agent 手动编译，不用docker，以及树莓派上使用micros-agent的方法

[2216200358]

@2216200358
补充说明：
在运行建图过程中，雷达过几秒中会出现突然降速的情况，并出现以下错误。

[小鱼]

@2216200358 拍下雷达板，en跳线冒有拔掉吗

[2216200358]

@小鱼
没有拔

[小鱼]

@2216200358 拔掉试试，另外雷达现在的供电怎么走的

[2216200358]

@小鱼 拔掉也不行，还是那样。

[2216200358]

@小鱼 四驱板和雷达运行成功啦，是因为端口号没换，应该是ttyUSB0和ttyUSB1。
运行ros2 launch slam_toolbox online_async_launch.py后，没弹出rviz，这好像不对吧，我重启试一下。

[小鱼]

@2216200358 没弹窗正常的，slamtoolbox本身没界面

[1976933473]

编译通过不了

[1772009366]

@1976933473 遇到同样的问题，不知道怎么解决

[小鱼]

@1976933473 看看系统版本对不对

[1976933473]

@1772009366
我重新安装了ubuntu22.04,再下载ros2-humble，可以正常运行agent了

[1976933473]

@小鱼
哥，请问有什么办法提高micro-ros与ROS2之间的通信速度不
1,想过提高串口连接agent的波特率，但是波特率超过921600 ，agent就不工作了（查阅资料显示esp32s3最高波特率可以达到4500000），请问有办法提高连接agent的波特率不

2,请问使esp32s3运行micro-ros可以通过网线连接agent不

[小鱼]

@1976933473 走网线

[南京嵌入之梦]

按此操作，在最后一步（colcon build）出现问题：

dq@dq-virtual-machine:~/Desktop/microros_ws$ colcon build
Starting >>> micro_ros_msgs
Finished <<< micro_ros_msgs [17.1s]
Starting >>> micro_ros_agent
[Processing: micro_ros_agent]
[Processing: micro_ros_agent]
[Processing: micro_ros_agent]
[Processing: micro_ros_agent]
[Processing: micro_ros_agent]
[Processing: micro_ros_agent]
--- stderr: micro_ros_agent
Cloning into 'xrceagent'...
Switched to a new branch 'ros2'
HEAD is now at c25243c Enable Domain Override on Reference and XML Participant (#351)
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
The package name passed to find_package_handle_standard_args (tinyxml2)
does not match the name of the calling package (TinyXML2). This can lead
to problems in calling code that expects find_package result variables
(e.g., _FOUND) to follow a certain pattern.
Call Stack (most recent call first):
cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args)
/opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package)
CMakeLists.txt:153 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.

In file included from /home/dq/Desktop/microros_ws/src/micro-ROS-Agent/micro_ros_agent/src/main.cpp:15:
/home/dq/Desktop/microros_ws/src/micro-ROS-Agent/micro_ros_agent/include/agent/Agent.hpp:18:10: fatal error: uxr/agent/AgentInstance.hpp: No such file or directory
18 | #include <uxr/agent/AgentInstance.hpp>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[5]: *** [CMakeFiles/micro_ros_agent.dir/build.make:76: CMakeFiles/micro_ros_agent.dir/src/main.cpp.o] Error 1
gmake[4]: *** [CMakeFiles/Makefile2:137: CMakeFiles/micro_ros_agent.dir/all] Error 2
gmake[3]: *** [Makefile:146: all] Error 2
gmake[2]: *** [CMakeFiles/micro_ros_agent.dir/build.make:86: micro_ros_agent-prefix/src/micro_ros_agent-stamp/micro_ros_agent-build] Error 2
gmake[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/micro_ros_agent.dir/all] Error 2
gmake: *** [Makefile:91: all] Error 2

Failed <<< micro_ros_agent [3min 26s, exited with code 2]

Summary: 1 package finished [3min 44s]
1 package failed: micro_ros_agent
1 package had stderr output: micro_ros_agent

问题出在哪里？
系统是 ubuntu 22.04 虚拟机（VMware），一键安装的 ROS2（humble）。
开始用 docker 试过，也不成功。

盼指点……
谢谢！

[南京嵌入之梦]

@小鱼
我在 unbuntu22.04 虚拟机上参考此方式安装 MicroRos Agent，编译失败

直接用您的一键安装 ROS2 ，已正常运行，现在想和单片机通讯，按照文章先尝试了 Docker 模式，提示 MicroROS agent 没有找到，担心是外网问题，看到有直接安装在本地运行的方式，便参照实施。

