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    [FishBot教程]9.0.7. FishBot-Nav2导航测试

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    • 小鱼小
      小鱼 技术大佬 @13768252287
      最后由 编辑

      @13768252287 在 [FishBot教程]7. FishBot-Nav2导航测试 中说:

      执行ros2 launch fishbot_bringup fishbot_bringup.launch.py

      报错

      [INFO] [launch]: All log files can be found below /home/a/.ros/log/2023-10-30-02-11-31-404730-a-10225
      [INFO] [launch]: Default logging verbosity is set to INFO
      Task exception was never retrieved
      future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'joint_state_publisher' not found, searching: ['/home/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']")>
      Traceback (most recent call last):
        File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
          content, package_prefix = get_resource('packages', package_name)
        File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
          raise LookupError(
      LookupError: Could not find the resource 'joint_state_publisher' of type 'packages'
      
      During handling of the above exception, another exception occurred:
      
      Traceback (most recent call last):
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
          await self.__process_event(next_event)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
          visit_all_entities_and_collect_futures(entity, self.__context))
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
          futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
          futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
          futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
        [Previous line repeated 1 more time]
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
          sub_entities = entity.visit(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
          return self.execute(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
          ret = super().execute(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
          self.__expand_substitutions(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
          cmd = [perform_substitutions(context, x) for x in self.__cmd]
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
          cmd = [perform_substitutions(context, x) for x in self.__cmd]
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
          return ''.join([context.perform_substitution(sub) for sub in subs])
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
          return ''.join([context.perform_substitution(sub) for sub in subs])
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
          return substitution.perform(self)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
          package_prefix = super().perform(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
          result = self.find(package)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
          return get_package_prefix(package_name)
        File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
          raise PackageNotFoundError(
      ament_index_python.packages.PackageNotFoundError: "package 'joint_state_publisher' not found, searching: ['/home/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"
      
      

      sudo apt install ros-$ROS_DISTRO-joint-state-publisher

      新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

      19238250151 1 条回复 最后回复 回复 引用 0
      • 1
        13768252287
        最后由 编辑

        切换自己的slam地图报错
        执行```
        ros2 launch fishbot_navigation2 navigation2.launch.py
        ros2 launch fishbot_navigation2 navigation2.launch.py

        
        

        [INFO] [launch]: All log files can be found below /home/a/.ros/log/2023-11-02-22-09-38-820997-a-9591
        [INFO] [launch]: Default logging verbosity is set to INFO
        Task exception was never retrieved
        future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')>
        Traceback (most recent call last):
        File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
        content, package_prefix = get_resource('packages', package_name)
        File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
        raise LookupError(
        LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

        During handling of the above exception, another exception occurred:

        Traceback (most recent call last):
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
        return loader(launch_file_path)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
        return getattr(launch_file_module, 'generate_launch_description')()
        File "/home/a/fishbot/install/fishbot_navigation2/share/fishbot_navigation2/launch/navigation2.launch.py", line 21, in generate_launch_description
        nav2_bringup_dir = get_package_share_directory('nav2_bringup')
        File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory
        return os.path.join(get_package_prefix(package_name), 'share', package_name)
        File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
        raise PackageNotFoundError(
        ament_index_python.packages.PackageNotFoundError: "package 'nav2_bringup' not found, searching: ['/home/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"

        The above exception was the direct cause of the following exception:

        Traceback (most recent call last):
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
        await self.__process_event(next_event)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
        visit_all_entities_and_collect_futures(entity, self.__context))
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
        futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
        futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
        sub_entities = entity.visit(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
        return self.execute(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 130, in execute
        launch_description = self.__launch_description_source.get_launch_description(context)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
        self._get_launch_description(self.__expanded_location)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
        return get_launch_description_from_any_launch_file(location)
        File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
        raise InvalidLaunchFileError(extension, likely_errors=exceptions)
        launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: "package 'nav2_bringup' not found, searching: ['/home/a/fishbot/install/fishbot_navigation2', '/home/a/fishbot/install/fishbot_interfaces', '/home/a/fishbot/install/fishbot_description', '/home/a/fishbot/install/fishbot_cartographer', '/home/a/fishbot/install/fishbot_bringup', '/opt/ros/foxy']"

        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 @13768252287
          最后由 编辑

          @13768252287 在 [FishBot教程]7. FishBot-Nav2导航测试 中说:

          foxy

          换humble版本就好

          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
          • 10416326111
            燦.
            最后由 编辑

            您好,第一步的克隆仓库出错了,包括代理也无法克隆,请问有其他链接么?
            emily3@emily3-virtual-machine:~$ git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1
            正克隆到 'fishbot'...
            fatal: 无法访问 'https://github.com/fishros/fishbot.git/':Failed to connect to github.com port 443 after 130728 ms: 连接超时

            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 @1041632611
              最后由 编辑

              @1041632611 在 [FishBot教程]7. FishBot-Nav2导航测试 中说:

              git clone https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1

              git clone http://github.fishros.org/https://github.com/fishros/fishbot.git -b v1.0.0 --depth=1

              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
              • 北北
                北
                最后由 编辑

                667fb2a6-c66c-4d0a-bb0e-ed6bdf30bd55-image.png

                aca1b923-5815-48f0-8ad6-f26c0e3ff9a0-image.png

                ubuntu22在问题出现后重装过ros2humble,rosdepc
                rosdep install {ERROR}报错,如何重新安装依赖或者是否有其他的解决方案?

