[FishBot教程]9.0.7. FishBot-Nav2导航测试
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@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。 -
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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 2CMake 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 -
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
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@safereinforcementlab 我重新装了ros2，就好了
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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
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此回复已被删除！ -
@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？ -
@1147022743 这个警告没关系，是Qos 主要是你这膨胀半径太大了吧
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@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
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@blairan121122885 解决了吗，跑了一次一键安装？
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@192224801 同样问题解决了吗
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@小鱼 鱼哥这一步跑一键安装，输入命令后安装第几项？
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@小鱼
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
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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>]’ -
@1032063747 第二个命令应该在第一个后面输入，注意终端目录
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此回复已被删除！ -
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@小鱼 在 [FishBot教程]7. FishBot-Nav2导航测试 中说：
source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py哥，我前面都弄好了，最后一步点击Rviz2工具栏——2D Pose Estimate没有反应是什么原因？
，是Ubuntu22.04，humble版本，前面的都没问题，知道一下呗，很急！！！重试了很多次都是没反应。
