小鱼文档第10章，建图过程中，rviz显示的小车抖动且地图出现虚影。

[1094818123]

URDF代码使用的时小鱼在github上的，请问这种问题时什么原因？

启动gezebo日志如下：

yusheni@yusheni-virtual-machine:~/chapt8_ws$ ros2 launch fishbot_description gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/yusheni/.ros/log/2023-10-23-10-55-20-998742-yusheni-virtual-machine-7985
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [7986]
[INFO] [spawn_entity.py-2]: process started with pid [7988]
[INFO] [robot_state_publisher-3]: process started with pid [7990]
[robot_state_publisher-3] [WARN] [1698029721.218749417] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-3] [INFO] [1698029721.230430009] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1698029721.231211913] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1698029721.231729844] [robot_state_publisher]: got segment caster_link
[robot_state_publisher-3] [INFO] [1698029721.234462129] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1698029721.235200791] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-3] [INFO] [1698029721.235726514] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-3] [INFO] [1698029721.237213773] [robot_state_publisher]: got segment right_wheel_link
[spawn_entity.py-2] [INFO] [1698029721.735390593] [spawn_entity]: Spawn Entity started
[spawn_entity.py-2] [INFO] [1698029721.736613664] [spawn_entity]: Loading entity XML from file /home/yusheni/chapt8_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_base.urdf
[spawn_entity.py-2] [INFO] [1698029721.738090255] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-2] [INFO] [1698029721.738957924] [spawn_entity]: Waiting for service /spawn_entity
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1]
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1]
[spawn_entity.py-2] [INFO] [1698029722.749995673] [spawn_entity]: Calling service /spawn_entity
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.187.128
[gazebo-1] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[spawn_entity.py-2] [INFO] [1698029723.211948989] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gazebo-1] [INFO] [1698029723.361446924] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gazebo-1] [INFO] [1698029723.362966191] [diff_drive]: Wheel pair 1 diameter set to [0.065000m]
[gazebo-1] [INFO] [1698029723.365994012] [diff_drive]: Subscribed to [/cmd_vel]
[gazebo-1] [INFO] [1698029723.370855855] [diff_drive]: Advertise odometry on [/odom]
[gazebo-1] [INFO] [1698029723.378073224] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[INFO] [spawn_entity.py-2]: process has finished cleanly [pid 7988]
[gazebo-1] [INFO] [1698029723.414203824] [fishbot_joint_state]: Going to publish joint [right_wheel_joint]
[gazebo-1] [INFO] [1698029723.414289619] [fishbot_joint_state]: Going to publish joint [left_wheel_joint]
[gazebo-1] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/yusheni/.gazebo/models/yosemite"
[gazebo-1] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/yusheni/.gazebo/models/youbot"
[gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call

[小鱼]

@1094818123 跑慢一点

[1094818123]

@1094818123 谢谢大佬，解决了

[1094818123]

@小鱼 谢谢大佬 解决了