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    新买的二驱小车， 通过micro ros agent连接电脑后，ros2 node list没有对于node

    已定时 已固定 已锁定 已移动
    FishBot二驱机器人
    fishbot agent 编译出错
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    • R
      realez 年度VIP
      最后由 编辑

      Executing task: platformio run

      Processing fishbot_motion_control_humble (platform: espressif32; board: featheresp32; framework: arduino)

      Verbose mode can be enabled via -v, --verbose option
      CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
      PLATFORM: Espressif 32 (6.3.1) > Adafruit ESP32 Feather
      HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
      DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
      PACKAGES:

      • framework-arduinoespressif32 @ 3.20009.0 (2.0.9)
      • tool-esptoolpy @ 1.40501.0 (4.5.1)
      • toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch5
        LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
        LDF Modes: Finder ~ chain, Compatibility ~ soft
        Installing importlib-resources with pip at PlatformIO environment
        /home/robot/.platformio/penv/bin/python -m pip install importlib-resources
        Requirement already satisfied: importlib-resources in /home/robot/.platformio/penv/lib/python3.10/site-packages (6.5.2)
        Installing pyyaml with pip at PlatformIO environment
        /home/robot/.platformio/penv/bin/python -m pip install pyyaml
        Requirement already satisfied: pyyaml in /home/robot/.platformio/penv/lib/python3.10/site-packages (6.0.2)
        Installing markupsafe==2.0.1 with pip at PlatformIO environment
        /home/robot/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
        Requirement already satisfied: markupsafe==2.0.1 in /home/robot/.platformio/penv/lib/python3.10/site-packages (2.0.1)
        Installing empy==3.3.4 with pip at PlatformIO environment
        /home/robot/.platformio/penv/bin/python -m pip install empy==3.3.4
        Requirement already satisfied: empy==3.3.4 in /home/robot/.platformio/penv/lib/python3.10/site-packages (3.3.4)
        Configuring featheresp32 with transport custom
        Downloading micro-ROS dev dependencies
        - Downloaded ament_cmake
        - Downloaded ament_lint
        - Downloaded ament_package
        - Downloaded googletest
        - Downloaded ament_cmake_ros
        - Downloaded ament_index
        Building micro-ROS dev dependencies
        Downloading micro-ROS library
        - Downloaded microcdr
        - Downloaded microxrcedds_client
        - Downloaded rcl
        - Downloaded rcl_yaml_param_parser (ignored)
        - Downloaded rcl_lifecycle
        - Downloaded rcl_action
        - Downloaded rclc_lifecycle
        - Downloaded rclc_parameter
        - Downloaded rclc_examples (ignored)
        - Downloaded rclc
        - Downloaded micro_ros_utilities
        - Downloaded rcutils
        - Downloaded micro_ros_msgs
        - Downloaded rmw_microxrcedds
        - Downloaded rosidl_typesupport_c
        - Downloaded rosidl_typesupport_cpp (ignored)
        - Downloaded rosidl_typesupport_microxrcedds_cpp (ignored)
        - Downloaded rosidl_typesupport_microxrcedds_cpp_tests
        - Downloaded rosidl_typesupport_microxrcedds_test_msg
        - Downloaded rosidl_typesupport_microxrcedds_c_tests
        - Downloaded rosidl_typesupport_microxrcedds_c
        - Downloaded rosidl_typesupport_introspection_tests
        - Downloaded rosidl_generator_cpp (ignored)
        - Downloaded rosidl_typesupport_introspection_cpp (ignored)
        - Downloaded rosidl_generator_c
        - Downloaded rosidl_typesupport_introspection_c
        - Downloaded rosidl_parser
        - Downloaded rosidl_adapter
        - Downloaded rosidl_typesupport_interface
        - Downloaded rosidl_runtime_c
        - Downloaded rosidl_cmake
        - Downloaded rosidl_runtime_cpp (ignored)
        - Downloaded rosidl_cli
        - Downloaded rmw
        - Downloaded rmw_implementation_cmake
        - Downloaded action_msgs
        - Downloaded test_msgs
        - Downloaded builtin_interfaces
        - Downloaded statistics_msgs
        - Downloaded rosgraph_msgs
        - Downloaded rcl_interfaces
        - Downloaded composition_interfaces
        - Downloaded lifecycle_msgs
        - Downloaded rosidl_default_generators
        - Downloaded rosidl_default_runtime
        - Downloaded unique_identifier_msgs
        - Downloaded sensor_msgs
        - Downloaded geometry_msgs
        - Downloaded common_interfaces
        - Downloaded visualization_msgs
        - Downloaded std_msgs
        - Downloaded std_srvs
        - Downloaded trajectory_msgs
        - Downloaded shape_msgs
        - Downloaded sensor_msgs_py
        - Downloaded actionlib_msgs
        - Downloaded diagnostic_msgs
        - Downloaded stereo_msgs
        - Downloaded nav_msgs
        - Downloaded test_interface_files
        - Downloaded test_rmw_implementation
        - Downloaded rmw_implementation
        - Downloaded rcl_logging_noop
        - Downloaded rcl_logging_spdlog (ignored)
        - Downloaded rcl_logging_interface
        - Downloaded tracetools_test
        - Downloaded test_tracetools
        - Downloaded ros2trace
        - Downloaded tracetools_read
        - Downloaded tracetools_trace
        - Downloaded test_tracetools_launch
        - Downloaded tracetools
        - Downloaded tracetools_launch
        Checking extra packages
        - Adding fishbot_interfaces
        Building micro-ROS library
        Build mcu micro-ROS environment failed:
        --- stderr: rosidl_runtime_c
        CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
        Package 'rcutils' exports library 'dl' which couldn't be found
        Call Stack (most recent call first):
        /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
        CMakeLists.txt:15 (find_package)

