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    rviz不能显示环境模型，且机器人模型也不在

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    • yudonghou123Y
      小猴同学
      最后由 yudonghou123 编辑

      各位大佬，我运行项目的时候，机器人也能在gazebo环境中加载出来，但不在rviz中显示，终端报出以下问题：

      [INFO] [launch]: All log files can be found below /home/user2/.ros/log/2023-02-17-20-10-20-236922-user2-1009600
[INFO] [launch]: Default logging verbosity is set to INFO
redefining global symbol: range
when instantiating macro: pressure_plugin_macro (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro)
instantiated from: default_pressure (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro)
instantiated from: eca_a9_base (/home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_base.xacro)
in file: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/robots/eca_a9_default.urdf.xacro
redefining global symbol: gamma
when instantiating macro: chemical_concentration_sensor_macro (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/chemical_concentration_snippets.xacro)
instantiated from: default_chemical_concentration_sensor (/home/user2/auv_ws/install/uuv_sensor_ros_plugins/share/uuv_sensor_ros_plugins/urdf/chemical_concentration_snippets.xacro)
instantiated from: eca_a9_base (/home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_base.xacro)
in file: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/user2/auv_ws/install/eca_a9_description/share/eca_a9_description/robots/eca_a9_default.urdf.xacro
[INFO] [spawn_entity.py-1]: process started with pid [1009650]
[INFO] [robot_state_publisher-2]: process started with pid [1009652]
[INFO] [uuv_message_to_tf-3]: process started with pid [1009654]
[INFO] [finned_uuv_teleop.py-4]: process started with pid [1009656]
[INFO] [joy_node-5]: process started with pid [1009658]
[INFO] [rviz2-6]: process started with pid [1009660]
[rviz2-6] WARNING: CPU random generator seem to be failing, disabling hardware random number generation
[rviz2-6] WARNING: RDRND generated: 0xffffffff 0xffffffff 0xffffffff 0xffffffff
[rviz2-6] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in ""
[spawn_entity.py-1] [INFO] [1676635822.866889330] [eca_a9.urdf_spawner]: Spawn Entity started
[spawn_entity.py-1] [INFO] [1676635822.867159779] [eca_a9.urdf_spawner]: Loading entity published on topic robot_description
[spawn_entity.py-1] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-1]   warnings.warn(
[joy_node-5] [INFO] [1676635823.094236435] [eca_a9.joystick]: No haptic (rumble) available, skipping initialization
[joy_node-5] [INFO] [1676635823.094329099] [eca_a9.joystick]: Opened joystick: SHANWAN Android Gamepad.  deadzone: 0.050000
[spawn_entity.py-1] [INFO] [1676635823.155215881] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[robot_state_publisher-2] [WARN] [1676635823.157768385] [kdl_parser]: The root link eca_a9/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1676635823.157911755] [eca_a9.robot_state_publisher]: got segment eca_a9/base_link
[robot_state_publisher-2] [INFO] [1676635823.157965126] [eca_a9.robot_state_publisher]: got segment eca_a9/battery_link
[robot_state_publisher-2] [INFO] [1676635823.157972469] [eca_a9.robot_state_publisher]: got segment eca_a9/camera_link
[robot_state_publisher-2] [INFO] [1676635823.157978942] [eca_a9.robot_state_publisher]: got segment eca_a9/camera_link_optical
[robot_state_publisher-2] [INFO] [1676635823.157984462] [eca_a9.robot_state_publisher]: got segment eca_a9/cc_sensor_link
[robot_state_publisher-2] [INFO] [1676635823.157990012] [eca_a9.robot_state_publisher]: got segment eca_a9/dvl_link
[robot_state_publisher-2] [INFO] [1676635823.157995603] [eca_a9.robot_state_publisher]: got segment eca_a9/dvl_sonar0_link
[robot_state_publisher-2] [INFO] [1676635823.158002356] [eca_a9.robot_state_publisher]: got segment eca_a9/dvl_sonar1_link
