拓展3：FishBot 树莓派配置建图导航

[小鱼]

@Dutton_Ranch 修改后重新编译了吗，看一下ROS2基础教程

[Dutton_Ranch]

@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。

[一百个苹果]

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]

@一百个苹果 看一下rqt tf tree

[一百个苹果]

@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：

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：

在关闭“ros2 launch slam_toolbox online_async_launch.py“窗口后，再次查看rqt_tf_tree,显示：

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]

@一百个苹果 应该是连在一起的才对

[一百个苹果]

@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

[一百个苹果]

@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]

@一百个苹果 ok

[苛性钠zzz]

鱼哥为啥我的树莓派4b2g建图导航的时候特别卡，用ssh连的时候rviz几乎动不了，小车也是原地转圈

[1117]

@苛性钠zzz 哈喽，你的那个树莓派和 这个板子如何接线的呀

[小鱼]

@1117 usb连接就行