      --- stderr: rcl_logging_interface
      CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
      Package 'rcutils' exports library 'dl' which couldn't be found
      Call Stack (most recent call first):
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
      CMakeLists.txt:19 (find_package)

      --- stderr: rmw
      CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
      Package 'rcutils' exports library 'dl' which couldn't be found
      Call Stack (most recent call first):
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
      CMakeLists.txt:21 (find_package)

      --- stderr: rcl_logging_noop
      CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
      Package 'rcutils' exports library 'dl' which couldn't be found
      Call Stack (most recent call first):
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcl_logging_interface/cmake/rcl_logging_interfaceConfig.cmake:41 (include)
      CMakeLists.txt:15 (find_package)

      --- stderr: rosidl_typesupport_microxrcedds_c
      CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
      Package 'rcutils' exports library 'dl' which couldn't be found
      Call Stack (most recent call first):
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
      CMakeLists.txt:22 (find_package)

      --- stderr: micro_ros_utilities
      CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
      Package 'rcutils' exports library 'dl' which couldn't be found
      Call Stack (most recent call first):
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_cConfig.cmake:41 (include)
      CMakeLists.txt:18 (find_package)

      --- stderr: rosidl_typesupport_c
      CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
      Package 'rcutils' exports library 'dl' which couldn't be found
      Call Stack (most recent call first):
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
      CMakeLists.txt:33 (find_package)

      --- stderr: builtin_interfaces
      CMake Warning at /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
      Package 'rcutils' exports library 'dl' which couldn't be found
      Call Stack (most recent call first):
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_introspection_c/cmake/rosidl_typesupport_introspection_cConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
      CMakeLists.txt:14 (find_package)

      CMake Error at /home/robot/ros2_humble/install/rosidl_typesupport_fastrtps_c/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:5 (find_package):
      Could not find a configuration file for package "fastcdr" that is
      compatible with requested version "".

      The following configuration files were considered but not accepted:

      /home/robot/ros2_humble/install/fastcdr/lib/cmake/fastcdr/fastcdr-config.cmake, version: 1.0.24 (64bit)

      Call Stack (most recent call first):
      /home/robot/ros2_humble/install/rosidl_typesupport_fastrtps_c/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
      /home/robot/dkk/fishbot/fishbot_motion_control_microros/.pio/libdeps/fishbot_motion_control_humble/micro_ros_platformio/build/mcu/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
      CMakeLists.txt:14 (find_package)

      Failed <<< builtin_interfaces [1.95s, exited with code 1]

      ====================================================== [FAILED] Took 138.28 seconds ======================================================

      • The terminal process "platformio 'run'" terminated with exit code: 1.
      • Terminal will be reused by tasks, press any key to close it.

      编译报错的日志

      1 条回复 最后回复 回复 引用 0
      • R
        realez 年度VIP
        最后由 编辑

        换了台电脑，连到虚拟机上正常了
        但是物理机上的问题还希望可以解决

        小鱼小 R 2 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @realez
          最后由 编辑

          @realez 用我们编译好的固件呢

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

          R 1 条回复 最后回复 回复 引用 0
          • R
            realez 年度VIP @小鱼
            最后由 编辑

            @小鱼 经过重新安装wsl，使用docker版本的micro ros agent依然不行，通过nc -lv -u等可以收到数据，但是docker仍然不行
            重新编译micro ros agent，这个是可以的，现在可以控制小车了
            然后测试雷达，在wsl和物理机上都没有/scan topic，都是使用的默认固件

            [INFO] [ydlidar_node-2]: process has finished cleanly [pid 266]
            #?

