拓展3：FishBot 树莓派配置建图导航

[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

[3132495710]

@小鱼 您好，进行导航时点击了Nav2 Goal，机器人没有反应。
rviz画面：
LaserScan间断标红报错
等待大概五分钟后rviz画面如图：
出现轨迹规划但是机器人全程无反应，图像更新基本没有，fps基本为0
Navigation2的Feeback显示中止或者未知

运行导航代码指令ros2 launch fishbot_navigation2 navigation2.launch.py开启rviz后，终端回复基本是：
Message Filter dropping message: frame 'laser_frame' at time 1747379107.151 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
消息过滤器丢弃消息：帧 'laser_frame' 在时间 1747379107.151，原因是“消息上的时间戳早于转换缓存中的所有数据”。

建图时map的resolution我改为0.02（原来是0.05，0.05图像有点粗糙），代价地图这些我没有改动。
使用树莓派4b，雷达板和主控板连接树莓派使用数据线，电脑远程桌面连接，网络是手机热点5G。建图时没有问题。

[小鱼]

@3132495710 看看有没有发送 /cmd_vel

[yunduo_12]

@小鱼 ,自主建图为啥总是会出现这种情况?

[3132495710]

@小鱼 有发送
ros@ubuntu:~$ ros2 topic list
/amcl/transition_event
/amcl_pose
/behavior_server/transition_event
/behavior_tree_log
/bond
/bt_navigator/transition_event
/clicked_point
/cmd_vel
/cmd_vel_nav
/controller_server/transition_event
/cost_cloud
/diagnostics
/downsampled_costmap
/downsampled_costmap_updates
/evaluation
/global_costmap/costmap
/global_costmap/costmap_raw
/global_costmap/costmap_updates
/global_costmap/footprint
/global_costmap/global_costmap/transition_event
/global_costmap/published_footprint
/global_costmap/voxel_marked_cloud
/goal_pose
/imu
/initialpose
/joint_states
/local_costmap/clearing_endpoints
/local_costmap/costmap
/local_costmap/costmap_raw
/local_costmap/costmap_updates
/local_costmap/footprint
/local_costmap/local_costmap/transition_event
/local_costmap/published_footprint
/local_costmap/voxel_grid
/local_costmap/voxel_marked_cloud
/local_plan
/map
/map_server/transition_event
/map_updates
/marker
/mobile_base/sensors/bumper_pointcloud
/odom
/parameter_events
/particle_cloud
/plan
/plan_smoothed
/planner_server/transition_event
/received_global_plan
/robot_description
/rosout
/scan
/smoother_server/transition_event
/speed_limit
/tf
/tf_static
/transformed_global_plan
/velocity_smoother/transition_event
/waypoint_follower/transition_event
/waypoints
/ydlidar_node/transition_event

[小鱼]

@3132495710 ros2 topic echo /cmd_vel

[3132495710]

@小鱼 :有几次是启动了，但是走的很卡顿，数据变化很少基本是
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0

linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0还有命令终端没有反应

[3132495710]

@小鱼

[2454871215]

@Dutton_Ranch 我也是只有显示红点，怎么才能看见实时地图呢