[robot_state_publisher-2] [INFO] [1676635823.158007906] [eca_a9.robot_state_publisher]: got segment eca_a9/dvl_sonar2_link
[robot_state_publisher-2] [INFO] [1676635823.158013336] [eca_a9.robot_state_publisher]: got segment eca_a9/dvl_sonar3_link
[robot_state_publisher-2] [INFO] [1676635823.158019428] [eca_a9.robot_state_publisher]: got segment eca_a9/fin0
[robot_state_publisher-2] [INFO] [1676635823.158025359] [eca_a9.robot_state_publisher]: got segment eca_a9/fin1
[robot_state_publisher-2] [INFO] [1676635823.158030709] [eca_a9.robot_state_publisher]: got segment eca_a9/fin2
[robot_state_publisher-2] [INFO] [1676635823.158035308] [eca_a9.robot_state_publisher]: got segment eca_a9/fin3
[robot_state_publisher-2] [INFO] [1676635823.158040708] [eca_a9.robot_state_publisher]: got segment eca_a9/gps_link
[robot_state_publisher-2] [INFO] [1676635823.158046198] [eca_a9.robot_state_publisher]: got segment eca_a9/imu_link
[robot_state_publisher-2] [INFO] [1676635823.158051678] [eca_a9.robot_state_publisher]: got segment eca_a9/pose_sensor_link_default
[robot_state_publisher-2] [INFO] [1676635823.158057419] [eca_a9.robot_state_publisher]: got segment eca_a9/pressure_link
[robot_state_publisher-2] [INFO] [1676635823.158062920] [eca_a9.robot_state_publisher]: got segment eca_a9/sonarleft_link
[robot_state_publisher-2] [INFO] [1676635823.158068490] [eca_a9.robot_state_publisher]: got segment eca_a9/sonarright_link
[robot_state_publisher-2] [INFO] [1676635823.158074161] [eca_a9.robot_state_publisher]: got segment eca_a9/thruster_0
[spawn_entity.py-1] [INFO] [1676635823.198087284] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[spawn_entity.py-1] [INFO] [1676635823.299921918] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[spawn_entity.py-1] [INFO] [1676635823.402145594] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[spawn_entity.py-1] [INFO] [1676635823.504263923] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[spawn_entity.py-1] [INFO] [1676635823.603517088] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[spawn_entity.py-1] [INFO] [1676635823.704734641] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[spawn_entity.py-1] [INFO] [1676635823.806152761] [eca_a9.urdf_spawner]: Waiting for entity xml on robot_description
[spawn_entity.py-1] [INFO] [1676635823.821186097] [eca_a9.urdf_spawner]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-1] [INFO] [1676635823.821512722] [eca_a9.urdf_spawner]: Waiting for service /spawn_entity
[spawn_entity.py-1] [INFO] [1676635823.825562634] [eca_a9.urdf_spawner]: Calling service /spawn_entity
[finned_uuv_teleop.py-4] [INFO] [1676635823.957493336] [eca_a9.finned_uuv_teleop]: FinnedUUVControllerNode: initializing node
[rviz2-6] [INFO] [1676635824.307615459] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1676635824.307686202] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
[rviz2-6] [INFO] [1676635824.317527045] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] [INFO] [1676635824.431045751] [rviz2]: Stereo is NOT SUPPORTED
[spawn_entity.py-1] [INFO] [1676635824.435702135] [eca_a9.urdf_spawner]: Spawn status: SpawnEntity: Successfully spawned entity [eca_a9]
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[INFO] [spawn_entity.py-1]: process has finished cleanly [pid 1009650]
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[finned_uuv_teleop.py-4] [INFO] [1676635824.615084982] [eca_a9.finned_uuv_teleop]: Thruster #0 - proportional - thrusters/id_0/input
[finned_uuv_teleop.py-4] [INFO] [1676635824.615507727] [eca_a9.finned_uuv_teleop]: Thruster model:
[finned_uuv_teleop.py-4] [INFO] [1676635824.615786171] [eca_a9.finned_uuv_teleop]:      Gain=4.9e-05
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp
[rviz2-6] Warning: Invalid frame ID "eca_a9/base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-6]          at line 93 in ./src/buffer_core.cpp

