鱼香ROS社区
    • 版块
    • 最新
    • 未解决
    • 已解决
    • 群组
    • 注册
    • 登录
    紧急通知:禁止一切关于政治&VPN翻墙等话题,发现相关帖子会立马删除封号
    提问前必看的发帖注意事项: 社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

    拓展3:FishBot 树莓派配置建图导航

    已定时 已固定 已锁定 已移动
    FishBot二驱机器人
    fishbot 建图导航
    15
    57
    8.0k
    正在加载更多帖子
    • 从旧到新
    • 从新到旧
    • 最多赞同
    回复
    • 在新帖中回复
    登录后回复
    此主题已被删除。只有拥有主题管理权限的用户可以查看。
    • 小鱼小
      小鱼 技术大佬 @2216200358
      最后由 编辑

      @2216200358 在 拓展3:FishBot 树莓派配置建图导航 中说:

      fishbot_bringup.launch.py

      看一下robot-state-publisher节点

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

      2 小鱼小 2 条回复 最后回复 回复 引用 0
      • 2
        2216200358 @小鱼
        最后由 2216200358 编辑

        @小鱼 c9443a17-d956-498d-b974-f5f75925a3fa-image.png
        这样的
        这是节点:
        b7e8a356-e960-4761-a108-3da3b82b323b-image.png

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

          @小鱼 你把这个文件 ishbot_bringup.launch.py 的内容粘贴出来,另外不要截图:

          @小鱼 在 提问前必看!不符合要求的问题拒绝回答!! 中说:

          1. 不要截图,要复制粘贴,一定要代码块包裹
            不要截图的原因是,代码方便回答者去复制帮你搜索,而且无论是在手机上还是电脑上都更容易看。

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

          2 1 条回复 最后回复 回复 引用 0
          • 2
            2216200358 @小鱼
            最后由 编辑

            @小鱼

            import os
            from launch import LaunchDescription
            from launch.substitutions import LaunchConfiguration
            from launch_ros.actions import Node
            from launch_ros.substitutions import FindPackageShare
            
            
            def generate_launch_description():
                package_name = 'fishbot_description'
                urdf_name = "fishbot_v1.0.0.urdf"
            
                ld = LaunchDescription()
                pkg_share = FindPackageShare(package=package_name).find(package_name)
                urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
            
                robot_state_publisher_node = Node(
                    package='robot_state_publisher',
                    executable='robot_state_publisher',
                    arguments=[urdf_model_path]
                )
            
                joint_state_publisher_node = Node(
                    package='joint_state_publisher',
                    executable='joint_state_publisher',
                    name='joint_state_publisher',
                    arguments=[urdf_model_path],
                    output='screen',
            
                )
            
                fishbot_bringup_node = Node(
                    package='fishbot_bringup',
                    executable='fishbot_bringup',
                    name='fishbot_bringup',
                    output='screen',
                )
            
                ld.add_action(joint_state_publisher_node)
                ld.add_action(robot_state_publisher_node)
                ld.add_action(fishbot_bringup_node)
            
                return ld
            
            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 @2216200358
              最后由 编辑

              @2216200358 在 拓展3:FishBot 树莓派配置建图导航 中说:

              robot_state_publisher_node = Node(
              package='robot_state_publisher',
              executable='robot_state_publisher',
              arguments=[urdf_model_path]
              )

              这个写的感觉不太对,应该加个参数好像,你看看书前面的代码,或者最近B站的课程,也可以把TF贴出来看看

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

              2 小鱼小 2 条回复 最后回复 回复 引用 0
              • 2
                2216200358 @小鱼
                最后由 编辑

