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    【FishBot四驱V2】资料教程汇总

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    FishBot四驱机器人V2
    fishbot 四驱版 v2
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    • 小鱼小
      小鱼 技术大佬
      最后由 小鱼 编辑

      本贴主要汇总FishBot四驱版V2所有配套资料及教程。

      Ubuntu22.04上会出现无法识别设备或权限问题，请参考解决：

      • 占用：https://fishros.org.cn/forum/topic/1050/ubuntu22-04-ch340系列串口芯片无法识别终极问题解决方案
      • 权限：https://fishros.org.cn/forum/topic/1150/串口usb永久权限设置

      一、FishBot快速上手系列教程

      置顶加黑：推荐使用Ubuntu22.04 ROS2 Humble 版本
      置顶加黑：FishBot配置助手及固件发布页面（点我跳转）

      9.0.0. FishBot学习流程
      9.0.1. FishBot四驱V2组装教程 差速轮 | 麦克纳姆轮
      9.0.2. 配置助手介绍与下载 视频版 | 图文版
      9.0.3. 主控板固件烧录与配置 视频版 |图文版
      9.0.4. 使用ROS2键盘控制FishBot 视频版 |图文版
      9.0.5. 雷达固件烧录及配置 视频版 |图文版
      9.0.6. 雷达驱动及建图测试 视频版 |图文版
      9.0.7. FishBot-Nav2导航测试 视频版 |图文版

      拓展1：FishBot配套雷达驱动教程（源码版）
      拓展2：树莓派上使用micros-agent驱动主控板的方法
      拓展3：FishBot 树莓派配置建图导航

      二、搭建一个实体移动机器人（对应书籍第九章四驱版详细版）

      • 9.1 移动机器人系统设计
      • 9.2.1 开发平台介绍与安装
      • 9.2.2 第一个HelloWorld工程
      • 9.2.3 使用代码点亮LED灯
      • 9.2.4 使用超声波测量距离
      • 9.2.5 使用开源库驱动IMU
      • 9.3.1 使用开源库驱动多路电机
      • 9.3.2 电动机速度测量与转换
      • 9.3.3 使用PID控制轮子转速
      • 9.3.4 运动学正逆解的实现
      • 9.3.5 机器人里程计计算
      • 9.4.1 第一个节点
      • 9.4.2 订阅话题控制机器人
      • 9.4.3 发布机器人里程计话题
      • 9.5.1 驱动并显示雷达点云
      • 9.5.2 移动机器人的坐标系框架介绍
      • 9.5.3 准备机器人URDF
      • 9.5.4 发布里程计TF
      • 9.5.5 完成机器人建图并保存地图
      • 9.5.6 完成机器人导航

      相关开源地址

      1. FishBot主仓库: https://github.com/fishros/fishbot_nav
      2. FishBot主控板驱动IDF版本-https://github.com/fishros/fishbot-motion-control
      3. FishBot主控板驱动MicroROS版本-https://github.com/fishros/fishbot_motion_control_microros
      4. FishBotSDK-https://github.com/fishros/fishbot-motion-driver
      5. FishBot配置助手-https://github.com/fishros/fishbot_tool
      6. Fishbot雷达转接板驱动-https://github.com/fishros/fishbot-laser-control
      7. FishBotROS2驱动-https://github.com/fishros/fishbot-control-ros2
      8. Fishbot使用的X2雷达驱动-https://github.com/fishros/ydlidar_ros2.git
      9. FishBot四驱板V1源码: https://github.com/fishros/fishbot_motion_control_microros_four_driver
      10. 四驱V2底层固件源码: https://github.com/fishros/fishbot_motion_control_microros_four_driver_v2
      11. 四驱V2建图导航源码：https://github.com/fishros/fishbot_nav

      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
      • 小鱼小 小鱼 从 中的 FishBot二驱机器人 移动了该主题
      • 小鱼小 小鱼 在 中固定了该主题
      • 小鱼小 小鱼 在 中 引用了 这个主题
      • 2
        后知后觉的后知后觉 @小鱼
        最后由 编辑

        此回复已被删除！
        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 @2889839823
          最后由 编辑

          @2889839823 你等一等我更新下四驱专属教程

          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
          • 2
            后知后觉的后知后觉
            最后由 2889839823 编辑

            此回复已被删除！
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            • J
              juns
              最后由 编辑

              使用超声波测距的时候能够使用python语言吗？

              1 条回复 最后回复 回复 引用 0
              • 2
                后知后觉的后知后觉
                最后由 编辑

