官方有教程描述了如何使用纯定位模式：https://google-cartographer-ros.readthedocs.io/en/latest/demos.html#pure-localization ，还可以参考这个： https://github.com/ros-mobile-robots/diffbot/blob/noetic-devel/diffbot_slam/launch/diffbot_cartographer.launch ，以及这个： https://github.com/ros-mobile-robots/diffbot/blob/noetic-devel/diffbot_slam/config/diffbot_lds_2d.lua

我在ros1 noetic 中的gazebo里面遇到过类似的问题，并且也没有解决，但是我当时发现了一个现象，我把车翻过来之后，就是轮子朝上之后，我让他执行转弯的命令时轮子是会按预期转动的，当时我弄的是一个差速小车，两轮的。我尝试过调节摩擦力那些都没有用，到现在都没搞明白是什么情况。

@小鱼 我感觉现在的AI虽然确实越来越强大，但目前依然存在许多缺陷，比如有时会犯常识性错误，有时会提供错误的思路，有时提供的解决方案中有细小的错误，有时会给出错误的来源/链接，此外现在许多AI常常长篇大论，明明一个简单的问题，它会给你从头说起，引申过多，内容过长（这点和人相反，人的精力有限，写长段文字代价较高，会尽量言简意赅），阅读效率较低，这些缺陷我并不认为能完全避免。我觉得未来的方向应该是AI辅助，但不会取代以人为主的论坛/社区，人的理解力、思考力、分析能力、细节把控能力都还是很强的，只是知识的广度、深度不一定有AI强。