                @小鱼 ```
                #include <rclcpp/rclcpp.hpp>
                #include <rclcpp/rclcpp.hpp>
                #include <nav_msgs/msg/odometry.hpp>
                #include <tf2/utils.h>
                #include <tf2_ros/transform_broadcaster.h>

                class TopicSubscribe01 : public rclcpp::Node
                {
                public:
                TopicSubscribe01(std::string name) : Node(name)
                {
                RCLCPP_INFO(this->get_logger(), "大家好,我是%s.", name.c_str());
                odom_subscribe_ = this->create_subscription<nav_msgs::msg::Odometry>("odom", rclcpp::SensorDataQoS(), std::bind(&TopicSubscribe01::odom_callback, this, std::placeholders::1));
                tf_broadcaster
                = std::make_unique<tf2_ros::TransformBroadcaster>(this);
                }

                private:
                // 声明一个订阅者
                rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscribe_;
                std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
                nav_msgs::msg::Odometry odom_msg_;

                void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg)
                {
                (void)msg;
                RCLCPP_INFO(this->get_logger(), "recv odom->base_footprint tf :(%f,%f)", msg->pose.pose.position.x, msg->pose.pose.position.y);
                odom_msg_.pose.pose.position.x = msg->pose.pose.position.x;
                odom_msg_.pose.pose.position.y = msg->pose.pose.position.y;
                odom_msg_.pose.pose.position.z = msg->pose.pose.position.z;

                odom_msg_.pose.pose.orientation.x = msg->pose.pose.orientation.x;
                odom_msg_.pose.pose.orientation.y = msg->pose.pose.orientation.y;
                odom_msg_.pose.pose.orientation.z = msg->pose.pose.orientation.z;
                odom_msg_.pose.pose.orientation.w = msg->pose.pose.orientation.w;
                

                };

                public:
                void publish_tf()
                {
                geometry_msgs::msg::TransformStamped transform;
                double seconds = this->now().seconds();
                transform.header.stamp = rclcpp::Time(static_cast<uint64_t>(seconds * 1e9));
                transform.header.frame_id = "odom";
                transform.child_frame_id = "base_footprint";

                transform.transform.translation.x = odom_msg_.pose.pose.position.x;
                transform.transform.translation.y = odom_msg_.pose.pose.position.y;
                transform.transform.translation.z = odom_msg_.pose.pose.position.z;
                transform.transform.rotation.x = odom_msg_.pose.pose.orientation.x;
                transform.transform.rotation.y = odom_msg_.pose.pose.orientation.y;
                transform.transform.rotation.z = odom_msg_.pose.pose.orientation.z;
                transform.transform.rotation.w = odom_msg_.pose.pose.orientation.w;
                tf_broadcaster_->sendTransform(transform);
                

                }
                };

                int main(int argc, char argv)
                {
                rclcpp::init(argc, argv);
                /产生一个的节点/
                auto node = std::make_shared<TopicSubscribe01>("fishbot_bringup");
                /
                运行节点,并检测退出信号
                /
                rclcpp::WallRate loop_rate(1000.0);
                while (rclcpp::ok())
                {
                rclcpp::spin_some(node);
                node->publish_tf();
                loop_rate.sleep();
                }

                rclcpp::shutdown();
                return 0;
                }

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

                  @小鱼 tf指的是 rqt-tf-tree 图,可以看看前面基础课程

                  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 在 中 引用了 这个主题
                  • D
                    Dutton_Ranch
                    最后由 编辑

                    @小鱼 在 拓展3:FishBot 树莓派配置建图导航 中说:

                    ros2 launch fishbot_bringup fishbot_bringup.launch.py

                    ken@ken-desktop:~/fishbot$ ros2 launch fishbot_bringup fishbot_bringup.launch.py
                    [INFO] [launch]: All log files can be found below /home/ken/.ros/log/2025-02-11-10-49-43-274026-ken-desktop-11936
                    [INFO] [launch]: Default logging verbosity is set to INFO
                    [INFO] [joint_state_publisher-1]: process started with pid [11939]
                    [INFO] [robot_state_publisher-2]: process started with pid [11940]
                    [INFO] [fishbot_bringup-3]: process started with pid [11941]
                    [robot_state_publisher-2] [WARN] [1739242183.457418801] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
                    [robot_state_publisher-2] [INFO] [1739242183.470537019] [robot_state_publisher]: Robot initialized
                    [fishbot_bringup-3] [INFO] [1739242183.476659215] [fishbot_bringup]: 大家好,我是fishbot_bringup.
                    鱼哥,出现这种情况是怎么回事呢?