      其rviz配置文件如下：

      Panels:
  - Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /RobotModel1
        - /Sonar left1
        - /Sonar right1
        - /Waypoint path1
        - /Fin 0 - Wrench1
        - /Fin 1 - Wrench1
        - /Fin 2 - Wrench1
        - /Fin 3 - Wrench1
        - /Thrust Wrench1
      Splitter Ratio: 0.5
    Tree Height: 486
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz_common/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz_common/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: Sonar left
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        eca_a9/base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/battery_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        eca_a9/camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/camera_link_optical:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/cc_sensor_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        eca_a9/dvl_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/dvl_sonar0_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/dvl_sonar1_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/dvl_sonar2_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/dvl_sonar3_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/fin0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/fin1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/fin2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/fin3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/gps_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        eca_a9/imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        eca_a9/pose_sensor_link_default:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        eca_a9/pressure_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/sonarleft_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/sonarright_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        eca_a9/thruster_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: eca_a9/robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        eca_a9/base_footprint:
          Value: true
        eca_a9/base_link:
          Value: true
        eca_a9/base_link_ned:
          Value: true
        eca_a9/base_stabilized:
          Value: true
        eca_a9/battery_link:
          Value: true
        eca_a9/camera_link:
          Value: true
        eca_a9/camera_link_optical:
          Value: true
        eca_a9/cc_sensor_link:
          Value: true
        eca_a9/dvl_link:
          Value: true
        eca_a9/dvl_sonar0_link:
          Value: true
        eca_a9/dvl_sonar1_link:
          Value: true
        eca_a9/dvl_sonar2_link:
          Value: true
        eca_a9/dvl_sonar3_link:
          Value: true
        eca_a9/fin0:
          Value: true
        eca_a9/fin1:
          Value: true
        eca_a9/fin2:
          Value: true
        eca_a9/fin3:
          Value: true
        eca_a9/gps_link:
          Value: true
        eca_a9/imu_link:
          Value: true
        eca_a9/pose_sensor_link_default:
          Value: true
        eca_a9/pressure_link:
          Value: true
        eca_a9/sonarleft_link:
          Value: true
        eca_a9/sonarright_link:
          Value: true
        eca_a9/thruster_0:
          Value: true
        world:
          Value: true
        world_ned:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          eca_a9/base_footprint:
            eca_a9/base_stabilized:
              eca_a9/base_link:
                eca_a9/base_link_ned:
                  {}
                eca_a9/battery_link:
                  {}
                eca_a9/camera_link:
                  eca_a9/camera_link_optical:
                    {}
                eca_a9/cc_sensor_link:
                  {}
                eca_a9/dvl_link:
                  eca_a9/dvl_sonar0_link:
                    {}
                  eca_a9/dvl_sonar1_link:
                    {}
                  eca_a9/dvl_sonar2_link:
                    {}
                  eca_a9/dvl_sonar3_link:
                    {}
                eca_a9/fin0:
                  {}
                eca_a9/fin1:
                  {}
                eca_a9/fin2:
                  {}
                eca_a9/fin3:
                  {}
                eca_a9/gps_link:
                  {}
                eca_a9/imu_link:
                  {}
                eca_a9/pose_sensor_link_default:
                  {}
                eca_a9/pressure_link:
                  {}
                eca_a9/sonarleft_link:
                  {}
                eca_a9/sonarright_link:
                  {}
                eca_a9/thruster_0:
                  {}
          world_ned:
            {}
      Update Interval: 0
      Value: true
    - Class: rviz_default_plugins/MarkerArray
      Enabled: true
      Marker Topic: /world_models
      Name: World models
      Namespaces:
        "": true
      Queue Size: 100
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: -91.8094254
        Min Value: -95.5871582
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/LaserScan
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 300
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Sonar left
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.00999999978
      Style: Points
      Topic: /eca_a9/sss_left
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: -75.8892899
        Min Value: -95.6470261
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/LaserScan
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 300
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: Sonar right
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.00999999978
      Style: Points
      Topic: /eca_a9/sss_right