                北北 1 条回复 最后回复 回复 引用 0
                • 北北
                  北 @北
                  最后由 编辑

                  @小鱼 b64fbb93eebb9dee518532e6328939c3.jpg

                  dragon@dragon-virtual-machine:~/Documents/custom/fishbot$ rosdep install --from-paths src --ignore-src -y  -r
                  ERROR: the following packages/stacks could not have their rosdep keys resolved
                  to system dependencies:
                  fishbot_description: Cannot locate rosdep definition for [ament_python]
                  Continuing to install resolvable dependencies...
                  #All required rosdeps installed successfully
                  

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

                  667fb2a6-c66c-4d0a-bb0e-ed6bdf30bd55-image.png

                  aca1b923-5815-48f0-8ad6-f26c0e3ff9a0-image.png

                  ubuntu22在问题出现后重装过ros2humble,rosdepc
                  rosdep install {ERROR}报错,如何重新安装依赖或者是否有其他的解决方案?

                  1 条回复 最后回复 回复 引用 0
                  • 5655178305
                    我姓徐 💋
                    最后由 编辑

                    克隆代码完成后,安装依赖一直提示:
                    ERROR: the following packages/stacks could not have their rosdep keys resolved
                    to system dependencies:
                    fishbot_description: Cannot locate rosdep definition for [ament_python]
                    Continuing to install resolvable dependencies...
                    #All required rosdeps installed successfully

                    编译也报错

                    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 @565517830
                      最后由 编辑

                      @565517830 这个没关系,编译错误提出来,建议单独发帖

                      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
                      • 5655178305
                        我姓徐 💋
                        最后由 编辑

                        964b8517-ac34-4c9d-a1a4-eb739434c356-image.png
                        下载代码后colcon build报错,如图片所示

                        14492629671 1 条回复 最后回复 回复 引用 1
                        • 5655178305
                          我姓徐 💋 @1954923637
                          最后由 编辑

                          @1954923637 代码路径有中文,换个没有中文的路径

                          1 条回复 最后回复 回复 引用 0
                          • 14492629671
                            秩 @565517830
                            最后由 编辑

                            @565517830 同问,我也是这个报错!!bfdff8a2-5425-4099-8558-0a1d2f254248-截图 2023-12-27 18-58-56.png file:///home/fishros/%E5%9B%BE%E7%89%87/%E6%88%AA%E5%9B%BE/%E6%88%AA%E5%9B%BE%202023-12-27%2018-58-56.png

                            1 条回复 最后回复 回复 引用 0
                            • 4290162674
                              h1
                              最后由 编辑

                              无法下载cartographer和navigation源码,自己手动下载后,又无法编译cartographer源码
                              使用git clone --recursive 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下载源码,无法下载cartographer和navigation源码,(我得环境是vm虚拟机+ubuntu22.04+ros2 humble版本)
                              报错 重定向:http://ww3.91chi.fun/?sub1=90563160-ae8f-11ee-b3d1-c2900044a4dd
                              fatal: 无法克隆 'https://github.91chi.fun/https://github.com/ros2/cartographer.git' 到子模组路径 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/cartographer_code/cartographer'
                              克隆 'src/cartographer_code/cartographer' 失败。按计划重试
                              正克隆到 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/cartographer_code/cartographer_ros'...
                              warning: 您似乎克隆了一个空仓库。
                              正克隆到 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/navigation'...
                              warning: 您似乎克隆了一个空仓库。
                              正克隆到 '/home/zlkj/Desktop/gong_xiang/yuan_ma1/fishbot/src/cartographer_code/cartographer'...
                              warning: 您似乎克隆了一个空仓库。
                              error: inflate: data stream error (incorrect header check)
                              error: File 2ce33a65bd4e41e3bf5af92c9275354ce7921c70 (https://github.91chi.fun/https://github.com/ros2/cartographer.git/objects/2c/e33a65bd4e41e3bf5af92c9275354ce7921c70) corrupt
                              error: Unable to find 2ce33a65bd4e41e3bf5af92c9275354ce7921c70 under https://github.91chi.fun/https://github.com/ros2/cartographer.git
                              Cannot obtain needed object 2ce33a65bd4e41e3bf5af92c9275354ce7921c70
                              error: 获取失败。
                              fatal: 获取了子模组路径 'src/cartographer_code/cartographer',但是它没有包含 2ce33a65bd4e41e3bf5af92c9275354ce7921c70。直接获取该提交失败。
                              fatal:
                              2:后续自己手动下载这里两部分源码,在编译cartographer时候,报错:home/zlkj/Desktop/gong xiang/yuan ma/fishbot/src/cartographer_code/cartographercartographer/common/thread pool,h:73:63: error:"mutexhas not been declaredvoid NotifyDependenciesCompleted(Task* task) LOCKS EXCLUDED(mutex ) ov73erride;
                              home/zlkj/Desktop/gong xiang/yuan ma/fishbot/src/cartographer_code/cartographercartographer/common/thread pool.h:73:48: error: ISO C++ forbids declaration ofLOCKS EXCLUDED’ with no type [-fpermissive]73void NotifyDependenciesCompleted(Task* task) LOCKS_EXCLUDED(mutex ) override;
                              home/zlkj/Desktop/gong xiang/yuan ma/fishbot/src/cartographer_code/cartographercartographer/common/thread poolh:73:48: error: int cartographer::common::thredPool::LOCKS EXCLUDED(int)’ cannot be overloaded with "int cartographer::common::Threadpool::LOCKS EXCLUDED(int)1704870970161.jpg

