[FishBot教程]7. FishBot-Nav2导航测试

萝卜头

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mbed

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ZERO

git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
cd fishbot
rosdep install --from-paths src --ignore-src -y  -r # 安装依赖
colcon build

鱼哥，我在编译nav2_pure_pursuit_controller这个功能包的时候报错了，错误如下：

In file included from /home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp:8:
/home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp:45:18: error: ‘nav2_core::GoalChecker’ has not been declared
   45 |       nav2_core::GoalChecker *goal_checker) override;
      |                  ^~~~~~~~~~~
/home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp:27:8: error: ‘void nav2_pure_pursuit_controller::PurePursuitController::configure(const WeakPtr&, std::string, std::shared_ptr<tf2_ros::Buffer>, std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)’ marked ‘override’, but does not override
   27 |   void configure(
      |        ^~~~~~~~~
/home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp:42:36: error: ‘geometry_msgs::msg::TwistStamped nav2_pure_pursuit_controller::PurePursuitController::computeVelocityCommands(const PoseStamped&, const Twist&, int*)’ marked ‘override’, but does not override
   42 |   geometry_msgs::msg::TwistStamped computeVelocityCommands(
      |                                    ^~~~~~~~~~~~~~~~~~~~~~~
/home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp:58:8: error: ‘void nav2_pure_pursuit_controller::PurePursuitController::setSpeedLimit(const double&, const bool&)’ marked ‘override’, but does not override
   58 |   void setSpeedLimit(const double &speed_limit,
      |        ^~~~~~~~~~~~~
/home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp:116:16: error: ‘nav2_core::GoalChecker’ has not been declared
  116 |     nav2_core::GoalChecker *goal_checker) {
      |                ^~~~~~~~~~~
In file included from /opt/ros/foxy/include/class_loader/class_loader_core.hpp:57,
                 from /opt/ros/foxy/include/class_loader/class_loader.hpp:55,
                 from /opt/ros/foxy/include/class_loader/multi_library_class_loader.hpp:52,
                 from /opt/ros/foxy/include/pluginlib/class_loader.hpp:58,
                 from /opt/ros/foxy/include/nav2_costmap_2d/costmap_2d_ros.hpp:53,
                 from /opt/ros/foxy/include/nav2_core/controller.hpp:42,
                 from /home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp:8,
                 from /home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp:8:
/opt/ros/foxy/include/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject<C, B>::create() const [with C = nav2_pure_pursuit_controller::PurePursuitController; B = nav2_core::Controller]’:
/opt/ros/foxy/include/class_loader/meta_object.hpp:216:7:   required from here
/opt/ros/foxy/include/class_loader/meta_object.hpp:218:12: error: invalid new-expression of abstract class type ‘nav2_pure_pursuit_controller::PurePursuitController’
  218 |     return new C;
      |            ^~~~~
In file included from /home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp:8:
/home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp:15:7: note:   because the following virtual functions are pure within ‘nav2_pure_pursuit_controller::PurePursuitController’:
   15 | class PurePursuitController : public nav2_core::Controller {
      |       ^~~~~~~~~~~~~~~~~~~~~
In file included from /home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp:8,
                 from /home/zero/Code/SLAM/fishbot/src/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp:8:
/opt/ros/foxy/include/nav2_core/controller.hpp:74:16: note:     ‘virtual void nav2_core::Controller::configure(const SharedPtr&, std::string, const std::shared_ptr<tf2_ros::Buffer>&, const std::shared_ptr<nav2_costmap_2d::Costmap2DROS>&)’
   74 |   virtual void configure(
      |                ^~~~~~~~~
/opt/ros/foxy/include/nav2_core/controller.hpp:112:44: note:    ‘virtual geometry_msgs::msg::TwistStamped nav2_core::Controller::computeVelocityCommands(const PoseStamped&, const Twist&)’
  112 |   virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
      |                                            ^~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/nav2_pure_pursuit_controller.dir/build.make:63: CMakeFiles/nav2_pure_pursuit_controller.dir/src/pure_pursuit_controller.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/nav2_pure_pursuit_controller.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< nav2_pure_pursuit_controller [3.62s, exited with code 2]

Summary: 5 packages finished [3.85s]
  1 package failed: nav2_pure_pursuit_controller
  1 package had stderr output: nav2_pure_pursuit_controller

这个错误该怎么改呢？

小鱼

@444037843 在 [FishBot教程]7. FishBot-Nav2导航测试中说：

nav2_pure_pursuit_controller

直接先删掉这个包吧，暂时用不倒，有时间我再更新下

萝卜头

你好，小鱼，小车电机转动运行后停止，有抱死后的高频鸣噪，是否可以适当调整停车抱死策略。

小鱼

@萝卜头有这个打算，下一个固件版本会解决，有时间也可以手动改下代码：https://github.com/fishros/fishbot_motion_control_microros

萝卜头

@小鱼好的，我也看一下代码，还有个问题，每当控制板和雷达板连接到局域网后，若ubuntu终端退出docker运行的程序，再次启动agent，会连不上控制板和雷达板，路由器管理端显示两个设备在线，不知您是否遇到过此问题。

小鱼

@萝卜头你说的退出是直接关掉终端吗？还是先关闭程序再关闭终端。因为是使用docker,莞城终端不会打断原有程序的运行，所以再次启动就会出现占用情况，

除此之外还有一种可能，是因为网络不稳定造成的，比较推荐，小车直连电脑，或者小车直连路由器，路由器网线接电脑，这两种线路。

萝卜头

@小鱼是Ctrl+C结束docker，再次运行或者再开新终端运行无法执行agent。

小鱼

@萝卜头可以贴一下log看看，具体提示什么

萝卜头

@小鱼我现在还没回去，等我回去给贴一下

萝卜头

@小鱼刚才测试了几次，应该是我直接关闭终端的缘故造成的，现在可以了，感谢！

Finsh

你好，小鱼，我是双系统的22.04在输入:
git clone --recursive https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
fatal: 目标路径 'fishbot' 已经存在，并且不是一个空目录。
请问怎么处理这个问题，谢谢！

小鱼

@86181314 换个目录就行了，因为当前目录下已经存在了fishbot这一目录，也可以删掉

天地独鸣

第一步出现了如下问题，不知如何解决

天地独鸣

@小鱼鱼哥，换个目录是什么意思？

天地独鸣

又有新的问题

小鱼

@921203724 别一次性运行太多指令，不然都搞不清楚是哪个出错，一步步来

看你的错误是克隆错误，已经存在fishbot工作空间了

天地独鸣

@小鱼
已经下载了rosdepc，结果还是让我跑rosdep

天地独鸣

现在报错变了，变成这样了