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Angle Tolerance: 0.100000001
      Class: rviz_default_plugins/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 100
      Name: Odometry
      Position Tolerance: 0.100000001
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 255; 25; 0
        Head Length: 0.300000012
        Head Radius: 0.100000001
        Shaft Length: 1
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /eca_a9/pose_gt
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz_default_plugins/Path
      Color: 255; 85; 255
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Trajectory
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.100000001
      Shaft Length: 0.100000001
      Topic: /eca_a9/trajectory_marker
      Unreliable: false
      Value: true
    - Class: rviz_default_plugins/MarkerArray
      Enabled: true
      Marker Topic: /eca_a9/waypoint_markers
      Name: Waypoints
      Namespaces:
        "": true
      Queue Size: 100
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz_default_plugins/Path
      Color: 255; 85; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Waypoint path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.100000001
      Shaft Length: 0.100000001
      Topic: /eca_a9/waypoint_path_marker
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.200000003
      Class: rviz_default_plugins/Wrench
      Enabled: true
      Force Arrow Scale: 0.100000001
      Force Color: 204; 51; 51
      History Length: 1
      Name: Fin 0 - Wrench
      Topic: /eca_a9/fins/0/wrench_topic
      Torque Arrow Scale: 2
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.300000012
      Class: rviz_default_plugins/Wrench
      Enabled: true
      Force Arrow Scale: 0.100000001
      Force Color: 204; 51; 51
      History Length: 1
      Name: Fin 1 - Wrench
      Topic: /eca_a9/fins/1/wrench_topic
      Torque Arrow Scale: 2
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.300000012
      Class: rviz_default_plugins/Wrench
      Enabled: true
      Force Arrow Scale: 0.100000001
      Force Color: 204; 51; 51
      History Length: 1
      Name: Fin 2 - Wrench
      Topic: /eca_a9/fins/2/wrench_topic
      Torque Arrow Scale: 2
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.300000012
      Class: rviz_default_plugins/Wrench
      Enabled: true
      Force Arrow Scale: 0.100000001
      Force Color: 204; 51; 51
      History Length: 1
      Name: Fin 3 - Wrench
      Topic: /eca_a9/fins/3/wrench_topic
      Torque Arrow Scale: 2
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Alpha: 1
      Arrow Width: 0.300000012
      Class: rviz_default_plugins/Wrench
      Enabled: true
      Force Arrow Scale: 0.100000001
      Force Color: 53; 98; 204
      History Length: 1
      Name: Thrust Wrench
      Topic: /eca_a9/thrusters/0/thrust_wrench
      Torque Arrow Scale: 2
      Torque Color: 204; 204; 51
      Unreliable: false
      Value: true
    - Class: rviz_default_plugins/Image
      Enabled: true
      Image Topic: /eca_a9/camera/camera_image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz_default_plugins/Marker
      Enabled: true
      Marker Topic: /eca_a9/reference_marker
      Name: Reference Marker
      Namespaces:
        "": true
      Queue Size: 100
      Value: true
    - Class: rviz_default_plugins/MarkerArray
      Enabled: true
      Marker Topic: /eca_a9/interpolator_visual_markers
      Name: MarkerArray
      Namespaces:
        dubins: true
      Queue Size: 100
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz_default_plugins/Interact
      Hide Inactive Objects: true
    - Class: rviz_default_plugins/MoveCamera
    - Class: rviz_default_plugins/Select
    - Class: rviz_default_plugins/FocusCamera
    - Class: rviz_default_plugins/Measure
    - Class: rviz_default_plugins/SetInitialPose
      Topic: /initialpose
    - Class: rviz_default_plugins/SetGoal
      Topic: /goal_pose
      #Topic: /move_base_simple/goal
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/Orbit
      Distance: 303.795349
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.525398612
      Target Frame: eca_a9/base_link
      Value: Orbit (rviz)
      Yaw: 2.36903524
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1176
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000020f0000040efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000274000000d000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002a2000001940000001600ffffff000000010000010f0000040efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000040e000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004560000040e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1920
  X: 1920
  Y: 24

      请问这是怎么回事呢？

      yudonghou123Y 小鱼小 2 条回复 最后回复 回复 引用 0
      • yudonghou123Y
        小猴同学 @yudonghou123
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        此回复已被删除！
        yudonghou123Y 1 条回复 最后回复 回复 引用 0
        • yudonghou123Y
          小猴同学 @yudonghou123
          最后由 编辑

          此回复已被删除！
          1 条回复 最后回复 回复 引用 0
          • yudonghou123Y yudonghou123 将这个主题转为问答主题，在
          • yudonghou123Y yudonghou123 删除了该主题于
          • yudonghou123Y yudonghou123 恢复了该主题于
          • 小鱼小
            小鱼 技术大佬 @yudonghou123
            最后由 编辑

            @yudonghou123 看错误tf有问题，检查tf

            小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
            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
            • yudonghou123Y yudonghou123 将这个主题标记为已解决，在
            • 1
              1257239648
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              大佬，请问怎么解决的

              1 条回复 最后回复 回复 引用 0
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