                              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 @429016267
                                最后由 编辑

                                @429016267 源码版本有些老了,直接二进制安装吧

                                新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                4290162674 1 条回复 最后回复 回复 引用 0
                                • 4290162674
                                  h1 @小鱼
                                  最后由 编辑

                                  @小鱼 好吧,目前我就是源码编不过,其他都可以,有没有什么方案能解决下这个问题呢,大佬

                                  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 @429016267
                                    最后由 编辑

                                    @429016267 看d2lros2教程前面的仿真部分,根据提示重新从原来的仓库克隆

                                    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
                                    • 19238250151
                                      Woah damn @小鱼
                                      最后由 编辑

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

                                      rosdep install --from-paths src --ignore-src -y -r # 安装依赖

                                      在安装依赖时报错,a0bb8f2d-b751-440d-b0b8-f47b8b876181-1704976690257.png 用的ubuntu22.04 humble版本 然后图上的网址打不开。

                                      小鱼小 19238250151 2 条回复 最后回复 回复 引用 0
                                      • 小鱼小
                                        小鱼 技术大佬 @1923825015
                                        最后由 编辑

                                        @1923825015 https://zhuanlan.zhihu.com/p/398754989

                                        新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                        10320637471 1 条回复 最后回复 回复 引用 0
                                        • 1922248011
                                          早点睡觉.
                                          最后由 编辑

                                          Screenshot from 2024-01-12 17-10-55.png

                                          10320637471 1 条回复 最后回复 回复 引用 1
                                          • S
                                            safereinforcementlab
                                            最后由 编辑

                                            鱼哥,这是什么问题

                                            autoliu@autoliu-LEGION-REN7000K-26IRB:~/fishbot$ rosdep install --from-paths src --ignore-src -y -r # 安装依赖
                                            #All required rosdeps installed successfully
                                            autoliu@autoliu-LEGION-REN7000K-26IRB:~/fishbot$ colcon build
                                            Starting >>> fishbot_bringup
                                            Starting >>> fishbot_cartographer
                                            Starting >>> fishbot_description
                                            Starting >>> fishbot_interfaces
                                            Starting >>> fishbot_navigation2
                                            --- stderr: fishbot_cartographer
                                            CMake Error at /usr/share/cmake-3.22/Modules/CMakeTestCCompiler.cmake:69 (message):
                                            The C compiler

                                            "/usr/bin/cc"
                                            

                                            is not able to compile a simple test program.

                                            It fails with the following output:

                                            Change Dir: /home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp
                                            
                                            Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_0c79a/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_0c79a.dir/build.make CMakeFiles/cmTC_0c79a.dir/build
                                            gmake[1]: 进入目录“/home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp”
                                            Building C object CMakeFiles/cmTC_0c79a.dir/testCCompiler.c.o
                                            /usr/bin/cc    -o CMakeFiles/cmTC_0c79a.dir/testCCompiler.c.o -c /home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp/testCCompiler.c
                                            /home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp/testCCompiler.c:11:1: fatal error: error closing /tmp/cc76K2IV.s: 设备上没有空间
                                               11 | { (void)argv; return argc-1;}
                                                  | ^
                                            compilation terminated.
                                            gmake[1]: *** [CMakeFiles/cmTC_0c79a.dir/build.make:78:CMakeFiles/cmTC_0c79a.dir/testCCompiler.c.o] 错误 1
                                            gmake[1]: 离开目录“/home/autoliu/fishbot/build/fishbot_cartographer/CMakeFiles/CMakeTmp”
                                            gmake: *** [Makefile:127:cmTC_0c79a/fast] 错误 2
                                            

                                            CMake will not be able to correctly generate this project.
                                            Call Stack (most recent call first):
                                            CMakeLists.txt:2 (project)


                                            Failed <<< fishbot_cartographer [0.39s, exited with code 1]
                                            Aborted <<< fishbot_description [0.38s]
                                            Aborted <<< fishbot_bringup [0.41s]
                                            Aborted <<< fishbot_interfaces [0.49s]
                                            Aborted <<< fishbot_navigation2 [0.48s]

                                            Summary: 0 packages finished [0.91s]
                                            1 package failed: fishbot_cartographer
                                            4 packages aborted: fishbot_bringup fishbot_description fishbot_interfaces fishbot_navigation2
                                            4 packages had stderr output: fishbot_bringup fishbot_cartographer fishbot_interfaces fishbot_navigation2

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