlidar_node-2] [2024-12-22 15:13:33][error] Check Sum 0x6C52 != 0x4370
                    [ydlidar_node-2] [2024-12-22 15:13:34][error] Check Sum 0x7CF6 != 0x5C74
                    [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
                    [ydlidar_node-2] [ERROR] [1734880416.377512451] [ydlidar_node]: Failed to get scan
                    [ydlidar_node-2] [2024-12-22 15:13:36][error] Timeout count: 1
                    [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
                    [ydlidar_node-2] [ERROR] [1734880417.378154871] [ydlidar_node]: Failed to get scan
                    [ydlidar_node-2] [2024-12-22 15:13:37][error] Timeout count: 2
                    [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
                    [ydlidar_node-2] [ERROR] [1734880418.379028243] [ydlidar_node]: Failed to get scan
                    [ydlidar_node-2] [2024-12-22 15:13:38][error] Timeout count: 3
                    [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
                    [ydlidar_node-2] [ERROR] [1734880419.379892913] [ydlidar_node]: Failed to get scan

                    小鱼小 1 条回复 最后回复 回复 引用 0
                    • 小鱼小
                      小鱼 技术大佬 @3120044269
                      最后由 编辑

                      @3120044269 把前面部分也截取一下

                      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                      3 1 条回复 最后回复 回复 引用 0
                      • 3
                        3120044269 @小鱼
                        最后由 编辑

                        @小鱼 [INFO] [launch]: All log files can be found below /root/.ros/log/2024-12-22-15-43-42-718761-ea6d2dcc0496-58
                        [INFO] [launch]: Default logging verbosity is set to INFO
                        [INFO] [tcp_server-1]: process started with pid [59]
                        [tcp_server-1] [INFO] [1734882223.432319749] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
                        [tcp_server-1] [INFO] [1734882223.432845278] [tcp_socket_server_node]: 等待接受连接..
                        [INFO] [ydlidar_node-2]: process started with pid [82]
                        [ydlidar_node-2] [INFO] [1734882226.288480684] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
                        [ydlidar_node-2]
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] SDK initializing
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] SDK has been initialized
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] SDK Version: 1.2.9
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] Connect elapsed time 0 ms
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] Lidar successfully connected [/tmp/tty_laser:115200]
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] Lidar running correctly! The health status good
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] Current Lidar Model Code 12
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] Check status, Elapsed time 0 ms
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] Lidar init success, Elapsed time [1]ms
                        [ydlidar_node-2] [2024-12-22 15:43:46][info] Start to getting intensity flag
                        [ydlidar_node-2] [2024-12-22 15:43:49][info] [YDLIDAR] End to getting intensity flag
                        [ydlidar_node-2] [2024-12-22 15:43:49][info] [YDLIDAR] Create thread 0xF7E00640
                        [ydlidar_node-2] [2024-12-22 15:43:49][info] Successed to start scan mode, Elapsed time 3564 ms

                        小鱼小 1 条回复 最后回复 回复 引用 0
                        • 小鱼小
                          小鱼 技术大佬 @3120044269
                          最后由 编辑

                          @3120044269 在 [FishBot教程] 6. 雷达驱动及建图测试 中说：

                          tcp_server-1] [INFO] [1734882223.432319749] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
                          [tcp_server-1] [INFO] [1734882223.432845278] [tcp_socket_server_node]: 等待接受连接..

                          应该是没有连接成功，emm，方便加一下我微信吗

                          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                          3 1 条回复 最后回复 回复 引用 0
                          • 3
                            3120044269 @小鱼
                            最后由 编辑

                            @小鱼 好的，怎么加呀

                            小鱼小 1 条回复 最后回复 回复 引用 0
                            • 小鱼小
                              小鱼 技术大佬 @3120044269
                              最后由 编辑

                              @3120044269 公众号下方有二维码

                              新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                              3 1 条回复 最后回复 回复 引用 0
                              • 3
                                3120044269 @小鱼
                                最后由 编辑

                                @小鱼 加啦加啦，韓.

                                1 条回复 最后回复 回复 引用 0
                                • L
                                  lvjiaming2007
                                  最后由 编辑

                                  orange pi how to do

                                  WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
                                  exec /startup.sh: exec format error

                                  1 条回复 最后回复 回复 引用 0
                                  • J
                                    jerry_88965294
                                    最后由 编辑

                                    @小鱼 我在四驱版使用时，雷达驱动第2步，驱动雷达报错，这步报错也会导致第3步报错，请问怎么回事呢？
                                    8bf4719a-daa5-4bdf-b0c5-43920bb8fab6-image.png

                                    S 1 条回复 最后回复 回复 引用 0
                                    • S
                                      sunhao2202 年度VIP
                                      最后由 编辑