不过现在社区中的许多问题确实都比较简单，AI 足以搞定，只是提问者不陈述清楚问题罢了

完整的日志(2/2) [component_container_isolated-6] [INFO] [1753251443.749380247] [global_costmap.global_costmap]: Configuring [component_container_isolated-6] [INFO] [1753251443.760816650] [global_costmap.global_costmap]: Using plugin "static_layer" [component_container_isolated-6] [ERROR] [1753251443.762548071] [global_costmap.global_costmap]: Caught exception in callback for transition 10 [component_container_isolated-6] [ERROR] [1753251443.762628810] [global_costmap.global_costmap]: Original error: MultiLibraryClassLoader: Could not create object of class type nav2_costmap_2d::StaticLayer as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-6] [WARN] [1753251443.762670219] [global_costmap.global_costmap]: Error occurred while doing error handling. [component_container_isolated-6] [FATAL] [1753251443.762694508] [global_costmap.global_costmap]: Lifecycle node global_costmap does not have error state implemented [component_container_isolated-6] [INFO] [1753251443.772236412] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [component_container_isolated-6] [INFO] [1753251443.772425538] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [component_container_isolated-6] [INFO] [1753251443.779999533] [planner_server]: Planner Server has GridBased planners available. [component_container_isolated-6] [INFO] [1753251443.802771183] [lifecycle_manager_navigation]: Configuring behavior_server [component_container_isolated-6] [INFO] [1753251443.803174269] [behavior_server]: Configuring [component_container_isolated-6] [INFO] [1753251443.813888566] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [component_container_isolated-6] [WARN] [1753251443.856251914] [amcl]: New subscription discovered on topic '/particle_cloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [component_container_isolated-6] [INFO] [1753251443.873306658] [behavior_server]: Configuring spin [component_container_isolated-6] [INFO] [1753251443.900243766] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [component_container_isolated-6] [INFO] [1753251443.964924540] [behavior_server]: Configuring backup [component_container_isolated-6] [INFO] [1753251443.983871159] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [rviz2-5] [INFO] [1753251444.035097762] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches [component_container_isolated-6] [INFO] [1753251444.042861235] [behavior_server]: Configuring drive_on_heading [component_container_isolated-6] [INFO] [1753251444.056741468] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [component_container_isolated-6] [INFO] [1753251444.115389133] [behavior_server]: Configuring assisted_teleop [component_container_isolated-6] [INFO] [1753251444.136690331] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [component_container_isolated-6] [INFO] [1753251444.194852666] [behavior_server]: Configuring wait [component_container_isolated-6] [INFO] [1753251444.203870712] [lifecycle_manager_navigation]: Configuring bt_navigator [component_container_isolated-6] [INFO] [1753251444.204192483] [bt_navigator]: Configuring [component_container_isolated-6] [INFO] [1753251444.476198891] [lifecycle_manager_navigation]: Configuring waypoint_follower [component_container_isolated-6] [INFO] [1753251444.476540375] [waypoint_follower]: Configuring [component_container_isolated-6] [INFO] [1753251444.539928655] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [component_container_isolated-6] [INFO] [1753251444.544417197] [lifecycle_manager_navigation]: Configuring velocity_smoother [component_container_isolated-6] [INFO] [1753251444.545013538] [velocity_smoother]: Configuring velocity smoother [component_container_isolated-6] [INFO] [1753251444.559910191] [lifecycle_manager_navigation]: Activating controller_server [component_container_isolated-6] [INFO] [1753251444.560297692] [controller_server]: Activating [component_container_isolated-6] [WARN] [1753251444.560381087] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured [component_container_isolated-6] [ERROR] [1753251444.560416640] [local_costmap.local_costmap]: Unable to start transition 3 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 [component_container_isolated-6] [INFO] [1753251444.560522212] [controller_server]: Creating bond (controller_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251444.669279289] [lifecycle_manager_navigation]: Server controller_server connected with bond. [component_container_isolated-6] [INFO] [1753251444.669408125] [lifecycle_manager_navigation]: Activating smoother_server [component_container_isolated-6] [INFO] [1753251444.669981618] [smoother_server]: Activating [component_container_isolated-6] [INFO] [1753251444.670087445] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251444.780236667] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [component_container_isolated-6] [INFO] [1753251444.780403361] [lifecycle_manager_navigation]: Activating planner_server [component_container_isolated-6] [INFO] [1753251444.781146139] [planner_server]: Activating [component_container_isolated-6] [WARN] [1753251444.781254719] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured [component_container_isolated-6] [ERROR] [1753251444.781276576] [global_costmap.global_costmap]: Unable to start transition 3 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 [component_container_isolated-6] [INFO] [1753251444.781307649] [planner_server]: Activating plugin GridBased of type NavfnPlanner [component_container_isolated-6] [INFO] [1753251444.785443123] [planner_server]: Creating bond (planner_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251444.897467354] [lifecycle_manager_navigation]: Server planner_server connected with bond. [component_container_isolated-6] [INFO] [1753251444.897577310] [lifecycle_manager_navigation]: Activating behavior_server [component_container_isolated-6] [INFO] [1753251444.898251094] [behavior_server]: Activating [component_container_isolated-6] [INFO] [1753251444.898304760] [behavior_server]: Activating spin [component_container_isolated-6] [INFO] [1753251444.898357210] [behavior_server]: Activating backup [component_container_isolated-6] [INFO] [1753251444.898386427] [behavior_server]: Activating drive_on_heading [component_container_isolated-6] [INFO] [1753251444.898410140] [behavior_server]: Activating assisted_teleop [component_container_isolated-6] [INFO] [1753251444.898429276] [behavior_server]: Activating wait [component_container_isolated-6] [INFO] [1753251444.898455101] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251445.006426038] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [component_container_isolated-6] [INFO] [1753251445.006568731] [lifecycle_manager_navigation]: Activating bt_navigator [component_container_isolated-6] [INFO] [1753251445.007298197] [bt_navigator]: Activating [spawn_entity.py-3] [INFO] [1753251445.208080082] [spawn_entity]: Calling service /spawn_entity [spawn_entity.py-3] [INFO] [1753251445.694306799] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [turtlebot3_waffle] [gzserver-1] [INFO] [1753251445.831969278] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.287000m] [gzserver-1] [INFO] [1753251445.833129703] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m] [gzserver-1] [INFO] [1753251445.858151256] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel] [gzserver-1] [INFO] [1753251445.870160222] [turtlebot3_diff_drive]: Advertise odometry on [/odom] [gzserver-1] [INFO] [1753251445.884349554] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint] [gzserver-1] [INFO] [1753251445.942519730] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint] [gzserver-1] [INFO] [1753251445.942755514] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint] [INFO] [spawn_entity.py-3]: process has finished cleanly [pid 50484] [component_container_isolated-6] [ERROR] [1753251446.026872299] [bt_navigator_navigate_through_poses_rclcpp_node]: "global_costmap/clear_entirely_global_costmap" service server not available after waiting for 1.00s [component_container_isolated-6] [ERROR] [1753251446.049440230] [bt_navigator]: Exception when loading BT: basic_string::_M_create [component_container_isolated-6] [ERROR] [1753251446.049597675] [bt_navigator]: Error loading XML file: /home/jetson/nav2_ws/install/nav2_bt_navigator/share/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml [component_container_isolated-6] [ERROR] [1753251446.050373127] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator [component_container_isolated-6] [ERROR] [1753251446.050420680] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup. [INFO] [rviz2-5]: process has finished cleanly [pid 50488] [INFO] [component_container_isolated-6]: sending signal 'SIGINT' to process[component_container_isolated-6] [INFO] [robot_state_publisher-4]: sending signal 'SIGINT' to process[robot_state_publisher-4] [INFO] [gzclient-2]: sending signal 'SIGINT' to process[gzclient-2] [INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1] [component_container_isolated-6] [INFO] [1753251913.802105539] [rclcpp]: signal_handler(signum=2) [component_container_isolated-6] [INFO] [1753251913.802391251] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother) [component_container_isolated-6] [INFO] [1753251913.803113084] [velocity_smoother]: Cleaning up [component_container_isolated-6] [INFO] [1753251913.803291046] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251913.803345449] [lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) [robot_state_publisher-4] [INFO] [1753251913.805015463] [rclcpp]: signal_handler(signum=2) [gzclient-2] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::msgs::Response; typename boost::detail::sp_member_access<T>::type = gazebo::msgs::Response*]: Assertion `px != 0' failed. [component_container_isolated-6] [INFO] [1753251913.909826884] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower) [component_container_isolated-6] [INFO] [1753251913.909985869] [waypoint_follower]: Cleaning up [component_container_isolated-6] [INFO] [1753251913.925647777] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251913.926714877] [planner_server]: Running Nav2 LifecycleNode rcl preshutdown (planner_server) [component_container_isolated-6] [INFO] [1753251913.926821315] [planner_server]: Deactivating [component_container_isolated-6] [WARN] [1753251913.926968748] [rcl_lifecycle]: No transition matching 4 found for current state unconfigured [component_container_isolated-6] [ERROR] [1753251913.926992429] [global_costmap.global_costmap]: Unable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 [component_container_isolated-6] [INFO] [1753251913.927037040] [planner_server]: Deactivating plugin GridBased of type NavfnPlanner [component_container_isolated-6] [INFO] [1753251913.927067089] [planner_server]: Destroying bond (planner_server) to lifecycle manager. [INFO] [robot_state_publisher-4]: process has finished cleanly [pid 50486] [component_container_isolated-6] [INFO] [1753251913.937299283] [planner_server]: Cleaning up [component_container_isolated-6] [WARN] [1753251913.961427941] [rcl_lifecycle]: No transition matching 2 found for current state unconfigured [component_container_isolated-6] [ERROR] [1753251913.961502985] [global_costmap.global_costmap]: Unable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 [component_container_isolated-6] [INFO] [1753251913.961585518] [planner_server]: Cleaning up plugin GridBased of type NavfnPlanner [component_container_isolated-6] [INFO] [1753251913.961828860] [planner_server]: Destroying plugin GridBased of type NavfnPlanner [component_container_isolated-6] [INFO] [1753251913.962073098] [planner_server]: Destroying bond (planner_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251913.962096331] [smoother_server]: Running Nav2 LifecycleNode rcl preshutdown (smoother_server) [component_container_isolated-6] [INFO] [1753251913.962141037] [smoother_server]: Deactivating [component_container_isolated-6] [INFO] [1753251913.962219154] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251913.972570938] [smoother_server]: Cleaning up [component_container_isolated-6] [INFO] [1753251913.999983270] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.000092780] [bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator) [component_container_isolated-6] [INFO] [1753251914.000147215] [bt_navigator]: Cleaning up [component_container_isolated-6] [INFO] [1753251914.024743675] [bt_navigator]: Completed Cleaning up [component_container_isolated-6] [INFO] [1753251914.024880578] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.024905412] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server) [component_container_isolated-6] [INFO] [1753251914.024957511] [behavior_server]: Deactivating [component_container_isolated-6] [INFO] [1753251914.025165650] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.035445942] [behavior_server]: Cleaning up [component_container_isolated-6] [INFO] [1753251914.042549351] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.042644109] [lifecycle_manager_localization]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) [component_container_isolated-6] [INFO] [1753251914.042681711] [lifecycle_manager_localization]: Terminating bond timer... [component_container_isolated-6] [INFO] [1753251914.068145387] [amcl]: Running Nav2 LifecycleNode rcl preshutdown (amcl) [component_container_isolated-6] [INFO] [1753251914.068294100] [amcl]: Deactivating [component_container_isolated-6] [INFO] [1753251914.068329910] [amcl]: Destroying bond (amcl) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.078530325] [amcl]: Cleaning up [component_container_isolated-6] [INFO] [1753251914.091819619] [amcl]: Destroying bond (amcl) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.091927305] [controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server) [component_container_isolated-6] [INFO] [1753251914.091996525] [controller_server]: Deactivating [component_container_isolated-6] [WARN] [1753251914.092088530] [rcl_lifecycle]: No transition matching 4 found for current state unconfigured [component_container_isolated-6] [ERROR] [1753251914.092107923] [local_costmap.local_costmap]: Unable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 [component_container_isolated-6] [INFO] [1753251914.092317695] [controller_server]: Destroying bond (controller_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.102544416] [controller_server]: Cleaning up [component_container_isolated-6] [WARN] [1753251914.105576459] [rcl_lifecycle]: No transition matching 2 found for current state unconfigured [component_container_isolated-6] [ERROR] [1753251914.105917278] [local_costmap.local_costmap]: Unable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 [component_container_isolated-6] [INFO] [1753251914.132099428] [controller_server]: Destroying bond (controller_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.132197833] [map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server) [component_container_isolated-6] [INFO] [1753251914.132255532] [map_server]: Deactivating [component_container_isolated-6] [INFO] [1753251914.132290158] [map_server]: Destroying bond (map_server) to lifecycle manager. [component_container_isolated-6] [INFO] [1753251914.142542833] [map_server]: Cleaning up [component_container_isolated-6] [INFO] [1753251914.142712570] [map_server]: Destroying bond (map_server) to lifecycle manager. [INFO] [gzserver-1]: process has finished cleanly [pid 50480] ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container_isolated-6] [INFO] [1753251914.778845836] [rclcpp]: signal_handler(signum=2) [ERROR] [gzclient-2]: process has died [pid 50482, exit code -6, cmd 'gzclient']. [ERROR] [component_container_isolated-6]: process[component_container_isolated-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [component_container_isolated-6]: sending signal 'SIGTERM' to process[component_container_isolated-6] [component_container_isolated-6] [INFO] [1753251918.805917365] [rclcpp]: signal_handler(signum=15) [ERROR] [component_container_isolated-6]: process[component_container_isolated-6] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' [INFO] [component_container_isolated-6]: sending signal 'SIGKILL' to process[component_container_isolated-6] [ERROR] [component_container_isolated-6]: process has died [pid 50490, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_uo0w691_ --params-file /tmp/launch_params_6owr0ddp -r /tf:=tf -r /tf_static:=tf_static']