                根据视频教程9.5.5完成机器人建图时，rviz2插件无法加载出map地图，
                21c405d7-649e-4eba-929a-5829ae177381-截图 2025-05-19 10-24-20.png
                查看话题如下：
                ros@ros-virtual-machine:~$ ros2 topic list
                /clicked_point
                /cmd_vel
                /goal_pose
                /initialpose
                /joint_states
                /map
                /map_metadata
                /map_updates
                /odom
                /parameter_events
                /point_cloud
                /pose
                /robot_description
                /rosout
                /scan
                /slam_toolbox/feedback
                /slam_toolbox/graph_visualization
                /slam_toolbox/scan_visualization
                /slam_toolbox/update
                /tf
                /tf_static
                /ydlidar_node/transition_event
                ros@ros-virtual-machine:~$
                @小鱼 什么原因导致的，怎么排查此问题？

                2 2 条回复 最后回复 回复 引用 0
                • 2
                  后知后觉的后知后觉 @2889839823
                  最后由 编辑

                  @2889839823 ros@ros-virtual-machine:~/demo01_ws/fishros_ws$ source install/setup.bash
                  ros@ros-virtual-machine:~/demo01_ws/fishros_ws$ ros2 launch fishbot_bringup bringup.launch.py
                  [INFO] [launch]: All log files can be found below /home/ros/.ros/log/2025-05-19-10-35-33-997917-ros-virtual-machine-28449
                  [INFO] [launch]: Default logging verbosity is set to INFO
                  [INFO] [robot_state_publisher-1]: process started with pid [28451]
                  [INFO] [odom2tf-2]: process started with pid [28453]
                  [INFO] [micro_ros_agent-3]: process started with pid [28455]
                  [INFO] [tcp_server-4]: process started with pid [28457]
                  [micro_ros_agent-3] [1747622134.048096] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
                  [micro_ros_agent-3] [1747622134.048428] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
                  [robot_state_publisher-1] [INFO] [1747622134.074304017] [robot_state_publisher]: got segment base_footprint
                  [robot_state_publisher-1] [INFO] [1747622134.074422352] [robot_state_publisher]: got segment base_link
                  [robot_state_publisher-1] [INFO] [1747622134.074429396] [robot_state_publisher]: got segment laser_link
                  [tcp_server-4] [INFO] [1747622134.233271164] [tcp_socket_server_node]: TCP端口:8889，已映射到串口设备:/tmp/tty_laser
                  [tcp_server-4] [INFO] [1747622134.233652379] [tcp_socket_server_node]: 等待接受连接..
                  [tcp_server-4] [INFO] [1747622137.636580747] [tcp_socket_server_node]: 来自('10.0.18.117', 61256)的连接已建立
                  [INFO] [ydlidar_node-5]: process started with pid [28532]
                  [ydlidar_node-5] [INFO] [1747622139.131033797] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
                  [ydlidar_node-5]
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] SDK initializing
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] SDK has been initialized
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] SDK Version: 1.2.9
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] Connect elapsed time 0 ms
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] Lidar successfully connected [/tmp/tty_laser:115200]
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] Lidar running correctly! The health status good
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] Current Lidar Model Code 12
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] Check status, Elapsed time 0 ms
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] Lidar init success, Elapsed time [1]ms
                  [micro_ros_agent-3] [1747622139.452562] info | Root.cpp | create_client | create | client_key: 0x3E84C3B8, session_id: 0x81
                  [micro_ros_agent-3] [1747622139.452644] info | SessionManager.hpp | establish_session | session established | client_key: 0x3E84C3B8, address: 10.0.19.178:47138
                  [micro_ros_agent-3] [1747622139.479878] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x3E84C3B8, participant_id: 0x000(1)
                  [micro_ros_agent-3] [1747622139.487761] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x3E84C3B8, topic_id: 0x000(2), participant_id: 0x000(1)
                  [micro_ros_agent-3] [1747622139.494860] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x3E84C3B8, publisher_id: 0x000(3), participant_id: 0x000(1)
                  [micro_ros_agent-3] [1747622139.504490] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x3E84C3B8, datawriter_id: 0x000(5), publisher_id: 0x000(3)
                  [micro_ros_agent-3] [1747622139.529864] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x3E84C3B8, topic_id: 0x001(2), participant_id: 0x000(1)
                  [micro_ros_agent-3] [1747622139.538058] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x3E84C3B8, subscriber_id: 0x000(4), participant_id: 0x000(1)
                  [micro_ros_agent-3] [1747622139.555822] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x3E84C3B8, datareader_id: 0x000(6), subscriber_id: 0x000(4)
                  [ydlidar_node-5] [2025-05-19 10:35:39][info] Start to getting intensity flag
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Auto set intensity 0
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] [YDLIDAR] End to getting intensity flag
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] [YDLIDAR] Create thread 0x5ADB4640
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Successed to start scan mode, Elapsed time 1553 ms
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Scan Frequency: 5.00Hz
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Fixed Size: 720
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Sample Rate: 3.00K
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Scan Frequency: 5.00Hz
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Fixed Size: 720
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Sample Rate: 3.00K
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Scan Frequency: 5.00Hz
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Fixed Size: 720
                  [ydlidar_node-5] [2025-05-19 10:35:40][info] Sample Rate: 3.00K
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Scan Frequency: 5.00Hz
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Fixed Size: 720
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Sample Rate: 3.00K
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Scan Frequency: 5.00Hz
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Fixed Size: 720
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Sample Rate: 3.00K
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Single Fixed Size: 380
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Sample Rate: 3.00K
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Successed to check the lidar, Elapsed time 492 ms
                  [ydlidar_node-5] [2025-05-19 10:35:41][info] Now lidar is scanning...
                  [ydlidar_node-5] [YDLIDAR ERROR]: -1 No error
                  [ydlidar_node-5] [ERROR] [1747622146.712035262] [ydlidar_node]: Failed to get scan
                  [ydlidar_node-5] [2025-05-19 10:35:46][error] Timeout count: 1
                  [ydlidar_node-5] [YDLIDAR ERROR]: -1 Operation timed out
                  [ydlidar_node-5] [ERROR] [1747622156.798528457] [ydlidar_node]: Failed to get scan
                  [ydlidar_node-5] [2025-05-19 10:35:56][error] Timeout count: 1
                  [ydlidar_node-5] [YDLIDAR ERROR]: -1 Operation timed out
                  [ydlidar_node-5] [ERROR] [1747622166.783990347] [ydlidar_node]: Failed to get scan
                  [ydlidar_node-5] [2025-05-19 10:36:06][error] Timeout count: 1
                  [ydlidar_node-5] [2025-05-19 10:36:07][error] Check Sum 0xB856 != 0x5B88