            1. WIFI转串口测试
            2. 驱动雷达
            3. 建图测试
            4. 退出
              #? 2
              [INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-07-06-46-24-224878-1ec9d1e7afc9-294
              [INFO] [launch]: Default logging verbosity is set to INFO
              [INFO] [tcp_server-1]: process started with pid [295]
              [tcp_server-1] [INFO] [1741329984.813777499] [tcp_socket_server_node]: TCP端口:8888，已映射到串口设备:/tmp/tty_laser
              [tcp_server-1] [INFO] [1741329984.814272171] [tcp_socket_server_node]: 等待接受连接..
              [tcp_server-1] [INFO] [1741329984.819953389] [tcp_socket_server_node]: 来自('172.17.0.1', 52504)的连接已建立
              [INFO] [ydlidar_node-2]: process started with pid [318]
              [ydlidar_node-2] [INFO] [1741329988.189255796] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
              [ydlidar_node-2]
              [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK initializing
              [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK has been initialized
              [ydlidar_node-2] [2025-03-07 06:46:28][info] SDK Version: 1.2.9
              [ydlidar_node-2] [2025-03-07 06:46:28][info] Connect elapsed time 0 ms
              [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar successfully connected [/tmp/tty_laser:115200]
              [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar running correctly! The health status good
              [ydlidar_node-2] [2025-03-07 06:46:28][info] Current Lidar Model Code 12
              [ydlidar_node-2] [2025-03-07 06:46:28][info] Check status, Elapsed time 0 ms
              [ydlidar_node-2] [2025-03-07 06:46:28][info] Lidar init success, Elapsed time [0]ms
              [ydlidar_node-2] [2025-03-07 06:46:28][info] Start to getting intensity flag
              [ydlidar_node-2] [2025-03-07 06:46:29][info] Auto set intensity 0
              [ydlidar_node-2] [2025-03-07 06:46:29][info] [YDLIDAR] End to getting intensity flag
              [ydlidar_node-2] [2025-03-07 06:46:29][info] [YDLIDAR] Create thread 0xD6F8F640
              [ydlidar_node-2] [2025-03-07 06:46:29][info] Successed to start scan mode, Elapsed time 1748 ms
              [ydlidar_node-2] [2025-03-07 06:46:29][info] Scan Frequency: 5.00Hz
              [ydlidar_node-2] [2025-03-07 06:46:29][info] Fixed Size: 720
              [ydlidar_node-2] [2025-03-07 06:46:29][info] Sample Rate: 3.00K
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Scan Frequency: 5.00Hz
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Fixed Size: 720
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Single Fixed Size: 440
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Sample Rate: 3.00K
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Successed to check the lidar, Elapsed time 541 ms
              [ydlidar_node-2] [2025-03-07 06:46:30][info] Now lidar is scanning...
              [ydlidar_node-2] [2025-03-07 06:46:48][error] Check Sum 0x6AEB != 0x7A6F
              [ydlidar_node-2] [2025-03-07 06:46:58][error] Check Sum 0x6E44 != 0x6E98
              [ydlidar_node-2] [2025-03-07 06:47:27][error] Check Sum 0x6C3F != 0x7CE0
              [ydlidar_node-2] [2025-03-07 06:47:33][error] Check Sum 0xD455 != 0xC98D
              [ydlidar_node-2] [2025-03-07 06:47:55][error] Check Sum 0x143C != 0x0B93
              [ydlidar_node-2] [2025-03-07 06:48:43][error] Check Sum 0x6A2D != 0x6D12
              [ydlidar_node-2] [YDLIDAR ERROR]: -1 No error
              [ydlidar_node-2] [ERROR] [1741330125.710855634] [ydlidar_node]: Failed to get scan
              [ydlidar_node-2] [2025-03-07 06:48:45][error] Timeout count: 1
              [ydlidar_node-2] [2025-03-07 06:48:54][error] Check Sum 0x66F2 != 0x6021
              [ydlidar_node-2] [2025-03-07 06:49:38][error] Check Sum 0x522B != 0x2A94
              [ydlidar_node-2] [2025-03-07 06:50:20][error] Check Sum 0x6BE9 != 0x35
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            • R
              realez 年度VIP
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              补充之前遇到的问题和处理方式
              第一个wsl，ros2 node list无输出，未解决，放弃
              安装第二个wsl，完全使用firshros安装，出现过ros2 node list卡住，重启daemon解决
              物理机ros2 node list无输出，topic无输出，但是micro ros agent可以连接，可以控制小车