@抱着咸鱼的啊黄 直接关闭容器就行；docker stop 容器名

连接成功并进入建图模式，但是rviz没有显示地图怎么进行设置

在WSL的Gazebo上运行模拟时注意你用的是不是CPU软渲染，这个会大量损耗CPU的性能

这个是因为config文件夹下的jointslimit.yaml(不确定是不是这么个名称，但差不多就是关节限制的一个文件)里面有个速度限制参数要改成浮点数，原本是1改为1.0就好了。
应该是这样。

@wsxq2 谢谢，因为我刚刚入门后续肯定会多多学习的

@320881578 这位仁兄提供的回答可能才是正解，@miracle 你可以尝试下

@3513232534 简短回答：从 https://github.com/ros-perception/vision_msgs 下载后放在workspace/src目录下，然后在workspace中执行colcon build即可。

详细回答：你遇到的错误是因为你在 ROS2中使用了已经弃用的 catkin 相关构建工具，这是由于你下载的 vision_msgs 包是 ROS1 的，所以你只需要下载 ROS2 的包即可，而现在（2025-07-24），https://github.com/ros-perception/vision_msgs 中默认分支就是 ROS2 的分支，所以你可以直接下载。

关于从 github 下载仓库，有多个方法：git clone、下载 zip 等。无论哪个方法，通常都需要设置代理（翻墙），否则无法连接，所以你在执行 git clone 时遇到了错误。

另外论坛的 AI 小伊其实给出了一些有用的提示，但它的上下文关联较差，思考深度也不够，给了你一些错误的引导，让你越走越远，让人无语，我建议关闭这个AI的自动回复，因为它不并可靠。

@ccccc 怎么解决的，我的是装的系统，跳线也是对的

@gwlove 截图啥的，或者来个日志啊