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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
      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
                                          • 法
                                            法大
                                            最后由 编辑

                                            @小鱼 鱼哥启动microros错误什么原因
                                            d13f47f6-fd4c-4493-bb50-66cbb34dc8b6-image.png 之前都能成功

                                            小鱼小 1 条回复 最后回复 回复 引用 0
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