              小鱼小 4 2 条回复 最后回复 回复 引用 0
              • R
                realez 年度VIP @realez
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                @realez 雷达的测试程序，有没有可执行程序而不是docker

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                • R
                  realez 年度VIP
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                  在之前virtualbox的ubuntu虚拟机中，测试雷达可以，但是这个虚拟机很卡，做了很多调整还是不行
                  建图质量不好，数据丢的很多

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                  • 小鱼小
                    小鱼 技术大佬 @realez
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                    @realez 雷达的测试程序，有没有可执行程序而不是docker 这个看视频教程或者数据9.5有介绍方法

                    wsl估计是网络穿透问题，我之前没有测试通过过

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

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                    • 4
                      484232542 @realez
                      最后由 编辑

                      @realez 您好，想请教一下，我在用wsl的时候也出现了类似的问题，通过docker启动micro ros agent可以收到小车消息，终端也一直在打印，但是ros2 node list看不到小车节点，请问您知道解决方法吗？感谢！e739fc80-42a0-4a22-9501-3c95171f99a0-e0bdfca7af6aa654976c3943faa88fce.png f8b1cce4-b6a5-401f-97be-70e9deb13fb8-1af36ec42fb8db4b904fa15a583b7504_720.png

                      小鱼小 R 2 条回复 最后回复 回复 引用 0
                      • 小鱼小
                        小鱼 技术大佬 @484232542
                        最后由 编辑

                        @484232542 系统信息，用户信息 报一下

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

                        4 1 条回复 最后回复 回复 引用 0
                        • 4
                          484232542 @小鱼
                          最后由 编辑

                          @小鱼 wsl2+ubuntu22.04，ros2 humble，电脑和小车接同一个路由器，2.4G频段。电脑ip192.168.31.128（防火墙已关，用同一个局域网的其他电脑可以ping通我的电脑），小车ip 192.168.31.145。电脑可以ping通小车，在docker中也收到了小车消息并在终端打印，但小车显示屏上显示wifi: ping timeout。

                          4 2 条回复 最后回复 回复 引用 0
                          • 4
                            484232542 @484232542
                            最后由 编辑

                            @484232542 我在ubuntu22.04里写了个发udp消息的python脚本，并在同一个局域网的另一台电脑上监听对应端口，也是可以正常收到我电脑的消息的。

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                            • R
                              realez 年度VIP @484232542
                              最后由 编辑

                              @484232542 我一般重启ros dameon就好了
                              pkill -f "ros2 _daemon"
                              ros2 daemon start
                              ros2 daemon status
                              ros2 node list --no-daemon #如果这条能打印node，应该就是daemon导致的服务发现问题

                              4 1 条回复 最后回复 回复 引用 0
                              • 4
                                484232542 @realez
                                最后由 编辑

                                @realez 您好，非常感谢您的回复！我的操作过程是这样的：

                                1. ros2 daemon stop
                                  The daemon has been stopped
                                2. ros2 daemon status
                                  The daemon is not running
                                3. ros2 daemon start
                                  The daemon has been started
                                4. ros2 daemon status
                                  The daemon is running
                                5. ros2 node list --no-daemon
                                  仍然没有显示任何的node，可能不是这个类型的问题。
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                                • 4
                                  484232542 @484232542
                                  最后由 编辑

                                  @484232542 另外，还发现了一个问题，docker容器启动后，终端打印的日志debug信息只有UDPv4AgentLinux.cpp | recv_message和UDPv4AgentLinux.cpp | send_message
                                  ca6cf49c-7700-4a9c-b154-d7b91bfcd4aa-708541394c31b1da5ba16af6f7935c6f.png
                                  但根据视频教程“9.0.3. 主控板固件烧录与配置”，应该会要有下图红框所示的其他日志消息
                                  9987af9c-a63b-4fe4-9d8a-3e5f995f6482-f5d1f5085cf443375b3c080955c997ba.png
                                  214d6de0-d9ee-48d1-ac2d-6cad21f94018-5a092c8906ded7db0a4fc6bd46e5fb95.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 @484232542
                                    最后由 编辑

                                    @484232542 感觉是 wsl2 问题，建议用虚拟机或者实体机试试

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

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