建图前准备3-准备URDF运行找不到urdf
-
运行ros2 launch fishbot_bringup fishbot_bringup.launch.py后报错：
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-03-06-10-46-20-632082-ROS-EASY-OS22-11108
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [11109]
[INFO] [robot_state_publisher-2]: process started with pid [11111]
[INFO] [fishbot_bringup-3]: process started with pid [11113]
[robot_state_publisher-2] [WARN] [1709693180.942985944] [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-2] [FATAL] [1709693180.944436390] [robot_state_publisher]: Failed to open URDF file: /home/ubuntu/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_v1.0.0.urdf: No such file or directory
[robot_state_publisher-2] terminate called after throwing an instance of 'std::system_error'
[robot_state_publisher-2] what(): Failed to open URDF file: /home/ubuntu/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_v1.0.0.urdf: No such file or directory
[ERROR] [robot_state_publisher-2]: process has died [pid 11111, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher /home/ubuntu/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_v1.0.0.urdf --ros-args'].
[joint_state_publisher-1] Traceback (most recent call last):
[joint_state_publisher-1] File "/opt/ros/humble/lib/joint_state_publisher/joint_state_publisher", line 33, in <module>
[joint_state_publisher-1] sys.exit(load_entry_point('joint-state-publisher==2.4.0', 'console_scripts', 'joint_state_publisher')())
[joint_state_publisher-1] File "/opt/ros/humble/lib/python3.10/site-packages/joint_state_publisher/joint_state_publisher.py", line 463, in main
[joint_state_publisher-1] jsp = JointStatePublisher(parsed_args.description_file)
[joint_state_publisher-1] File "/opt/ros/humble/lib/python3.10/site-packages/joint_state_publisher/joint_state_publisher.py", line 302, in init
[joint_state_publisher-1] with open(description_file, 'r') as infp:
[joint_state_publisher-1] FileNotFoundError: [Errno 2] No such file or directory: '/home/ubuntu/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_v1.0.0.urdf'
[ERROR] [joint_state_publisher-1]: process has died [pid 11109, exit code 1, cmd '/opt/ros/humble/lib/joint_state_publisher/joint_state_publisher /home/ubuntu/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_v1.0.0.urdf --ros-args -r __node:=joint_state_publisher'].查看/fishbot_ws/install/fishbot_description/share/fishbot_description/urdf目录，存在fishbot_v1.0.0.urdf文件，但是调用不到
-
@xuexiaofei
该问题已经解决，新建文件fishbot_v1.0.0.urdf，和 fishbot_bringup.launch.py中的"fishbot_v1.0.0.urdf"，好像哪里不一致，把fishbot_v1.0.0.urdf全部修改为fishbot_base.urdf就好了。 -
@xuexiaofei 您好，我也遇到了这个问题。我用小鱼的一键配置烧录esp32程序后可以正常运行，但是我自己下载了esp32源代码在PIO上烧录后出现了和你一样的问题，您能详细说说怎么解决的吗