agent 手动编译，不用docker，以及树莓派上使用micros-agent的方法

萌新

@小鱼小鱼，能启动microros_agent,都在一个WiFi下，ping的通也是udp模式，但是启动键盘控制后小车不会动是为什么啊，硬件也重新烧录了最新的，是不是PIO也要重新烧一下
micro ROS：
[1742892712.396319] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x1007FDF9, len: 324, data:
0000: 81 01 05 07 01 3C 01 05 E4 00 15 A8 6E E2 67 00 60 E3 16 04 00 00 00 69 6D 75 00 00 00 00 A0
0020: E8 35 63 BF 00 00 00 80 28 C4 86 BF 00 00 00 A0 5D E3 BF 3F 00 00 00 60 AA BF EF 3F 00 00 00 00
0040: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0080: 00 00 00 00 00 00 00 40 36 65 06 C0 00 00 00 00 18 39 00 40 00 00 00 A0 3D 7E 1B C0 00 00 00 00
00A0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00C0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00E0: 00 00 00 00 00 00 00 80 ED 7C 66 BF 00 00 00 40 87 56 88 BF 00 00 00 00 14 55 F0 3F 00 00 00 00
0100: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0120: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0140: 00 00 00 00

ping小车ip：
orangepi@orangepi5plus:~$ ping 10.10.10.230
PING 10.10.10.230 (10.10.10.230) 56(84) bytes of data.
64 bytes from 10.10.10.230: icmp_seq=1 ttl=64 time=13.2 ms
64 bytes from 10.10.10.230: icmp_seq=2 ttl=64 time=6.53 ms
64 bytes from 10.10.10.230: icmp_seq=3 ttl=64 time=8.17 ms
64 bytes from 10.10.10.230: icmp_seq=4 ttl=64 time=8.73 ms
64 bytes from 10.10.10.230: icmp_seq=5 ttl=64 time=9.80 ms
64 bytes from 10.10.10.230: icmp_seq=6 ttl=64 time=5.36 ms
64 bytes from 10.10.10.230: icmp_seq=7 ttl=64 time=10.4 ms
64 bytes from 10.10.10.230: icmp_seq=8 ttl=64 time=6.55 ms
64 bytes from 10.10.10.230: icmp_seq=9 ttl=64 time=5.61 ms
64 bytes from 10.10.10.230: icmp_seq=10 ttl=64 time=13.5 ms
64 bytes from 10.10.10.230: icmp_seq=11 ttl=64 time=14.3 ms
64 bytes from 10.10.10.230: icmp_seq=12 ttl=64 time=11.0 ms
^C
--- 10.10.10.230 ping statistics ---
12 packets transmitted, 12 received, 0% packet loss, time 11019ms
rtt min/avg/max/mdev = 5.362/9.421/14.280/2.997 ms

萌新

@小鱼小鱼，能启动microros_agent,都在一个WiFi下，ping的通也是udp模式，但是启动键盘控制后小车不会动是为什么啊，硬件也重新烧录了最新的，是不是PIO也要重新烧一下

小鱼

@2431039560 固件用的哪一个

萌新

@小鱼最新V1.2.3的配置助手二驱板烧录的，具体是这个https://fishros.org.cn/forum/assets/uploads/files/1736172779188-fishbot_motion_control_v1.7.2.alpha.241229.bin

小鱼

@2431039560 开关供电都正常吗，线连接是否正常，确认下控制命令是否发布出去了，比如开个新的终端订阅，小车的oled屏幕会不会闪烁

萌新

此回复已被删除！

萌新

@小鱼其他的好像都是正常的，然后cmd_vel发送出去了小车好像没收到，小车不会动，屏幕的线速度也都是0
7d348935-adc0-44c3-b093-ab754d583f3a-2f9a58951af7074f02721e3086200af.jpg

小鱼

@2431039560 agent用的docker版本的吗

小鱼

@2431039560 有没有设置什么DOMAIN_ID

萌新

@小鱼 docker版本的好像下载不了，docker用一键安装以后get镜像那里出问题了，然后启动是这样的

拉镜像：
Run CMD Task:[sudo docker pull ros:humble ]
Error response from daemon: Get "https://registry-1.docker.io/v2/": net/http: request canceled while waiting for connection (Client.Timeout exceeded while awaiting headers)

启动不了：
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host registry.cn-hangzhou.aliyuncs.com/fishros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6
docker: permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Head "http://%2Fvar%2Frun%2Fdocker.sock/_ping": dial unix /var/run/docker.sock: connect: permission denied

Run 'docker run --help' for more information

然后DOMAIN_ID设为了0，这里我看站内有树莓派的教程说默认是=0

萌新

此回复已被删除！

萌新

@小鱼鱼，我把domain_id删了，然后docker也下好了，也可以启动的，但还是和之前一样，能发数据也能正常启动，小车也连上了但还是启动键盘控制后不会动，其他还需要配置什么嘛，要不要在PIO里重新上传一下
6392df63-27a0-4e83-8188-3c647457f67e-508aa0296a35bd440ba1e479d733598.jpg

小鱼

@2431039560 再试试docker的

sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host registry.cn-hangzhou.aliyuncs.com/fishros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6

萌新

@小鱼
鱼，用这个好像因为内核不是amd的不行，我是arm64架构的

orangepi@orangepi5plus:~/桌面$ sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host registry.cn-hangzhou.aliyuncs.com/fishros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
exec /bin/sh: exec format error

萌新

此回复已被删除！

萌新

@小鱼小鱼，我完全懂了，我完全掌握了，是我这个没有rmw中间件给fastdds通信，我就自己写了一个xml去配置，配置完就能控制了，还很灵活，谢谢大佬，等我把毕设的ros2编队做完就发个贴教学一下然后在感谢您一下吧哈哈哈哈哈，我先去做了

1117

colcon build 后面显示这个该怎么办呀

1117

@2216200358 可以说一下电源是外接的吗？树莓派上面的

小鱼

@2431039560 加油，期待你的帖子

小鱼

@1117 usb供电即可