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    FishBot-Nav2导航测试失败

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    FishBot二驱机器人
    fishbot 导航 ros2-humble
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    • 4
      东篱青蛙
      最后由 编辑

      FishBot基础版*1台
      装有Ubuntu22.04和ROS2的Linux台式机
      使用的是ubuntu22,ROS2版本是humble,在烧录成功之后直接按照网站上的步骤进行操作:

      1. FishBot上手组装教程
      2. 配置助手介绍与下载
      3. 主控板固件烧录与配置
      4. 使用ROS2键盘控制FishBot
      5. 雷达固件烧录及配置
      6. 雷达驱动及建图测试
      7. FishBot-Nav2导航测试

      1-6都是正常的,在7的时候点击Rviz2工具栏——2D Pose Estimate无反应,也没有出现雷达云。已尝试重启和重新编译无效。
      此时雷达提示:
      [WARN] [1712046720.974738211] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
      在启动rviz命令窗口,大量提示:
      [component_container_isolated-1] [INFO] [1712046724.947552811] [lifecycle_manager_navigation]: Configuring bt_navigator
      [component_container_isolated-1] [INFO] [1712046724.950780208] [bt_navigator]: Configuring
      [rviz2-2] [INFO] [1712046724.989733153] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046723.724 for reason 'discarding message because the queue is full'
      [rviz2-2] [INFO] [1712046725.117862850] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046723.849 for reason 'discarding message because the queue is full'
      [rviz2-2] [INFO] [1712046725.245624753] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046723.974 for reason 'discarding message because the queue is full'
      [rviz2-2] [INFO] [1712046725.374071627] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.099 for reason 'discarding message because the queue is full'
      [component_container_isolated-1] [INFO] [1712046725.478609889] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.474 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1712046725.502430156] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.224 for reason 'discarding message because the queue is full'
      [component_container_isolated-1] [INFO] [1712046725.600440830] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.599 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1712046725.633008449] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.349 for reason 'discarding message because the queue is full'
      [component_container_isolated-1] [INFO] [1712046725.738828682] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.724 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
      [rviz2-2] [INFO] [1712046725.758374833] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.474 for reason 'discarding message because the queue is full'
      [component_container_isolated-1] [INFO] [1712046725.851122850] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712046724.849 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

      另外,尝试将fishbot_navigation2的“use_sim_time”设置为“true”后,2D Pose Estimate无反应,雷达没有报错,rviz命令窗口大量提示:
      [rviz2-2] [INFO] [1712047241.616013559] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.357 for reason 'discarding message because the queue is full'
      [rviz2-2] [INFO] [1712047241.643396923] [rviz2]: Message Filter dropping message: frame 'odom' at time 1712047236.908 for reason 'discarding message because the queue is full'
      [component_container_isolated-1] [INFO] [1712047241.732863630] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.482 for reason 'discarding message because the queue is full'
      [rviz2-2] [INFO] [1712047241.763628341] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.482 for reason 'discarding message because the queue is full'
      [component_container_isolated-1] [INFO] [1712047241.858179380] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.607 for reason 'discarding message because the queue is full'
      [rviz2-2] [INFO] [1712047241.905578447] [rviz2]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.607 for reason 'discarding message because the queue is full'
      [rviz2-2] [INFO] [1712047241.911853180] [rviz2]: Message Filter dropping message: frame 'odom' at time 1712047237.302 for reason 'discarding message because the queue is full'
      [component_container_isolated-1] [INFO] [1712047241.992214971] [amcl]: Message Filter dropping message: frame 'laser_frame' at time 1712047240.732 for reason 'discarding message because the queue is full'

      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 @415808688
        最后由 编辑

        @415808688 在 FishBot-Nav2导航测试失败 中说:

        [WARN] [1712046720.974738211] [ydlidar_node]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

        这个没事,贴一下tf图看看

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

        4 1 条回复 最后回复 回复 引用 0
        • 4
          东篱青蛙 @小鱼
          最后由 编辑

          @小鱼 鱼哥,我的问题应该是电脑引起的,用的是台式机外接无线网卡(估计可能是无线网卡的适配问题)。换了一台笔记本电脑(内置无线网卡)后就可以了。
          另外,想请教一下:在开启nav2进行导航后,命令窗口会出现下面的信息,是什么原因呢?谢谢!
          [component_container_isolated-1] [WARN] [1712563380.078661090] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
          [component_container_isolated-1] [INFO] [1712563380.109913347] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_frame' at time 1712563379.809 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
          [component_container_isolated-1] [INFO] [1712563380.115683296] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_frame' at time 1712563379.809 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

          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 @415808688
            最后由 编辑

            @415808688 请阅读并按照模板单独发帖提问,这属于另外一个问题了

            https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

            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
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