前几步均正常，到编译（colcon build）这一步时，出错，尝试了很多方式，最终现象停留在：
dq@dq-virtual-machine:~/Desktop$ cd microros_ws
dq@dq-virtual-machine:~/Desktop/microros_ws$ colcon build
Starting >>> micro_ros_msgs
Finished <<< micro_ros_msgs [1.67s]
Starting >>> micro_ros_agent
--- stderr: micro_ros_agent
In file included from /home/dq/Desktop/microros_ws/src/micro-ROS-Agent/micro_ros_agent/src/agent/Agent.cpp:18:
/home/dq/Desktop/microros_ws/src/micro-ROS-Agent/micro_ros_agent/include/agent/Agent.hpp:18:10: fatal error: uxr/agent/AgentInstance.hpp: No such file or directory
18 | #include <uxr/agent/AgentInstance.hpp>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/dq/Desktop/microros_ws/src/micro-ROS-Agent/micro_ros_agent/src/main.cpp:15:
/home/dq/Desktop/microros_ws/src/micro-ROS-Agent/micro_ros_agent/include/agent/Agent.hpp:18:10: fatal error: uxr/agent/AgentInstance.hpp: No such file or directory
18 | #include <uxr/agent/AgentInstance.hpp>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/micro_ros_agent.dir/build.make:76: CMakeFiles/micro_ros_agent.dir/src/main.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/micro_ros_agent.dir/build.make:90: CMakeFiles/micro_ros_agent.dir/src/agent/Agent.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/micro_ros_agent.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< micro_ros_agent [0.28s, exited with code 2]

Summary: 1 package finished [2.47s]
1 package failed: micro_ros_agent
1 package had stderr output: micro_ros_agent

似乎是少安装了什么，搜相关问题，按其不同方式做，均问化解，故在此请教，望版主抽空回复，谢谢！

[南京嵌入之梦]

@南京嵌入之梦
此问题已化解。
将ubuntu虚拟机重新安装，再一步步按照鱼香ROS的教程安装，虽说还是有点坎坷，但总算安装完成了，并且成功运行，可以接收到数据，只是不太圆满，遇到了新的问题，正常查找问题。

我是参考这个帖子将 microros agnet 安装在本地的。

顺利完成教程中第一个 MicroROS节点，并运行。
目前运行的现象是：

不知道有人遇到过吗？盼指点！

[苛性钠zzz]

@小鱼 鱼哥是不是用了树莓派，按照步骤来，把开发板弄成串行模式，然后雷达直接连树莓派，两个板子是不是都不用连WiFi了呀，只用树莓派连就行了

[小鱼]

@苛性钠zzz 是的，你好聪明

[2431039560]

此回复已被删除！

[2431039560]

@小鱼 小鱼，能启动microros_agent,都在一个WiFi下，ping的通也是udp模式，但是启动键盘控制后小车不会动是为什么啊，硬件也重新烧录了最新的，是不是PIO也要重新烧一下
micro ROS：
[1742892712.396319] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x1007FDF9, len: 324, data:
0000: 81 01 05 07 01 3C 01 05 E4 00 15 A8 6E E2 67 00 60 E3 16 04 00 00 00 69 6D 75 00 00 00 00 A0
0020: E8 35 63 BF 00 00 00 80 28 C4 86 BF 00 00 00 A0 5D E3 BF 3F 00 00 00 60 AA BF EF 3F 00 00 00 00
0040: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0060: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0080: 00 00 00 00 00 00 00 40 36 65 06 C0 00 00 00 00 18 39 00 40 00 00 00 A0 3D 7E 1B C0 00 00 00 00
00A0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00C0: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00E0: 00 00 00 00 00 00 00 80 ED 7C 66 BF 00 00 00 40 87 56 88 BF 00 00 00 00 14 55 F0 3F 00 00 00 00
0100: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0120: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
0140: 00 00 00 00

ping小车ip：
orangepi@orangepi5plus:~$ ping 10.10.10.230
PING 10.10.10.230 (10.10.10.230) 56(84) bytes of data.
64 bytes from 10.10.10.230: icmp_seq=1 ttl=64 time=13.2 ms
64 bytes from 10.10.10.230: icmp_seq=2 ttl=64 time=6.53 ms
64 bytes from 10.10.10.230: icmp_seq=3 ttl=64 time=8.17 ms
64 bytes from 10.10.10.230: icmp_seq=4 ttl=64 time=8.73 ms
64 bytes from 10.10.10.230: icmp_seq=5 ttl=64 time=9.80 ms
64 bytes from 10.10.10.230: icmp_seq=6 ttl=64 time=5.36 ms
64 bytes from 10.10.10.230: icmp_seq=7 ttl=64 time=10.4 ms
64 bytes from 10.10.10.230: icmp_seq=8 ttl=64 time=6.55 ms
64 bytes from 10.10.10.230: icmp_seq=9 ttl=64 time=5.61 ms
64 bytes from 10.10.10.230: icmp_seq=10 ttl=64 time=13.5 ms
64 bytes from 10.10.10.230: icmp_seq=11 ttl=64 time=14.3 ms
64 bytes from 10.10.10.230: icmp_seq=12 ttl=64 time=11.0 ms
^C
--- 10.10.10.230 ping statistics ---
12 packets transmitted, 12 received, 0% packet loss, time 11019ms
rtt min/avg/max/mdev = 5.362/9.421/14.280/2.997 ms