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

[15724948]

手动编译agent成功，运行时提示
Package 'micro_ros_agent' not found

[15724948]

@15724948 已经好了，环境变量问题
多运行一条指定环境变量的指令， source /home/用户名/microros_ws/install/local_setup.bash

[1539850877]

此回复已被删除！

[2431039560]

@yjjsnles 楼主解决了吗，是什么原因啊

[2216200358]

标题：树莓派4B作上位机建图失败

问题描述：

我是把树莓派4B当作上位机来控制小车，都是用串口进行通信，树莓派的系统是Ubuntu22.04，ros2是humble版本，将四驱主控板和雷达转接板驱动配置好后，进行建图时失败。

具体细节和上下文：

• 雷达刚开始正常运行：
  
  
• 运行ros2 run micro_ros_agent micro_ros_agent serial -b 921600 --dev /dev/ttyUSB0 -v6后
  
  单独进行键盘操控时也正常
  
  
  所以我认为应该是供电不足问题，我该怎么解决。

[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！