                    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 @Dutton_Ranch
                      最后由 编辑

                      @Dutton_Ranch 可以忽略,确保 rqt-tf-tree 正常就行

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

                      D 2 条回复 最后回复 回复 引用 0
                      • D
                        Dutton_Ranch
                        最后由 编辑

                        鱼哥,我在运行slam之后出现以下情况,rvzi2显示的图像也仅仅是小红点,请问这是正常的吗?
                        ken@ken-desktop:~$ ros2 launch slam_toolbox online_async_launch.py
                        [INFO] [launch]: All log files can be found below /home/ken/.ros/log/2025-02-11-16-08-46-957579-ken-desktop-5364
                        [INFO] [launch]: Default logging verbosity is set to INFO
                        [INFO] [async_slam_toolbox_node-1]: process started with pid [5380]
                        [async_slam_toolbox_node-1] [INFO] [1739261328.623784436] [slam_toolbox]: Node using stack size 40000000
                        [async_slam_toolbox_node-1] [INFO] [1739261328.759676062] [slam_toolbox]: Configuring
                        [async_slam_toolbox_node-1] [INFO] [1739261328.827550390] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
                        [async_slam_toolbox_node-1] [INFO] [1739261328.828714298] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
                        [INFO] [launch.user]: [LifecycleLaunch] Slamtoolbox node is activating.
                        [async_slam_toolbox_node-1] [INFO] [1739261328.985683981] [slam_toolbox]: Activating
                        [async_slam_toolbox_node-1] Info: clipped range threshold to be within minimum and maximum range!
                        [async_slam_toolbox_node-1] [WARN] [1739261329.115561229] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (8.0 m)
                        [async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]
                        如果这个时候我保存地图成功,但是与rvzi2的显示不同,请问如何设置才能让rvzi2和保存的图片一致呢?

                        2 1 条回复 最后回复 回复 引用 0
                        • D
                          Dutton_Ranch @小鱼
                          最后由 编辑

                          @小鱼 好的谢谢

                          1 条回复 最后回复 回复 引用 0
                          • D
                            Dutton_Ranch @小鱼
                            最后由 编辑

                            @小鱼 你好,我想问一下为什么我在将建立好的地图导入后并且修改了launch文件,开始导航后出现的图片为9eb2eda0-ff3a-4f61-96c7-ff916249d2f4-image.png ,我修改后的launch文件为
                            c5288072-87c7-477a-b037-436bd56f29f8-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 @Dutton_Ranch
                              最后由 编辑

                              @Dutton_Ranch 修改后重新编译了吗,看一下ROS2基础教程

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

                              D 1 条回复 最后回复 回复 引用 0
                              • D
                                Dutton_Ranch @小鱼
                                最后由 编辑

                                @小鱼 谢谢提醒,我在基础教程里找到问题了,我的.yaml文件中image名称没有修改过来。

                                1 条回复 最后回复 回复 引用 0
                                • 一
                                  一百个苹果
                                  最后由 一百个苹果 编辑

                                  使用ros2 launch slam_toolbox online_async_launch.py尝试建图时,rviz2不出来,一直刷屏以下信息,但是雷达驱动显示运行正常:
                                  zhangyiyang@zyyvm:~ros2 launch slam_toolbox online_async_launch.py y
                                  [INFO] [launch]: All log files can be found below /home/zhangyiyang/.ros/log/2025-03-14-19-33-49-929416-zyyvm-5974
                                  [INFO] [launch]: Default logging verbosity is set to INFO
                                  [INFO] [async_slam_toolbox_node-1]: process started with pid [5975]
                                  [async_slam_toolbox_node-1] [INFO] [1741952030.006095281] [slam_toolbox]: Node using stack size 40000000
                                  [async_slam_toolbox_node-1] [INFO] [1741952030.033581923] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
                                  [async_slam_toolbox_node-1] [INFO] [1741952030.033781755] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
                                  [async_slam_toolbox_node-1] [INFO] [1741952034.689733552] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.579 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952035.814472898] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.704 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952035.868816359] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.829 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952035.869818823] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952033.954 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952035.869963191] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.079 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.072087724] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.204 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.072303465] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.329 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.136468640] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.454 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.136650859] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.579 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.560468729] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.704 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.579410923] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952034.954 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.671219241] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.079 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.671433579] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.204 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952036.671550686] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.329 for reason 'discarding message because the queue is full'
                                  [async_slam_toolbox_node-1] [INFO] [1741952037.107363519] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.454 for reason 'discarding message because the queue is full'