                                      雷达驱动问题：
                                      [ydlidar_node-2] [2025-01-03 11:31:56][error] Check Sum 0x68D7 != 0x1569
                                      [ydlidar_node-2] [2025-01-03 11:31:59][error] Check Sum 0x5DEA != 0x1B19
                                      [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
                                      [ydlidar_node-2] [ERROR] [1735903928.417755598] [ydlidar_node]: Failed to get scan
                                      [ydlidar_node-2] [2025-01-03 11:32:08][error] Timeout count: 1
                                      [ydlidar_node-2] [2025-01-03 11:32:08][error] Check Sum 0x121C != 0x0233
                                      [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xB856 != 0x868F
                                      [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xBF44 != 0xD5E3
                                      [ydlidar_node-2] [2025-01-03 11:32:35][error] Check Sum 0x53E4 != 0x51BD
                                      [ydlidar_node-2] [2025-01-03 11:32:36][error] Check Sum 0xD974 != 0x87D3
                                      [ydlidar_node-2] [2025-01-03 11:32:50][error] Check Sum 0x1E40 != 0x0FDE
                                      [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
                                      [ydlidar_node-2] [ERROR] [1735903972.437430773] [ydlidar_node]: Failed to get scan
                                      [ydlidar_node-2] [2025-01-03 11:32:52][error] Timeout count: 1
                                      [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
                                      [ydlidar_node-2] [ERROR] [1735903973.437858047] [ydlidar_node]: Failed to get scan
                                      [ydlidar_node-2] [2025-01-03 11:32:53][error] Timeout count: 2
                                      [ydlidar_node-2] [2025-01-03 11:32:53][error] Check Sum 0x1A71 != 0x15AB
                                      ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
                                      [ydlidar_node-2] [INFO] [1735903974.800384796] [rclcpp]: signal_handler(signum=2)
                                      [ERROR] [tcp_server-1]: process has died [pid 59, exit code -2, cmd '/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server --ros-args --params-file /tmp/launch_params_s0dvbmtk --params-file /tmp/launch_params_4auj8l85'].
                                      [tcp_server-1] Traceback (most recent call last):
                                      [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server", line 33, in <module>
                                      [tcp_server-1] sys.exit(load_entry_point('ros-serail2wifi==0.0.0', 'console_scripts', 'tcp_server')())
                                      [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/python3.10/site-packages/ros_serail2wifi/tcpserver.py", line 76, in main
                                      [tcp_server-1] node.run()
                                      [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/python3.10/site-packages/ros_serail2wifi/tcpserver.py", line 49, in run

                                      雷达建图问题：

                                      [ydlidar_node-6] [2025-01-03 11:26:54][error] Timeout count: 2
                                      [ydlidar_node-6] [2025-01-03 11:26:54][error] Timeout count: 3
                                      [cartographer_node-3] [INFO] [1735903614.135216721] [cartographer logger]: I0103 11:26:54.000000 63 node.cpp:569] Shutdown the subscriber of [scan]
                                      [cartographer_node-3] [INFO] [1735903614.135283530] [cartographer logger]: I0103 11:26:54.000000 63 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'...
                                      [cartographer_node-3] [WARN] [1735903614.135465851] [cartographer logger]: W0103 11:26:54.000000 63 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now.
                                      [cartographer_node-3] [INFO] [1735903614.135520310] [cartographer logger]: I0103 11:26:54.000000 63 node.cpp:551] Trajectory 0 already pending to finish.
                                      [cartographer_node-3] [INFO] [1735903614.135590080] [cartographer logger]: I0103 11:26:54.000000 63 map_builder_bridge.cpp:161] Running final trajectory optimization...
                                      [cartographer_node-3] [INFO] [1735903614.136761950] [cartographer logger]: I0103 11:26:54.000000 116 pose_graph_2d.cc:538] Remaining work items in queue: 2
                                      [cartographer_node-3] [INFO] [1735903614.136858631] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:290] 21 computations resulted in 0 additional constraints.
                                      [cartographer_node-3] [INFO] [1735903614.137078579] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:292] Score histogram:
                                      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
                                      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
                                      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
                                      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
                                      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
                                      [cartographer_node-3] [INFO] [1735903614.159599813] [cartographer logger]: I0103 11:26:54.000000 116 pose_graph_2d.cc:538] Remaining work items in queue: 1
                                      [cartographer_node-3] [INFO] [1735903614.159673485] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
                                      [cartographer_node-3] [INFO] [1735903614.160093412] [cartographer logger]: I0103 11:26:54.000000 116 constraint_builder_2d.cc:292] Score histogram:
                                      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
                                      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
                                      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
                                      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
                                      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
                                      [cartographer_node-3] [INFO] [1735903614.175929395] [cartographer logger]: I0103 11:26:54.000000 115 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
                                      [cartographer_node-3] [INFO] [1735903614.176097541] [cartographer logger]: I0103 11:26:54.000000 115 constraint_builder_2d.cc:292] Score histogram:
                                      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
                                      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
                                      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
                                      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
                                      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
                                      [cartographer_node-3] [INFO] [1735903614.194124283] [cartographer logger]: I0103 11:26:54.000000 114 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints.
                                      [cartographer_node-3] [INFO] [1735903614.194258427] [cartographer logger]: I0103 11:26:54.000000 114 constraint_builder_2d.cc:292] Score histogram:
                                      [cartographer_node-3] Count: 4 Min: 0.664706 Max: 0.9 Mean: 0.749173
                                      [cartographer_node-3] [0.664706, 0.688235) ##### Count: 1 (25%) Total: 1 (25%)
                                      [cartographer_node-3] [0.688235, 0.711765) ##### Count: 1 (25%) Total: 2 (50%)
                                      [cartographer_node-3] [0.711765, 0.735294) ##### Count: 1 (25%) Total: 3 (75%)
                                      [cartographer_node-3] [0.735294, 0.758824) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.758824, 0.782353) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.782353, 0.805882) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.805882, 0.829412) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.829412, 0.852941) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.852941, 0.876471) Count: 0 (0%) Total: 3 (75%)
                                      [cartographer_node-3] [0.876471, 0.900000] ##### Count: 1 (25%) Total: 4 (100%)
                                      Optimizing: Done.
                                      Optimizing: Done.
                                      [ydlidar_node-6] [YDLIDAR ERROR]: -1 Device is not open
                                      [ydlidar_node-6] [ERROR] [1735903615.059047626] [ydlidar_node]: Failed to get scan