                  ros@ros-virtual-machine:~/demo01_ws/fishros_ws$ source install/setup.bash
                  ros@ros-virtual-machine:~/demo01_ws/fishros_ws$ ros2 launch slam_toolbox online_async_launch.py use_sim_time:=False
                  [INFO] [launch]: All log files can be found below /home/ros/.ros/log/2025-05-19-10-35-46-976244-ros-virtual-machine-28634
                  [INFO] [launch]: Default logging verbosity is set to INFO
                  [INFO] [async_slam_toolbox_node-1]: process started with pid [28640]
                  [async_slam_toolbox_node-1] [INFO] [1747622147.055711681] [slam_toolbox]: Node using stack size 40000000
                  [async_slam_toolbox_node-1] [INFO] [1747622147.102664316] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
                  [async_slam_toolbox_node-1] [INFO] [1747622147.102880888] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
                  [async_slam_toolbox_node-1] [INFO] [1747622147.347918489] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.096 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622147.474620045] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.222 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622147.601750969] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.347 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622147.725817995] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.474 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622147.852745500] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.601 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622147.979005300] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.725 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.105321842] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.852 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.230537213] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622147.979 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.356992339] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.105 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.482597934] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.230 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.611013998] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.357 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.735707447] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.482 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.861187621] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.611 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622148.987582063] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.735 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.114642320] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.861 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.240151010] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622148.987 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.366025813] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.114 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.491061351] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.240 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.618645713] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.366 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.743581896] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.491 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.868943573] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.618 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622149.997337944] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.743 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622150.122568177] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.869 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622150.248216090] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622149.997 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622150.374799130] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622150.122 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622150.501216264] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622150.248 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622150.628447436] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622150.374 for reason 'discarding message because the queue is full'
                  [async_slam_toolbox_node-1] [INFO] [1747622150.754517197] [slam_toolbox]: Message Filter dropping message: frame 'laser_link' at time 1747622150.501 for reason 'discarding message because the queue is full'

                  1 条回复 最后回复 回复 引用 0
                  • 2
                    后知后觉的后知后觉 @2889839823
                    最后由 编辑

                    @2889839823运行rviz2加载地图后，地图不会实时刷新，报错如下
                    ros@ros-virtual-machine:~/demo01_ws/fishros_ws$ rviz2
                    [INFO] [1747643790.580932382] [rviz2]: Stereo is NOT SUPPORTED
                    [INFO] [1747643790.581076461] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
                    [INFO] [1747643790.617443151] [rviz2]: Stereo is NOT SUPPORTED
                    [INFO] [1747643799.501060541] [rviz2]: Trying to create a map of size 209 x 205 using 1 swatches
                    [ERROR] [1747643799.533153654] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
                    active samplers with a different type refer to the same texture image unit
                    [INFO] [1747643819.500981429] [rviz2]: Trying to create a map of size 209 x 205 using 1 swatches
                    [INFO] [1747643824.525077935] [rviz2]: Trying to create a map of size 209 x 205 using 1 swatches
                    [INFO] [1747643829.516767314] [rviz2]: Trying to create a map of size 209 x 205 using 1 swatches
                    [INFO] [1747643834.508103811] [rviz2]: Trying to create a map of size 209 x 205 using 1 swatches

                    @小鱼

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