                                  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 @一百个苹果
                                    最后由 编辑

                                    @一百个苹果 看一下rqt tf tree

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

                                    一 1 条回复 最后回复 回复 引用 0
                                    • 一
                                      一百个苹果 @小鱼
                                      最后由 编辑

                                      @小鱼
                                      使用物理机运行ros2 launch slam_toolbox online_async_launch.py前,rqt_tf_tree是这样的:
                                      frames.png
                                      但是运行此命令时,报错[async_slam_toolbox_node-1] [INFO] [1741952037.107363519] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 1741952035.454 for reason 'discarding message because the queue is full',再次查看rqt_tf_tree,显示:
                                      frames.png
                                      在关闭“ros2 launch slam_toolbox online_async_launch.py“窗口后,再次查看rqt_tf_tree,显示:
                                      frames3.png
                                      此时,使用ros2 topic echo /tf,发现部分信息有错误:
                                      transforms:

                                      • header:
                                        stamp:
                                        sec: 1742209731
                                        nanosec: 339710976
                                        frame_id: odom
                                        child_frame_id: base_footprint
                                        transform:
                                        translation:
                                        x: 0.00010399995517218485
                                        y: 9.391605715336482e-08
                                        z: 0.0
                                        rotation:
                                        x: 0.0
                                        y: 0.0
                                        z: 0.0006020260043442249
                                        w: 0.9999998211860657

                                      transforms:

                                      • header:
                                        stamp:
                                        sec: 1742209731
                                        nanosec: 340761088
                                        frame_id: odom
                                        child_frame_id: base_footprint
                                        transform:
                                        translation:
                                        x: 0.00010399995517218485
                                        y: 9.391605715336482e-08
                                        z: 0.0
                                        rotation:
                                        x: 0.0
                                        y: 0.0
                                        z: 0.0006020260043442249
                                        w: 0.9999998211860657

                                      A message was lost!!!
                                      total count change:24
                                      total count: 137---
                                      A message was lost!!!
                                      total count change:3
                                      total count: 140---
                                      A message was lost!!!
                                      total count change:1
                                      total count: 141---
                                      A message was lost!!!
                                      total count change:11
                                      total count: 152---
                                      A message was lost!!!
                                      total count change:2
                                      total count: 154---
                                      A message was lost!!!
                                      total count change:16
                                      total count: 170---

                                      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 @一百个苹果
                                        最后由 编辑

                                        @一百个苹果 应该是连在一起的才对

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

                                        一 2 条回复 最后回复 回复 引用 0
                                        • 一
                                          一百个苹果 @小鱼
                                          最后由 编辑

                                          @小鱼 本来是完整的tf_tree,但是一运行slam_toolbox online_async_launch.py后tf_tree就只剩两个节点了,不知道什么原因

                                          1 条回复 最后回复 回复 引用 0
                                          • 一
                                            一百个苹果 @小鱼
                                            最后由 编辑

                                            @小鱼 问题解决了,让虚拟机和树莓派之间使用ntp服务同步时间后就正常了

                                            小鱼小 1 条回复 最后回复 回复 引用 0
                                            • 第一个帖子
                                              最后一个帖子
                                            皖ICP备16016415号-7
                                            Powered by NodeBB | 鱼香ROS