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    [FishBot教程]9.0.7. FishBot-Nav2导航测试

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    • R
      ros_freshman 年度VIP @921203724
      最后由 编辑

      @921203724 你这个问题解决了吗，我出现了同样的问题。@小鱼

      1 条回复 最后回复 回复 引用 0
      • R
        ros_freshman 年度VIP
        最后由 编辑

        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。

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

          @ros_freshman 可以跳过

          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
          • R
            rex.chen80
            最后由 编辑

            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

            小鱼小 1 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @rex.chen80
              最后由 编辑

              @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

              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
              • 1
                18296522393
                最后由 编辑

                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😭

                小鱼小 1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @18296522393
                  最后由 编辑

                  @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。

                  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
                  • 16347699901
                    西林街 @1683127550
                    最后由 编辑

                    @1683127550 请问解决了吗？

                    Y 1 条回复 最后回复 回复 引用 0
                    • 小鱼小 小鱼 在 中 引用了 这个主题
                    • Y
                      yongyong @1683127550
                      最后由 编辑

                      @1683127550 你这个解决了吗

                      1 条回复 最后回复 回复 引用 0
                      • Y
                        yongyong
                        最后由 编辑

                        2d pose estimate 初始化不了怎么回事呢05ceebe3-1e2d-4014-a648-ad24dd79e2e1-image.png

                        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 @yongyong
                          最后由 编辑

                          @yongyong 把终端日志拿出来看看

                          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
                          • 2
                            2075605318 年度VIP
                            最后由 编辑

                            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

                            1 条回复 最后回复 回复 引用 0
                            • A atjason 在 中 引用了 这个主题
                            • Y
                              yongyong
                              最后由 编辑

                              832e5f7a-31e8-4e32-b361-fd8e7f1c17db-image.png 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

                              1 条回复 最后回复 回复 引用 0
                              • Y
                                yongyong @1634769990
                                最后由 编辑

                                @1634769990 你解决了吗

                                1 条回复 最后回复 回复 引用 0
                                • 1
                                  165437424
                                  最后由 编辑

                                  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

                                  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 @165437424
                                    最后由 编辑

                                    @165437424 最近会更新下雷达驱动，这个偶尔出现一次没问题

                                    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
                                    • 2
                                      2768003759 @1250372262
                                      最后由 编辑

                                      此回复已被删除！
                                      2 1 条回复 最后回复 回复 引用 0
                                      • 2
                                        2768003759 @2768003759
                                        最后由 编辑

                                        此回复已被删除！
                                        1 条回复 最后回复 回复 引用 0
                                        • 2
                                          2768003759 @1250372262
                                          最后由 编辑

                                          @1250372262 在 [FishBot教程]9.0.7. FishBot-Nav2导航测试 中说：

                                          建图都是没有问题的了 然后我按照导航测试那块 启动了fishbot_bringup 然后把地图换了，启动导航的时候地图能加载出来，但是点击2D Pose Estimate的时候，界面没有反应，不像之前那样了，并且也不能导航

                                          也是这个问题

                                          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 @2768003759
                                            最后由 编辑

                                            @2768003759 导航的时候雷达驱动，底盘驱动之类的都不能关闭，先检查各个话题数据是否正常，然后检查tf是否正常

                                            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
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