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

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

                                            @法大 右上角搜 bind error ，你不复制粘贴，我就不帮你搜了

                                            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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