求助，使用官方代码和套件导航部分出错

[1683127550]

@小鱼 [fishbot_bringup-3] [INFO] [1684061786.308399678] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.362661967] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.408034740] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.457737273] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.507190908] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.556860840] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.606942969] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.656883799] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.707086627] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.756955658] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)
[fishbot_bringup-3] [INFO] [1684061786.807189986] [fishbot_bringup]: recv odom->base_footprint tf :(0.000000,0.000000)

是这样的

[小鱼]

@1683127550 动一下小车，看一下数据是否有变化，全部都是 0 有点不正常

[1683127550]

@小鱼 就是我用键盘节点控制车吗，我明天试试，今天上课没啥时间，我想问一下，如果没有车能运行那个自动导航的launch吗，还是有别的部分能代替，做没有车的情况下的自动导航？

[小鱼]

@1683127550 没有车的情况可以采用仿真形式：https://fishros.com/d2lros2/#/humble/chapt9/get_started/1.机器人仿真介绍

[1683127550]

@小鱼 有开源代码集吗，类似于github开源库那种

[小鱼]

@1683127550 fishbot的主分支可以直接仿真使用：https://github.com/fishros/fishbot

[1683127550]

@小鱼 现在这个导航还是不行
[fishbot_bringup-3] [INFO] [1684297618.592733226] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.642721159] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.697918550] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.744630143] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.792818679] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.846763764] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.892678126] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.948881983] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297618.994080727] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.042907219] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.092701254] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.142849847] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.195839205] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.244609172] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.293874121] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.342679295] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.393012918] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.448678313] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.492884034] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.542696973] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.592824863] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.642683509] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.693095345] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.742750157] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.792857044] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
[fishbot_bringup-3] [INFO] [1684297619.844838337] [fishbot_bringup]: recv odom->base_footprint tf :(-0.000050,0.000000)
数据还是一直这样，其他部分都是好的，只有小车自动导航这里不行，移动小车数据不变，然后另一个中断返回值是这样的：

[小鱼]

@1683127550 这个数据不太正常，检查小车线有没有松，能不能键盘控制移动

[1683127550]

此回复已被删除！

[1683127550]

@小鱼 雷达和里程计测试通过，所有线都没有松动，现在数据是这样的

用键盘控制小车，第一张图中数据发生改变

但是小车自动导航的还是不行


这里我点了 2D Pose Estimate 还是没有反应

[小鱼]

@1683127550 rqt tf tree 看下

[1683127550]

@小鱼
我重新下载了一下源码编译了一下，现在和刚才错误显示不一样了

这个是 rqt-tf-tree

我这边给出小车的初始坐标和方向之后，显示这些，好像是有我点击的点的信息，但是小车那边还是没反应

在这个基础上我重启了一下雷达，然后显示这样：

[1683127550]

@小鱼 我搞定了，多谢，我看了一下 rqt-tf-tree，改了一点东西就好了

[小鱼]

@1683127550 能具体说下是什么问题吗？我了解下，折腾了好久了

[1683127550]

@小鱼 应该就是ros2和miscroRos通信出问题了，我这边重新编译了好多次通信节点和导航节点，才解决，之前我测试的时候，用小车不行，但是你给的那个仿真的可以

[1683127550]

@小鱼 我这还有一些问题就是我在导航的时候，如果场景中出现了新的障碍物，雷达检测到，然后标红，但是障碍物移开之后，雷达再次检测在地图中并没有消失，是什么原因？

[小鱼]

@1683127550 这个应该是局部代价地图没更新的原因，看看拿掉后机器人有正确扫到没有

[1683127550]

@小鱼 障碍物拿掉机器人扫描的地图还是显示有这个物品

[1683127550]

@小鱼 这个地图存在新出现的障碍物的问题还是没有解决

[415808688]

@1683127550 你好！请教一下大佬，我也碰到了这个问题，把fishros下面的功能包都重新编译了还是不行，是还需要修改什么地方吗？谢谢！