[FishBot教程]7. FishBot-Nav2导航测试

小鱼

@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

北

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

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：

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?

我姓徐 💋

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

@565517830 这个没关系，编译错误提出来，建议单独发帖

我姓徐 💋

下载代码后colcon build报错，如图片所示

我姓徐 💋

@1954923637 代码路径有中文，换个没有中文的路径

秩

@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

h1

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)

小鱼

@429016267 源码版本有些老了，直接二进制安装吧

h1

@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

@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

Woah damn

@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，用的ubuntu22.04 humble版本然后图上的网址打不开。

小鱼

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

早点睡觉.

safereinforcementlab

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

safereinforcementlab

鱼哥，如果我要自己写控制算法，应该在哪里改，没找到源码的控制算法在那里

safereinforcementlab

@safereinforcementlab 我重新装了ros2，就好了

safereinforcementlab

请问在这个程序里面，具体的控制算法程序在哪里，https://github.com/fishros/fishbot，没有看到

(解放版）沉迷睡觉

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