第十章fishbot建图rviz2的fixed frame报错，无法显示地图

头怎么还不秃啊

fishbot_cartographer/cartographer.launch代码如下


import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    # 定位到功能包的地址
    pkg_share = FindPackageShare(package='fishbot_cartographer').find('fishbot_cartographer')
    
    #=====================运行节点需要的配置=======================================================================
    # 是否使用仿真时间，我们用gazebo，这里设置成true
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    # 地图的分辨率
    resolution = LaunchConfiguration('resolution', default='0.05')
    # 地图的发布周期
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
    # 配置文件夹路径
    configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    # 配置文件
    configuration_basename = LaunchConfiguration('configuration_basename', default='fishbot_2d.lua')
    rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz"
    print(f"rviz config in {rviz_config_dir}")

    
    #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    cartographer_node = Node(
        package='cartographer_ros',
        executable='cartographer_node',
        name='cartographer_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-configuration_directory', configuration_directory,
                   '-configuration_basename', configuration_basename])

    cartographer_occupancy_grid_node = Node(
        package='cartographer_ros',
        executable='cartographer_occupancy_grid_node',
        name='cartographer_occupancy_grid_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        arguments=['-d', rviz_config_dir],
        parameters=[{'use_sim_time': use_sim_time}],
        output='screen')

    #===============================================定义启动文件========================================================
    ld = LaunchDescription()
    ld.add_action(cartographer_node)
    ld.add_action(cartographer_occupancy_grid_node)
    ld.add_action(rviz_node)

    return ld

fishbot_description/gazebo.launch代码如下

import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    robot_name_in_model = 'fishbot'
    package_name = 'fishbot_description'
    urdf_name = "fishbot_base.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
    gazebo_world_path = os.path.join(pkg_share, 'world/fishbot.world')

    # Start Gazebo server
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so',gazebo_world_path],
        output='screen')

    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)


    return ld

fishbot_description/display_rviz2.launch代码如下

import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    package_name = 'fishbot_description'
    urdf_name = "fishbot_base.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    robot_state_publisher_node = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        arguments=[urdf_model_path]
        )

    joint_state_publisher_node = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        arguments=[urdf_model_path]
        )

    rviz2_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        )

    # ld.add_action(joint_state_publisher_node)
    ld.add_action(robot_state_publisher_node)
    ld.add_action(rviz2_node)

    return ld

头怎么还不秃啊

头怎么还不秃啊

ros2版本: humble ubuntu版本：22.04

头怎么还不秃啊

此回复已被删除！

头怎么还不秃啊

按教程先执行的gazebo.launch再执行cartographer.launch

头怎么还不秃啊

终端日志如下
终端1

hdm@hdm-virtual-machine:~/d2lros2/nav_ws$ source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py
not found: "/home/hdm/d2lros2/nav_ws/install/cartographer_ros_msgs/share/cartographer_ros_msgs/local_setup.bash"
[INFO] [launch]: All log files can be found below /home/hdm/.ros/log/2023-05-15-08-40-32-100409-hdm-virtual-machine-3968
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [3993]
[INFO] [spawn_entity.py-2]: process started with pid [3995]
[spawn_entity.py-2] [INFO] [1684111234.837423372] [spawn_entity]: Spawn Entity started
[spawn_entity.py-2] [INFO] [1684111234.839541462] [spawn_entity]: Loading entity XML from file /home/hdm/d2lros2/nav_ws/install/fishbot_description/share/fishbot_description/urdf/fishbot_base.urdf
[spawn_entity.py-2] [INFO] [1684111234.847188459] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-2] [INFO] [1684111234.850326630] [spawn_entity]: Waiting for service /spawn_entity
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 192.168.1.103
[gazebo-1] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in ""
[spawn_entity.py-2] [INFO] [1684111237.923595500] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-2] [INFO] [1684111238.817074194] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot]
[gazebo-1] [INFO] [1684111239.028024078] [diff_drive]: Wheel pair 1 separation set to [0.200000m]
[gazebo-1] [INFO] [1684111239.029597513] [diff_drive]: Wheel pair 1 diameter set to [0.065000m]
[gazebo-1] [INFO] [1684111239.035535833] [diff_drive]: Subscribed to [/cmd_vel]
[gazebo-1] [INFO] [1684111239.047795731] [diff_drive]: Advertise odometry on [/odom]
[gazebo-1] [INFO] [1684111239.067134085] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gazebo-1] [INFO] [1684111239.111004399] [fishbot_joint_state]: Going to publish joint [right_wheel_joint]
[gazebo-1] [INFO] [1684111239.114673636] [fishbot_joint_state]: Going to publish joint [left_wheel_joint]
[INFO] [spawn_entity.py-2]: process has finished cleanly [pid 3995]
[gazebo-1] context mismatch in svga_surface_destroy
[gazebo-1] context mismatch in svga_surface_destroy

终端2

/d2lros2/nav_ws/src$ source install/setup.bash
ros2 launch fishbot_cartographer cartographer.launch.py 
not found: "/home/hdm/d2lros2/nav_ws/src/install/cartographer_ros_msgs/share/cartographer_ros_msgs/local_setup.bash"
[INFO] [launch]: All log files can be found below /home/hdm/.ros/log/2023-05-15-11-41-48-291804-hdm-virtual-machine-57453
[INFO] [launch]: Default logging verbosity is set to INFO
rviz config in /home/hdm/d2lros2/nav_ws/src/install/fishbot_cartographer/share/fishbot_cartographer/config/cartographer.rviz
[INFO] [cartographer_node-1]: process started with pid [57454]
[INFO] [cartographer_occupancy_grid_node-2]: process started with pid [57456]
[INFO] [rviz2-3]: process started with pid [57458]
[rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[cartographer_node-1] [INFO] [1684122108.972841501] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/home/hdm/d2lros2/nav_ws/src/install/fishbot_cartographer/share/fishbot_cartographer/config/fishbot_2d.lua' for 'fishbot_2d.lua'.
[cartographer_node-1] [INFO] [1684122108.974296311] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1684122108.974492682] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1684122108.974755899] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1684122108.974834889] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1684122108.975225587] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1684122108.975299146] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1684122108.975401550] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1684122108.975453097] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1684122108.975979673] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1684122108.976082808] [cartographer logger]: I0515 11:41:48.000000 57454 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.

shadowwalker

@441755535 用rqt看下节点和话题是否都有

头怎么还不秃啊

@2918044035 QQ图片20230515143842.png

小鱼

@441755535 话题很孤立的感觉，没有节点订阅，有运行建图节点吗