[FishBot教程]9.0.7. FishBot-Nav2导航测试

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

此回复已被删除！

(解放版）沉迷睡觉

@小鱼

鱼哥都做完了最后给了小车目标之后他只是转了个向并没有移动我看雷达这边报了警是这个原因吗？还是因为什么？

小鱼

@1147022743 这个警告没关系，是Qos 主要是你这膨胀半径太大了吧

.

@小鱼鱼哥，我安装依赖是成功的，但是在编译的时候我也出现了这个问题，请问该怎么解决

大道至简

@blairan121122885 解决了吗，跑了一次一键安装？

大道至简

@192224801 同样问题解决了吗

大道至简

@小鱼鱼哥这一步跑一键安装，输入命令后安装第几项？

大道至简

@小鱼截图 2024-02-20 20-03-27.png 截图 2024-02-20 20-13-53.png 鱼哥，卡在“fishbot_bringup”这里了，没找到如何解决的方法呢，帮我看看怎么个问题，多谢

那年那兔

我下载的NAV2的代码为什么编译阶段会报错

rclcpp::Node>; std::string = std::__cxx11::basic_string<char>]’:
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:35:3:   required from here
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::SystemDefaultsQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::SystemDefaultsQoS(),
      |               ^~~~~~~~~~~~~~~~~~~
      |               |
      |               rclcpp::SystemDefaultsQoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::ChangeState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
  127 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
In file included from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:15:
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp: In instantiation of ‘nav2_util::ServiceClient<ServiceT, NodeT>::ServiceClient(const string&, const NodeT&) [with ServiceT = lifecycle_msgs::srv::GetState; NodeT = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>]’:
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:36:3:   required from here
/home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:49:15: error: cannot convert ‘rclcpp::SystemDefaultsQoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   49 |       rclcpp::SystemDefaultsQoS(),
      |               ^~~~~~~~~~~~~~~~~~~
      |               |
      |               rclcpp::SystemDefaultsQoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/service_client.hpp:20,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/include/nav2_util/lifecycle_service_client.hpp:24,
                 from /home/tq/workspace/nav2/src/navigation2-main/nav2_util/src/lifecycle_service_client.cpp:15:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = lifecycle_msgs::srv::GetState; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’