                                      小鱼小 2 条回复 最后回复 回复 引用 0
                                      • S
                                        sunhao2202 年度VIP @jerry_88965294
                                        最后由 编辑

                                        @jerry_88965294 我这也是这个问题，后面都是这样的报错，建图一直跳

                                        1 条回复 最后回复 回复 引用 0
                                        • 小鱼小
                                          小鱼 技术大佬 @sunhao2202
                                          最后由 编辑

                                          @sunhao2202 您好，使用的是哪个版本的固件，网络质量如何

                                          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                                          1 条回复 最后回复 回复 引用 0
                                          • 小鱼小
                                            小鱼 技术大佬 @sunhao2202
                                            最后由 编辑

                                            @sunhao2202 在 [FishBot教程] 9.0.6. 雷达驱动及建图测试 中说：

                                            [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
                                            [ydlidar_node-2] [ERROR] [1735903928.417755598] [ydlidar_node]: Failed to get scan
                                            [ydlidar_node-2] [2025-01-03 11:32:08][error] Timeout count: 1
                                            [ydlidar_node-2] [2025-01-03 11:32:08][error] Check Sum 0x121C != 0x0233
                                            [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xB856 != 0x868F
                                            [ydlidar_node-2] [2025-01-03 11:32:34][error] Check Sum 0xBF44 != 0xD5E3
                                            [ydlidar_node-2] [2025-01-03 11:32:35][error] Check Sum 0x53E4 != 0x51BD
                                            [ydlidar_node-2] [2025-01-03 11:32:36][error] Check Sum 0xD974 != 0x87D3
                                            [ydlidar_node-2] [2025-01-03 11:32:50][error] Check Sum 0x1E40 != 0x0FDE
                                            [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
                                            [ydlidar_node-2] [ERROR] [1735903972.437430773] [ydlidar_node]: Failed to get scan
                                            [ydlidar_node-2] [2025-01-03 11:32:52][error] Timeout count: 1
                                            [ydlidar_node-2] [YDLIDAR ERROR]: -1 Operation timed out
                                            [ydlidar_node-2] [ERROR] [1735903973.437858047] [ydlidar_node]: Failed to get scan
                                            [ydlidar_node-2] [2025-01-03 11:32:53][error] Timeout count: 2
                                            [ydlidar_node-2] [2025-01-03 11:32:53][error] Check Sum 0x1A71 != 0x15AB
                                            ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
                                            [ydlidar_node-2] [INFO] [1735903974.800384796] [rclcpp]: signal_handler(signum=2)
                                            [ERROR] [tcp_server-1]: process has died [pid 59, exit code -2, cmd '/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server --ros-args --params-file /tmp/launch_params_s0dvbmtk --params-file /tmp/launch_params_4auj8l85'].
                                            [tcp_server-1] Traceback (most recent call last):
                                            [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/ros_serail2wifi/tcp_server", line 33, in <module>
                                            [tcp_server-1] sys.exit(load_entry_point('ros-serail2wifi==0.0.0', 'console_scripts', 'tcp_server')())
                                            [tcp_server-1] File "/workspace/install/ros_serail2wifi/lib/python3.10/site-packages/ros_serail2wifi/tcpserver.py", line 76, in main
                                            [tcp_server-1] node.run()

                                            驱动正常后再尝试建图

                                            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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